Stylus-based shaft force feedback-free joystick input device

Abstract

This utility model discloses a stylus-based axisless force feedback joystick input device. The device includes: a base; a rocker arm assembly comprising: a rolling rocker arm with an insertion slot, and a pitch rocker arm fixedly connected to the base; an elastic connection between the rolling rocker arm and the pitch rocker arm, and an elastic connection between the pitch rocker arm and the base; the rocker arm assembly operably performs pitch and roll movements; a stylus, operably inserted into or removed from the insertion slot; the stylus, when inserted into the insertion slot, operably drives the rolling rocker arm and / or the pitch rocker arm to deflect relative to the vertical direction of the base; an angle sensor, which detects the rocker arm's swing angle; and a signal transmission module, which transmits the angle detected by the angle sensor. This design avoids the wear problems caused by long-term use of shafted structures, and features a simple structure, easy manufacturing, and low cost.

Description

Technical Field

[0001] This utility model relates to the field of control and remote control, and in particular to an axisless force feedback joystick input device based on a stylus. Background Technology

[0002] Game joysticks have always been an indispensable device for gamers. They are widely used in games such as flight simulators and driving simulators. Joystick devices are mostly expensive, complex in structure, and bulky. Moreover, they all use axle structures, which are prone to material wear and structural play after long-term use, affecting the gaming experience and reducing the product's lifespan. Utility Model Content

[0003] The purpose of this invention is to provide a shaftless force feedback joystick input device based on a stylus, which can transform a stylus with a gyroscope into an intelligent joystick device. The shaftless structure avoids the wear and tear problems that occur with shafted structures over long-term use. It has advantages such as simple structure, easy manufacturing, low cost, and high reliability. Furthermore, it can automatically return the joystick to center when not powered, and when powered, force feedback can be achieved through a motor.

[0004] To solve the above-mentioned technical problems, embodiments of this utility model provide an axisless force feedback joystick input device based on a stylus, comprising: a base;

[0005] A rocker arm assembly operably performs pitch and roll operations, the rocker arm assembly having: a rolling rocker arm with an insertion slot, and a pitch rocker arm fixedly connected to the base; an elastic connection between the rolling rocker arm and the pitch rocker arm, and an elastic connection between the pitch rocker arm and the base; the rocker arm assembly is operably oscillating with at least four degrees of freedom.

[0006] A stylus, which is operable to be inserted into or removed from the insertion slot; the stylus, when inserted into the insertion slot, operable to drive the rolling rocker arm and / or the pitch rocker arm to deflect relative to the vertical direction of the base;

[0007] An angle sensor, the angle sensor detecting the tilt angle of the stylus; and

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

[0009] Compared with the prior art, this utility model embodiment uses the elastic connection between the rolling rocker arm and the pitch rocker arm, and the elastic connection between the pitch rocker arm and the base. The stylus can drive the rocker arm assembly to rock, which is a shaftless rocking structure. It can automatically return to center. The structure is simple and the function is reliable. It can effectively avoid the wear and tear problem caused by the long-term use of the shafted rocker structure, and also allow users to have multiple input experiences with one set of devices.

[0010] In one embodiment, the rolling rocker arm has a main support rod, and a first branch rolling rocker and a second branch rolling rocker connected to the main support rod. The main support rod has the insertion groove; and the first branch rolling rocker and the second branch rolling rocker form a first preset angle.

[0011] The pitch rocker arm has a first branch pitch rocker and a second branch pitch rocker that are connected in a cross-connection, wherein the extension direction of the second branch pitch rocker forms a second preset angle with the branch rolling rocker; the first branch pitch rocker extends along a first direction, and the second branch pitch rocker extends along a second direction;

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

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

[0014] In one embodiment, the joystick input device further includes:

[0015] A pair of support legs, the support legs being disposed on the base and located on both sides of the extension direction of the first support rolling rocker arm;

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

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

[0018] The support rod operably drives the rolling rocker arm and / or the pitch rocker arm to deflect relative to the vertical direction of the base; when the main support rod deflects towards the second direction, the first branch rolling rocker arm and the second branch rolling rocker arm cause the first elastic element to deform, and the first elastic element provides a restoring force to pull the first branch rolling rocker arm and the second branch rolling rocker arm back to their original positions; when the main support rod deflects towards the first direction, the second branch pitch rocker arm causes the second elastic element to deform, and the second elastic element provides a restoring force to reset the rolling rocker arm and the pitch rocker arm.

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

[0020] In one embodiment, each of the first elastic elements includes: a pair of first spring sheets, the pair of first spring sheets being arranged crosswise, and the two ends of each first spring sheet being connected to the rolling rocker arm and the pitch rocker arm, respectively.

[0021] In one embodiment, the rolling rocker arm has a first connecting arm disposed at the free end of the first branch rolling rocker arm, and a second connecting arm disposed at the free end of the second branch rolling rocker arm;

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

[0023] The first connecting arm, the second connecting arm, the third connecting arm, and the fourth connecting arm are inclined relative to the horizontal plane; each end of the first connecting arