Control device and control system

Abstract

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

Description

TECHNICAL FIELD

[0001] The present specification relates to the field of simulation control, and in particular, to a manipulation device and a manipulation system. BACKGROUND

[0002] Manipulation devices (such as joysticks) can be applied in various simulation training scenarios or game scenarios. For example, in a simulation training device, an operator uses a joystick to simulate controlling an aircraft for training; for another example, in a game device, an operator can use a joystick on a handle to control a character, a vehicle, an airplane, etc. in a game.

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

[0004] The embodiment of the present specification provides a manipulation device, which comprises: a power assembly comprising a first driving mechanism and a second driving mechanism; a manipulation assembly comprising a joystick mechanism and a fixed seat; the joystick mechanism is rotatably arranged on the fixed seat along a first rotation axis and a second rotation axis, the power of the first driving mechanism provides the joystick mechanism with a rotating force around the first rotation axis, and the power of the second driving mechanism provides the joystick mechanism with a rotating force around the second rotation axis; the extension directions of the first rotation axis and the second rotation axis are different; a connecting assembly is drivingly connected between the first driving mechanism and the joystick mechanism to transmit the power of the first driving mechanism to the joystick mechanism and provide the joystick mechanism with a rotating force around the first rotation axis.

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

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

[0007] In some embodiments, the first rotation axis and the second rotation axis are arranged intersecting or staggered.

[0008] In some embodiments, the first driving mechanism comprises a first motor and a first speed reducer, the first speed reducer being drivingly connected between an output shaft of the first motor and the connecting assembly; and / or, the second driving mechanism comprises a second motor and a second speed reducer, the second speed reducer being drivingly connected between an output shaft of the second motor and the joystick mechanism.

[0009] In some embodiments, the first speed reducer comprises a first pulley and a second pulley drivingly connected, the first pulley having a smaller diameter than the second pulley, the first pulley being connected to the output shaft of the first motor, the second pulley being drivingly connected to the connecting assembly; and / or, the second speed reducer comprises a third pulley and a fourth pulley drivingly connected, the third pulley having a smaller diameter than the fourth pulley, the third pulley being connected to the output shaft of the second motor, the fourth pulley being drivingly connected to the joystick mechanism.

[0010] In some embodiments, the power assembly further comprises a base plate, the base plate being provided with at least two mounting holes and at least two mounting seats, the second pulley being rotatably provided on the base plate through one of the mounting seats, the fourth pulley being rotatably provided on the base plate through another of the mounting seats; the output shaft of the first driving mechanism passing through one of the mounting holes, the output shaft of the second driving mechanism passing through another of the mounting holes.

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

[0012] In some embodiments, the joystick mechanism comprises an adapter frame and a joystick, the joystick being rotatably connected to the adapter frame along a first rotation axis, the adapter frame being rotatably connected to the fixed seat along a second rotation axis, the joystick being drivingly connected to the connecting assembly, the adapter frame being drivingly connected to the second driving mechanism.

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

[0014] In some embodiments, the joystick comprises a manipulating portion and an adapter portion, the manipulating portion being mounted on the adapter portion, the adapter portion being connected to the adapter frame by a second bearing, the adapter portion being connected to the connecting assembly; the connecting assembly drives the adapter portion to rotate around the first rotation axis, so as to drive the manipulating portion to rotate around the first rotation axis.

[0015] In some embodiments, the mounting base includes a housing with a through hole and a receiving cavity formed inside the housing. The adapter is disposed in the receiving cavity, a portion of the operating lever is disposed in the receiving cavity, and the operating lever passes through the through hole and extends partially out of the receiving cavity.

[0016] In some embodiments, the mounting base includes a plurality of insertion portions disposed at one end of the housing;

[0017] The power assembly also includes a base plate, and the plurality of the plug-in portions are fixed to the base plate.

[0018] In some embodiments, the second drive mechanism includes a second motor and a second reducer, the second reducer being driven between the output shaft of the second motor and the joystick mechanism; the second reducer includes a third wheel and a fourth wheel, driven together, the diameter of the third wheel being smaller than the diameter of the fourth wheel, the third wheel being connected to the output shaft of the second motor, and the fourth wheel being driven together with the joystick mechanism; the fourth wheel has a plurality of slots spaced apart circumferentially along the fourth wheel, and each slot extends circumferentially along the fourth wheel; the fourth wheel is rotatably mounted on the base plate; a plurality of insertion portions are respectively inserted into a plurality of slots; when the fourth wheel rotates, the slots rotate relative to the insertion portions.

[0019] In some embodiments, the connecting assembly includes a first ball seat, a first ball, a connecting rod, a second ball seat, and a second ball. The connecting rod connects the first ball seat and the second ball seat. The first ball is disposed within the first ball seat and mates with the spherical surface of the first ball seat. The second ball is disposed within the second ball seat and mates with the spherical surface of the second ball seat. The second ball is connected to the first drive mechanism, and the first ball is connected to the joystick mechanism.

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

[0021] In some embodiments, the first drive mechanism includes a first motor and a first reducer, the first reducer being drivenly connected between the output shaft of the first motor and the connecting assembly; the first reducer includes a first wheel and a second wheel, the diameter of the first wheel being smaller than the diameter of the second wheel, and the first wheel being connected to the first motor; the joystick mechanism includes a transfer frame and a joystick, the joystick being rotatably connected to the transfer frame along a first axis, the transfer frame being rotatably connected to the fixed base along a second direction, and the transfer frame being connected to the second drive mechanism; the joystick includes a control part and a transfer part, the control part being mounted on the transfer part, and the transfer part being rotatably connected to the transfer frame along the first axis; the connecting assembly is drivenly connected between the transfer part and the second wheel; the second ball is connected to the second wheel, and the first ball is connected to the transfer part.

[0022] In some embodiments, the control device further includes a housing with a second cavity formed therein, the housing being fixedly connected to the power assembly, and at least a portion of the power assembly, the control assembly, and the connection assembly being located within the second cavity.

[0023] This specification also provides a control system, which includes the control device and controller described in any of the above embodiments; the controller is used to control the power output of the power component of the control device. Attached Figure Description

[0024] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0025] FIG. 1A This is a structural block diagram of the operating device shown in some embodiments of this specification;

[0026] FIG. 1B This is a schematic diagram of the operating device according to some embodiments of this specification;

[0027] FIG. 2A These are schematic diagrams of the power assembly according to some embodiments of this specification;

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

[0029] FIG. 3 This is another schematic diagram of the operating device shown in some embodiments of this specification;

[0030] FIG. 4This is an exploded view of the power assembly shown in some embodiments of this specification;

[0031] FIG. 5A This is an installation diagram of the first drive mechanism and the second drive mechanism according to some embodiments of this specification;

[0032] FIG. 5B These are schematic diagrams of the first and second drive mechanisms shown in some embodiments of this specification;

[0033] FIG. 5C This is an installation diagram of the first and second drive mechanisms according to other embodiments of this specification;

[0034] FIG. 5D These are schematic diagrams of the first and second drive mechanisms shown in other embodiments of this specification;

[0035] FIG. 6 This is an exploded view of the manipulation components shown in some embodiments of this specification;

[0036] FIG. 7A This is a schematic diagram of the structure of the connection assembly shown in some embodiments of this specification;

[0037] FIG. 7B This is an exploded view of the connecting components shown in some embodiments of this specification;

[0038] FIG. 8 This is an assembly diagram of the connecting components shown according to some embodiments of this specification;

[0039] FIG. 9 This is an exploded view of the manipulation components and connecting components shown in some embodiments of this specification;

[0040] FIG. 10 This is an assembly diagram of the power assembly, control assembly and connection assembly according to some embodiments of this specification;

[0041] FIG. 11 This is an exploded view of the operating device shown according to some embodiments of this specification;

[0042] FIG. 12 This is a schematic diagram showing the assembled power assembly, control assembly, and connection assembly according to some embodiments of this specification;

[0043] FIG. 13 This is an assembly diagram of the operating device according to some embodiments of this specification;

[0044] FIG. 14 This is a schematic diagram showing the installation position of the operating device according to some embodiments of this specification.

[0045] Explanation of reference numerals in the attached drawings: 100, Control device; 110, Power assembly; 120, Control assembly; 130, Connecting assembly; 140, Housing; 111, First drive mechanism; 112, Second drive mechanism; 1111, First motor; 1121, Second motor; 113, First reducer; 114, Second reducer; 115, Base plate; 116, First screw; 1131, First wheel; 1132, Second wheel; 1133, First transmission belt; 1134, First coupling disc; 1141, Third wheel; 1142, Fourth wheel; 11421, Slot; 1143, Second transmission belt; 1144, Second coupling disc; 1151, Mounting hole; 1152. Mounting base; 121. Control lever mechanism; 122. Fixed base; 123. First bearing; 124. Second bearing; 125. Second screw; 126. Nut; 1211. Control lever; 1212. Adapter frame; 12111. Control part; 12112. Adapter part; 12113. Locking cover; 1221. Housing; 1222. End cover; 1223. Through hole; 1224. Insertion part; 131. First ball; 132. First ball seat; 133. Connecting rod; 134. Second ball seat; 1321. First mating part; 1322. First base; 13211. First mating part; 13212. Second mating part; 141. Third screw. Detailed Implementation

[0046] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0047] It should be understood that the terms “system,” “device,” “component,” and / or “mechanism” as used herein are one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0048] Unless the context explicitly indicates an exception, words such as "a," "an," "a kind," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified parts and elements.

[0049] This specification provides a control device that can be used in the control system of simulation training equipment for various large machines such as airplanes and automobiles, or in the control system of gaming devices (such as game controllers). Specifically, the control system can be a control system for simulated flight training, a control system for simulated vehicle driving, or a control system for games (such as racing games). When the control device in this specification is used in the control system of simulation training equipment or gaming devices, when operated through the control device (such as a joystick mechanism), the power component can output power to the joystick mechanism based on the simulated / game scenario, thereby feeding back real-time force or torque (e.g., control surface torque under simulated aircraft training or vibration force of an explosion in a game) to the operator, allowing the operator to perceive the real-time simulated training / game scenario, so that the operator can make more timely and accurate feedback actions.

[0050] FIG. 1A This is a structural block diagram of the operating device shown in some embodiments of this specification. FIG. 1B This is a schematic diagram of the operating device according to some embodiments of this specification. For example... FIG. 1A and FIG. 1B As shown, the control device 100 includes a power assembly 110, a control assembly 120, and a connection assembly 130. The power assembly 110 includes a first drive mechanism 111 and a second drive mechanism 112. The control assembly 120 includes a joystick mechanism 121 and a fixed base 122; the joystick mechanism 121 is rotatably mounted on the fixed base 122 along a first axis x and a second axis y. The power from the first drive mechanism 111 provides the joystick mechanism 121 with a force to rotate about the first axis x, and the power from the second drive mechanism 112 provides the joystick mechanism 121 with a force to rotate about the second axis y. The first axis x and the second axis y extend in different directions. The connection assembly 130 is drively connected between the first drive mechanism 111 and the joystick mechanism 121 to transmit the power from the first drive mechanism 111 to the joystick mechanism 121, thereby providing the joystick mechanism 121 with a force to rotate about the first axis x.

[0051] The power unit 110 is a component used to provide power to the joystick 1211 assembly. During the use of the control device 100, it is necessary to feed back force or torque (e.g., control surface torque during simulated aircraft training or vibrations from explosions / collisions in a game) to the operator. At this time, the power unit 110 outputs a corresponding amount of power to the joystick 1211 assembly. As an example, when the control device 100 is used in a flight simulation training system, it is necessary to simulate the real-time control surface torque of the aircraft because it is necessary to feed back the flight attitude to the operator. In this case, the power unit 110 can output power that simulates the real-time control surface torque of the aircraft to provide feedback on the operator's operating force. As another example, when the control device 100 is used in a game control system, the power unit 110 can output power that simulates the vibrations of an explosion or collision to provide feedback on the vibrations in the game scene.

[0052] The first drive mechanism 111 and the second drive mechanism 112 included in the power assembly 110 can each include a main body component and a power output component. The main body component can include an internal power generation structure and an external fixed housing. The power output component can include an output shaft, which can output power through rotation, extension, or other movements. In some embodiments, the power output of the power assembly 110 can be changed by replacing the power assembly 110. For more detailed information about the structure of the power assembly 110, please refer to the following text. FIGS. 2A-5D Related explanations.

[0053] The control assembly 120 is a component that feeds back the power output from the power assembly 110 to the operator and receives control from the operator. The mounting base 122 of the control assembly 120 is a component that keeps its position relatively fixed during operator operation. In some embodiments, the mounting base 122 may be fixedly connected to the mounting housing of the first drive mechanism 111 and the mounting housing of the second drive mechanism 112.

[0054] The joystick mechanism 121 can rotate relative to the fixed base 122 along either the first axis x or the second axis y. The power from the first drive mechanism 111 provides the joystick mechanism 121 with a force to rotate around the first axis x, thus providing force feedback (such as the operating force feedback or vibration force feedback described above) when the joystick mechanism 121 rotates around the first axis x. The power from the second drive mechanism 112 provides the joystick mechanism 121 with a force to rotate around the second axis y, thus providing force feedback (such as the operating force feedback or vibration force feedback described above) when the joystick mechanism 121 rotates around the second axis. By setting the first axis x and the second axis y with different extension directions, the joystick mechanism 121 can rotate flexibly in all directions relative to the fixed base 122. For more specific details regarding the extension directions of the first axis x and the second axis y, please refer to the following text.FIG. 2B For more detailed information regarding the structure of the manipulation component 120, please refer to the following text. FIG. 6 The relevant descriptions are as follows. It should be noted that the relative positions of the first and second drive mechanisms and their respective control over the rotation direction of the joystick assembly in the accompanying drawings are merely examples. For instance, in the embodiment shown in the accompanying drawings, the drive mechanism located above in the first direction drives the joystick mechanism 121 to rotate about the first axis x. However, it is also possible that the drive mechanism located above in the first direction drives the joystick mechanism 121 to rotate about the second axis y.

[0055] As an example only, when the control device 100 is used in a flight simulation training control system, the joystick mechanism 121 can control the pitch motion of the aircraft by rotating about the first axis x, and the joystick mechanism 121 can control the roll motion of the aircraft by rotating about the second axis y. As an example only, when the control device 100 is used in a racing game control system, the joystick mechanism 121 can control the acceleration and deceleration of the racing car by rotating about the first axis x, and the joystick mechanism 121 can control the turning of the racing car by rotating about the second axis y.

[0056] The connecting component 130 is a part that enables the transmission connection between the power component 110 and the control component 120. Specifically, the connecting component 130 can be connected between the first drive mechanism 111 and the joystick 1211 assembly to transmit the power output by the first drive mechanism 111 to the joystick mechanism 121. In some embodiments, the second drive mechanism 112 and the joystick mechanism 121 can also be transmissionally connected through another connecting component 130. The connecting component 130 can at least realize the change of the direction of force, for example, the change of the direction of the power output by the power component 110. In some embodiments, the connecting component 130 can also realize the change of the magnitude of the force. Since the extension directions of the first rotating shaft x and the second rotating shaft y are different, the force transmission direction can be changed through the connecting component 130, thus the power of the power component 110 can be stably transmitted to the control component 120. In addition, the positions and orientations of the various components of the control device 100 can be arranged more flexibly, minimizing the space occupied by the control device 100. For more specific details about the structure of the connecting component 130, please refer to the following text. FIGS. 7A-8 Related explanations.

[0057] FIG. 2A These are schematic diagrams of the power assembly according to some embodiments of this specification. For example... FIG. 2AAs shown, in some embodiments, the first drive mechanism 111 and the second drive mechanism 112 are stacked along a first direction. In some embodiments, the first direction may be a vertical direction. In some embodiments, the first drive mechanism 111 may be located above the second drive mechanism 112. In other embodiments, the first direction may also be a horizontal direction or other directions. The output shafts of the first drive mechanism 111 and the second drive mechanism 112 both extend along a second direction. In this case, the output shafts of the first drive mechanism 111 and the second drive mechanism 112 are parallel. The second direction is different from the first direction. In some embodiments, the second direction may be a horizontal direction. In other embodiments, the first direction may also be a vertical direction or other directions. It should be noted that the first and second directions in this specification are only used to indicate the relative positions and directions of the various components, and do not limit the setting direction of the entire control assembly 120. When the control assembly 120 is set on different devices, the setting direction of the control assembly 120 can be determined according to specific usage requirements. By stacking the first drive mechanism 111 and the second drive mechanism 112, even if the size of the first drive mechanism 111 and the second drive mechanism 112 is large, the power assembly 110 can be reasonably arranged to ensure that the space occupied by the control device 100 is small.

[0058] In some embodiments, the first direction is perpendicular to the second direction. FIG. 2B This is a schematic diagram of the rotation of a joystick mechanism according to some embodiments of this specification. For example... FIG. 2B As shown, in some embodiments, the first rotating axis x is perpendicular to the second rotating axis y. The first rotating axis x is perpendicular to both the first and second directions; that is, the first rotating axis x is perpendicular to both the first and second directions. The second rotating axis is parallel to the second direction. By setting the second rotating axis y parallel to the output shaft of the second drive mechanism 112, the second drive mechanism 112 can facilitate driving and reduce the need for additional transmission components as it provides rotational force about the second rotating axis y to the lever mechanism 121. In other embodiments, the first rotating axis x and the second rotating axis y may not be perpendicular, for example, the angle between the first rotating axis x and the second rotating axis y may be 45°, 60°, 85°, etc.

[0059] In some embodiments, such as FIG. 2B As shown, the first rotating shaft x and the second rotating shaft y are arranged alternately, meaning they do not intersect. However, this arrangement results in inconsistent rotational strokes and radii between the first rotating shaft x and the second rotating shaft y. In some embodiments, to ensure that the rotational strokes and radii of the first rotating shaft x and the second rotating shaft y are consistent, such as... FIG. 1B As shown, the first rotating axis x and the second rotating axis y are arranged to intersect each other, with the first rotating axis x and the second rotating axis y intersecting perpendicularly.

[0060] FIG. 3 This is another schematic diagram of the operating device according to some embodiments of this specification. For example... FIG. 3 As shown, when the first drive mechanism 111 and the second drive mechanism 112 are stacked as described above, and the output shafts of the first drive mechanism 111 and the second drive mechanism 112 are arranged to extend in the same direction (the second direction), if it is necessary to increase the power of the drive mechanism (greater power means larger size), the size of the drive mechanism can be increased only in the opposite direction of the second direction, and the size in other directions does not need to be changed, which facilitates the arrangement of the operating device 100. For example, FIG. 3 The portion within the dashed box is simply an increase in size in the opposite direction to the second direction, based on the original structure.

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

[0062] FIG. 4 This is an exploded view of the power assembly shown in some embodiments of this specification. FIG. 5A These are schematic diagrams of the first and second drive mechanisms shown in some embodiments of this specification. FIG. 5B This is a schematic diagram of the structure of the first drive mechanism and the second drive mechanism according to some embodiments of this specification.

[0063] like FIGS. 4-5BAs shown, in some embodiments, the first drive mechanism 111 includes a first motor 1111 and a first reducer 113, with the first reducer 113 drivingly connected between the output shaft of the first motor 1111 and the connecting assembly 130. In some embodiments, the second drive mechanism 112 includes a second motor 1121 and a second reducer 114, with the second reducer 114 drivingly connected between the output shaft of the second motor 1121 and the joystick mechanism 121. In some embodiments, the first motor 1111 and / or the second motor 1121 can be a stepper motor, a servo motor, etc. In some embodiments, the first motor 1111 and / or the second motor 1121 can be a sensor-driven servo motor. By providing power to the control assembly 120 through the motors (first motor 1111, second motor 1121), current closed-loop control, speed closed-loop control, and position closed-loop control can also be realized. Among them, current closed-loop control refers to the motor dynamically adjusting its output by dynamically modifying the target current value. Specifically, by setting a target current value for the motor, the actual current value follows the target current value. Since the motor's output torque is proportional to the motor current, this can be equivalent to indirectly controlling the motor's output torque, which can be used in dynamic force simulation scenarios. Speed ​​closed-loop control refers to setting a target speed value for the motor, monitoring the actual speed value, and continuously adjusting the motor's input signal to ensure that the actual speed value has a set relationship with the target speed value (e.g., the actual speed value is less than 80% of the target speed value). In dynamic force simulation, this can limit the maximum rotational speed of the motor to prevent speed loss that could cause injury or equipment damage. Position closed-loop control also involves setting a target position for equipment or components, monitoring the real-time position of the equipment, and continuously adjusting the motor's input signal to gradually move the equipment or components towards the target position. When the error is sufficiently small, the motor stops adjusting, and the position closed-loop control is complete. Position closed-loop control can achieve functions such as automatic driving (e.g., automatic steering) and automatic control.

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

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

[0066] In some embodiments, the first disc 1131 and the second disc 1132 are connected by a first transmission belt 1133 to achieve speed reduction. The third disc 1141 and the fourth disc 1142 are connected by a second transmission belt 1143 to achieve speed reduction. In other embodiments, the first disc 1131 and the second disc 1132, and the third disc 1141 and the fourth disc 1142, can also be connected by gear transmission, chain transmission, or other methods to achieve speed reduction. By using belt transmission, compared with gear transmission or chain transmission, there is no transmission backlash, making the transmission more precise.

[0067] In some other embodiments, the first reducer 113 may be omitted, meaning the first motor 1111 can directly output power. In still other embodiments, the second reducer 114 may be omitted, meaning the second motor 1121 can directly output power.

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

[0069] FIG. 5C This is an installation diagram of the first and second drive mechanisms according to other embodiments shown in this specification. FIG. 5D This is a structural schematic diagram of the first and second drive mechanisms according to other embodiments of this specification. FIG. 5C and FIG. 5DThe diagram illustrates the case where the first drive mechanism 111 and the second drive mechanism 112 do not include a speed reducer. For example... FIG. 5C and FIG. 5D As shown, a first coupling disk 1134 and a second coupling disk 1144 are disposed on the base plate 115. Both the first coupling disk 1134 and the second coupling disk 1144 are rotatably disposed on the base plate 115. The first coupling disk 1134 is sleeved on the output shaft of the first motor 1111 and can be drivenly connected to the joystick mechanism 121. The second coupling disk 1144 is sleeved on the output shaft of the second motor 1121 and can be drivenly connected to the connecting assembly 130. The first coupling disk 1134 and the second coupling disk 1144 make the connection between the first motor 1111, the second motor 1121 and the joystick mechanism 121 more convenient and reliable.

[0070] FIG. 6 This is an exploded view of the control components shown according to some embodiments of this specification. For example... FIG. 6 As shown, in some embodiments, the joystick mechanism 121 includes an adapter frame 1212 and a joystick 1211, the joystick 1211 being rotatably connected to the adapter frame 1212 along a first axis of rotation x. For example, the joystick 1211 has a mounting shaft extending along the first axis of rotation x. The adapter frame 1212 is rotatably connected to the fixed base 122 along a second axis of rotation y. The joystick 1211 is drivenly connected to a connecting assembly 130, which enables transmission between the first drive mechanism 111 and the joystick 1211. The adapter frame 1212 is drivenly connected to a second drive mechanism 112, such that the second drive mechanism 112 drives the adapter frame 1212 to rotate about the second axis of rotation y. The adapter frame 1212 ensures that the joystick 1211 can flexibly rotate about both the first axis of rotation x and the second axis of rotation y on the fixed base 122. In some embodiments, the adapter 1212 may be substantially cylindrical, such as cylindrical, elliptical, quadrangular, or hexagonal.

[0071] In some embodiments, the adapter 1212 is connected to the mounting base 122 via a first bearing 123. In some embodiments, the outer ring of the first bearing 123 may be fixed to the mounting base 122, while the inner ring of the first bearing 123 may be fixed to the adapter 1212.

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

[0073] In some embodiments, the adapter frame 1212 may be provided with mounting holes, and the outer ring of the second bearing 124 may be fixedly installed in the mounting holes. The adapter portion 12112 is provided with the aforementioned mounting shaft extending along the first rotating shaft x, and the inner ring of the second bearing 124 may be fixed to the mounting shaft on the adapter portion 12112. In some embodiments, in order to ensure that the adapter frame 1212 can provide more stable support for the control lever 1211, the number of second bearings 124 may be two. The two second bearings 124 may be arranged at intervals along the extension direction of the first rotating shaft, and the two ends of the mounting shaft are respectively fixed to the inner rings of the two second bearings 124.

[0074] In some embodiments, the mounting base 122 includes a housing 1221 with a through hole 1223 and a receiving cavity formed therein. An adapter 1212 is disposed within the receiving cavity. A portion of the lever 1211 is disposed within the receiving cavity; for example, a portion of the operating part 12111 and the adapter 12112 of the lever 1211 are disposed within the receiving cavity. The lever 1211 passes through the through hole 1223; for example, the operating part 12111 of the lever 1211 passes through the through hole 1223 to partially extend outside the receiving cavity. In some embodiments, the housing 1221 may be substantially cylindrical, such as cylindrical, elliptical cylindrical, quadrangular prism, hexagonal prism, etc.

[0075] In some embodiments, the mounting base 122 can be connected to the fixing structure of the power assembly 110. For example, the mounting base 122 is connected to the main body component (such as a mounting shell) of the first drive mechanism 111 and the second drive structure. In some embodiments, the mounting base 122 includes a plurality of insertion portions 1224 disposed at one end of the housing 1221, and the plurality of insertion portions 1224 are all fixed to the base plate 115. Since the base plate 115 is connected to the fixing structure of the power assembly 110, the connection between the mounting base and the fixing structure of the power assembly 110 can be realized through the cooperation of the insertion portions 1224 and the base plate 115. In some embodiments, the other end of the housing 1221 may be provided with an end cap 1222 to seal the other end of the housing 1221.

[0076] In some embodiments, combined with FIG. 4 , FIG. 6 andFIG. 10 When the second drive mechanism 112 includes a second reducer 114, and the second reducer 114 is configured according to the embodiment described above, the fourth wheel 1142 of the second reducer 114 is provided with a plurality of slots 11421 spaced circumferentially along the fourth wheel 1142, and each slot 11421 extends circumferentially along the fourth wheel 1142. A plurality of insertion portions 1224 are respectively inserted into the plurality of slots and fixed to the base plate 115. Specifically, the number of slots can be 2, 3, 5, etc. The number of slots 11421 can be the same as the number of insertion portions 1224, and the insertion portions 1224 are arranged in a one-to-one correspondence with the slots 11421. When the fourth wheel 1142 rotates, the slots 11421 rotate relative to the insertion portions 1224. In other words, when the fourth wheel 1142 rotates, the slot 11421 rotates accordingly, and the housing 1221 is connected to the power assembly 110 via the base plate 115 through a fixed structure, while the position of the insertion part 1224 remains relatively fixed. At this time, the insertion part 1224 can also act as a limiter, restricting the rotation angle of the fourth wheel 1142. The circumferential length of the slot along the fourth wheel 1142 can also be set based on the range of allowable rotation angles of the fourth wheel 1142.

[0077] In some embodiments, when no reducer is provided, a slot can be provided on the first coupling disk 1134 described above. The method of providing a slot on the first coupling disk 1134 is similar to that of providing a slot on the fourth wheel disk 1142. For details, please refer to the relevant description of providing a slot on the fourth wheel disk 1142 described above.

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

[0079] FIG. 7A These are schematic diagrams of the connection components shown in some embodiments of this specification. FIG. 7B This is an exploded view of the connecting components shown according to some embodiments of this specification. For example... FIG. 7A and FIG. 7BAs shown, in some embodiments, the connecting assembly 130 includes a first ball seat 132, a first ball 131, a connecting rod 133, a second ball seat 134, and a second ball (obscured in the figure). The connecting rod 133 connects the first ball seat 132 and the second ball seat 134. The first ball 131 is disposed within the first ball seat 132 and mates with the spherical surface of the first ball seat 132. The second ball is disposed within the second ball seat 134 and mates with the spherical surface of the second ball seat 134. The mating method between the second ball and the second ball seat 134 is similar to the mating method between the first ball 131 and the first ball seat 132. The second ball is connected to a first drive mechanism 111 (such as a second wheel 1132), and the first ball 131 is connected to a joystick mechanism 121. Since the first sphere 131 and the first ball seat 132 are spherically fitted, and the second sphere and the second ball seat 134 are spherically fitted, the first drive mechanism 111 and the connecting rod 133, as well as the second drive mechanism 112 and the connecting rod 133, can move freely in three rotational degrees of freedom. Because the output shaft of the first drive mechanism 111 extends along the second direction, and the first rotating shaft is perpendicular to the second direction, transmission and steering can be performed without obstruction through the spherical fits of the first sphere 131 and the first ball seat 132, and the second sphere and the second ball seat 134. The connecting assembly 130, designed according to the above spherical fit method, is a key component for achieving transmission through two three-degree-of-freedom spherical pairs. The power assembly 110 connects the lever mechanism 121 and the first drive mechanism 111 through this connecting assembly 130. Increasing the mass of the power assembly 110 does not lead to an increase in the inertia of the output force. Furthermore, the connecting assembly 130 minimizes the mutual interference between different operating force outputs / displacements that drive the joystick mechanism 121 to rotate around the first and second rotating axes, ensuring that when only the first drive mechanism 111 drives the joystick mechanism 121 to rotate around the first rotating axis x, the joystick mechanism 121 does not rotate relative to the second rotating axis y; and when only the second drive mechanism 112 drives the joystick mechanism 121 to rotate around the second rotating axis y, the joystick mechanism 121 does not rotate relative to the first rotating axis x.

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

[0081] FIG. 8 This is an assembly diagram of the connecting components shown according to some embodiments of this specification. For example... FIG. 8As shown, in some embodiments, the first ball seat 132 includes a first base 1322 and a first mating member 1321; the first mating member 1321 includes a first mating portion 13211 and a second mating portion 13212, which can be joined to form a first concave spherical surface that mates with the first sphere 131. The first sphere 131 and the first concave spherical surface are in spherical fit. Similarly, the second ball seat 134 includes a second base and a second mating member; the second mating member includes a third mating portion and a fourth mating portion, which can be joined to form a second concave spherical surface that mates with the second sphere. The second sphere and the second concave spherical surface are in spherical fit. In some embodiments, the first mating part 13211 and the second mating part 13212 can be spliced ​​together to form the first mating member 1321 (such as an outer sleeve fitted over the first sphere 131, the inner part of which forms a first concave spherical surface), and the third mating part and the fourth mating part can be spliced ​​together to form the second mating member (such as an outer sleeve fitted over the second sphere, the inner part of which forms a second concave spherical surface).

[0082] In some embodiments, after the first sphere 131 and the first mating component 1321 are installed together, the first mating component 1321 is assembled onto the first base 1322. In some embodiments, after the second sphere and the second mating component are installed together, the second mating component is assembled onto the second base. By setting the connection between the first sphere 131 and the first ball seat 132, and the connection between the second sphere and the second ball seat 134, both are assembled. The first mating component 1321 is split and processed before being fitted with the first sphere 131, and then the first mating component 1321 is assembled into the first ball seat 132. Similarly, the second mating component is split and processed before being fitted with the second sphere, and then the second mating component is assembled into the second ball seat 134. This assembly method is convenient. In addition, this assembly method ensures that the components are not squeezed or thermally deformed after assembly. As long as the components are processed to the design precision, the requirements for smoothness and no gaps can be achieved. Furthermore, this allows the spherical mating structure to have the advantages of a larger clamping angle and smaller gaps.

[0083] FIG. 9 This is an exploded view of the operating components and connecting components shown in some embodiments of this specification. FIG. 10 This is an assembly diagram of the power assembly, control assembly, and connection assembly according to some embodiments of this specification. For example... FIG. 9 and FIG. 10As shown, in some embodiments, the first drive mechanism 111 includes a first reducer 113, which is configured according to the embodiments described above. The joystick mechanism 121 includes an adapter frame 1212 and a joystick 1211, which includes an operating part 12111 and an adapter part 12112. When the joystick mechanism 121 is configured according to the embodiments described above, the connecting assembly 130 can drively connect the first drive mechanism 111 and the joystick mechanism 121 in the following manner: The connecting assembly 130 drivesly connects the second wheel 1132 of the first reducer 113 to the adapter part 12112. In some embodiments, the second ball is connected to the second wheel 1132, and the first ball 131 is connected to the adapter part 12112. In some embodiments, the first ball 131 and the second ball may be provided with a connecting structure, such as a threaded structure or a snap-fit ​​structure. In some embodiments, the second ball and the second wheel 1132 can be connected by a detachable method such as snap-fit ​​or threaded connection. In some embodiments, the first sphere 131 and the adapter 12112 can be connected by a detachable method such as snap-fit ​​or threaded connection.

[0084] The rotation of the second wheel 1132 drives the connecting rod 133 to move, and the movement of the connecting rod 133 causes the adapter 12112 to rotate around the first axis x. Since the rotation of the second wheel 1132 does not cause the connecting rod 133 to move in a single direction, and the direction of movement of the connecting rod 133 is not the same as the direction of rotation of the adapter 12112, the spherical engagement between the first ball 131 and the first ball seat 132, and the spherical engagement between the second ball and the second ball seat 134, ensure that the connecting assembly 130 stably converts the rotational power of the second wheel 1132 into the power to drive the adapter 12112 to rotate around the first axis x.

[0085] FIG. 11 This is an exploded view of the operating device shown according to some embodiments of this specification. For example... FIG. 11 As shown, in some embodiments, the operating device 100 further includes a housing 140, with an inner cavity formed within the housing 140. The housing 140 is fixedly connected to the power assembly 110, and at least a portion of the power assembly 110, the operating assembly 120, and the connecting assembly 130 are all located within the inner cavity. In some embodiments, at least a portion of the power assembly 110 located in the second inner cavity may include a first drive mechanism 111 and a power output component of a second drive structure. By providing the housing 140, the housing structure 1221 of the housing 140 can protect at least a portion of the power assembly 110 (such as the first reducer 113 and the second reducer 114), the operating assembly 120, and the connecting assembly 130, preventing external dust, water stains, etc., from affecting the operation of these components, and also protecting the operator from injury caused by these components during operation.

[0086] In some embodiments, the housing 140 can be mounted onto the base plate 115 to shield the entire first reducer 113 and the second reducer 114, preventing foreign objects from entering the first reducer 113 and / or the second reducer 114 and affecting their normal operation, while also preventing foreign objects from getting caught in the rotating parts of the first reducer 113 and / or the second reducer 114 and injuring the operator. In some embodiments, the housing 140 and the base plate 115 can be detachably connected by means of snap-fit ​​or threaded connection. For example, the housing 140 is mounted onto the base plate 115 by a third screw 141.

[0087] In some embodiments, the operating device 100 can be assembled according to the following process. It should be noted that the following process is merely an illustrative example and does not constitute a limitation on this application. FIG. 11 As shown, the base plate 115 is mounted onto the fixing structure of the power assembly 110 using the first screw 116, such as onto the fixing housing of the first drive mechanism 111 and the fixing housing of the second drive mechanism 112. The second wheel 1132 of the first reducer 113 and the fourth wheel 1142 of the second reducer 114 are both mounted onto the base plate 115. The first wheel 1131 of the first reducer 113 is mounted onto the output shaft of the first motor 1111, and the third wheel 1141 of the second reducer 114 is mounted onto the output shaft of the second motor 1121. A first transmission belt 1133 is then fitted between the first wheel 1131 and the second wheel 1132, and a second transmission belt 1143 is fitted between the third wheel 1141 and the fourth wheel 1142. The adapter 12112 is mounted onto the adapter frame 1212 via the second bearing 124, and the adapter frame 1212 is mounted onto the fixed base 122 via the first bearing 123. The first ball 131 of the connecting assembly 130 is connected to the adapter 12112. The second ball of the connecting assembly 130 is connected to the second wheel 1132. The insertion part 1224 of the housing 1221 of the fixed base 122 is inserted into the slot 11421 of the fourth wheel 1142, and the housing 1221 is fixed to the base plate 115 by tightening the second screw 125. In this way, the power assembly 110, the control assembly 120, and the connecting assembly 130 can be assembled as follows: FIG. 12 The state shown. Further, as... FIG. 13 As shown, the housing 140 is fixed to the base plate 115 by the third screw 141. Finally, the locking cover 12113 is attached to one end of the operating part 12111 of the lever 1211, and the other end of the operating part 12111 is assembled to the adapter part 12112. For example, the operating part 12111 passes through the adapter part 12112 and is locked with a nut 126. Other structures can be mounted on one end of the operating part 12111 via the locking cover 12113.

[0088] FIG. 14This is a schematic diagram showing the installation position of the operating device according to some embodiments of this specification. For example... FIG. 14 As shown, in some embodiments, the output shafts of the first drive mechanism 111 and the second drive mechanism 112 are oriented towards the human body. When the control device 100 is used in an aircraft simulation training device, the control device 100 needs to be positioned between the operator's legs. By designing the specific structure of the control component 120 according to the above technical solution, the size of the drive mechanism can be increased only in the opposite direction of the second direction, ensuring that the structure of the control device 100 between the operator's legs and groin is minimized, and the user comfort is optimized. Specifically, the rear-mounted (oriented away from the operator) power component 110 avoids the left and right sides of the operator's thighs and groin, and theoretically, the power component 110 can be extended indefinitely (oriented away from the operator) without affecting the control experience. The front-mounted (oriented towards the operator) control component 120 ensures that the structure between the operator's legs and groin is minimized when the control component 120 is set, and the user comfort is optimized.

[0089] According to the control device provided in the embodiments of this specification, the power component 110 is connected to the control component 120 directly through the connecting component 130. The power component 110 is in a fixed state and will not move with the control component 120, which effectively reduces the volume of the control device 100 and the inertia of the control component 120. This makes the force of the joystick mechanism 121 rotating around the first axis x and the force of the joystick mechanism 121 rotating around the second axis y approximately equal when using the same power source to produce the same amount of power output.

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

[0091] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0092] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0093] Similarly, it should be noted that, in order to simplify the descriptions disclosed herein and thus aid in the understanding of one or more embodiments, the foregoing description of embodiments in this specification sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0094] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and are considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A steering device characterized by comprising: The utility model relates to a kind of power components, including first drive mechanism and second drive mechanism; Manipulation component, including lever mechanism and fixed seat; The lever mechanism can be rotatably arranged on the fixed seat along the first rotation axis and the second rotation axis, the power of the first drive mechanism provides the lever mechanism with the force of rotating around the first rotation axis, the power of the second drive mechanism provides the lever mechanism with the force of rotating around the second rotation axis;The first rotation axis and the second rotation axis are different in extension direction; Connecting component is drivingly connected between the first drive mechanism and the lever mechanism to transmit the power of the first drive mechanism to the lever mechanism and provide the lever mechanism with the force of rotating around the first rotation axis. The first drive mechanism and the second drive mechanism are arranged in a first direction, and the output shaft of the first drive mechanism and the output shaft of the second drive mechanism extend in a second direction.

2. The steering device according to claim 1, characterized in that, The first direction is perpendicular to the second direction, the first rotation axis is perpendicular to the first direction, the first rotation axis is perpendicular to the second direction, and the second rotation axis is parallel to the second direction.

3. The steering device according to claim 2, characterized in that, The first rotation axis and the second rotation axis are arranged intersecting or staggered.

4. The steering device according to claim 3, characterized in that, The first drive mechanism includes a first motor and a first speed reducer, and the first speed reducer is drivingly connected between the output shaft of the first motor and the connecting component.

5. The steering device of claim 1, wherein The second drive mechanism includes a second motor and a second speed reducer, and the second speed reducer is drivingly connected between the output shaft of the second motor and the lever mechanism. The first speed reducer includes a first pulley and a second pulley drivingly connected, the diameter of the first pulley is smaller than that of the second pulley, the first pulley is connected with the output shaft of the first motor, and the second pulley is drivingly connected with the connecting component.

6. The steering device according to claim 5, characterized in that The second speed reducer includes a third pulley and a fourth pulley drivingly connected, the diameter of the third pulley is smaller than that of the fourth pulley, the third pulley is connected with the output shaft of the second motor, and the fourth pulley is drivingly connected with the lever mechanism. The power component further includes a base plate, at least two mounting holes and at least two mounting seats are provided on the base plate, the second pulley is rotatably arranged on the base plate through one of the mounting seats, and the fourth pulley is rotatably arranged on the base plate through another one of the mounting seats.

7. The steering device according to claim 6, characterized in that The first pulley and the second pulley are connected by a first transmission belt.

8. The steering device of claim 6, wherein The third pulley and the fourth pulley are connected by a second transmission belt. The lever mechanism includes an adapter frame and a lever, the lever is rotatably connected to the adapter frame along a first rotation axis, the adapter frame is rotatably connected to the fixed seat along a second rotation axis, the lever is connected with the connecting component, and the adapter frame is drivingly connected with the second drive mechanism.

9. The steering device of claim 1, wherein The adapter frame is connected to the fixed seat by a first bearing.

10. The steering device according to claim 9, characterized in that, ​ 11. The steering device according to claim 9, characterized in that, The operating rod comprises an operating part and an adapter part, the operating part is installed on the adapter part, the adapter part is connected to the adapter frame through a second bearing, and the adapter part is connected with the connecting assembly; the connecting assembly drives the adapter part to rotate around a first rotating shaft, so as to drive the operating part to rotate around the first rotating shaft.

12. The steering device of claim 9, wherein The fixed seat comprises a shell, a through hole is arranged on the shell, an accommodating cavity is formed in the shell, the adapter frame is arranged in the accommodating cavity, and part of the operating rod is arranged in the accommodating cavity; the operating rod is partially exposed outside the accommodating cavity through the through hole.

13. The steering device according to claim 12, characterized in that, The fixed seat comprises a plurality of plug-in parts arranged at one end of the shell. The power assembly further comprises a base plate, and the plurality of plug-in parts are fixed to the base plate.

14. The steering device according to claim 13, characterized in that, The second driving mechanism comprises a second motor and a second speed reducer, the second speed reducer is drivingly connected between an output shaft of the second motor and the operating rod mechanism; the second speed reducer comprises a third disc and a fourth disc drivingly connected, the diameter of the third disc is smaller than that of the fourth disc, the third disc is connected with the output shaft of the second motor, and the fourth disc is drivingly connected with the operating rod mechanism; The fourth disc is provided with a plurality of insertion grooves arranged at intervals along the circumferential direction of the fourth disc, and each insertion groove extends along the circumferential direction of the fourth disc; the fourth disc is rotatably arranged on the base plate; and the plurality of plug-in parts are respectively inserted into the plurality of insertion grooves. When the fourth disc rotates, the insertion grooves rotate relative to the plug-in parts.

15. The steering device of claim 1, wherein, The connecting assembly comprises a first ball seat, a first ball, a connecting rod, a second ball seat and a second ball, the connecting rod connects the first ball seat and the second ball seat, the first ball is arranged in the first ball seat and is in spherical surface cooperation with the first ball seat, the second ball is arranged in the second ball seat and is in spherical surface cooperation with the second ball seat, the second ball is connected with the first driving mechanism, and the first ball is connected with the operating rod mechanism.

16. The steering device of claim 15, wherein, One end of the connecting rod is threadedly connected with the first ball seat, and the other end of the connecting rod is threadedly connected with the second ball seat.

17. The steering device of claim 15, wherein, The first driving mechanism comprises a first motor and a first speed reducer, the first speed reducer is drivingly connected between an output shaft of the first motor and the connecting assembly; The first speed reducer comprises a first disc and a second disc drivingly connected, the diameter of the first disc is smaller than that of the second disc, and the first disc is connected with the first motor; The operating rod mechanism comprises an adapter frame and an operating rod, the operating rod is rotatably connected with the adapter frame along a first rotating shaft, the adapter frame is rotatably connected with the fixed seat along a second direction, and the adapter frame is connected with the second driving mechanism; The operating rod comprises an operating part and an adapter part, the operating part is installed on the adapter part, the adapter part is rotatably connected to the adapter frame along a first rotating shaft; The connecting assembly drivingly connects the adapter part and the second disc; the second ball is connected with the second disc, and the first ball is connected with the adapter part.

18. The handling apparatus of claim 1, wherein, The steering device further comprises a housing, an inner cavity is formed in the housing, the housing is fixedly connected with the power assembly, at least part of the power assembly, the steering assembly and the connecting assembly are located in the inner cavity.

19. A handling system, characterised in that, The steering device comprises a steering device according to any one of claims 1-18 and a controller. The controller is used for controlling the power output by the power assembly of the steering device.

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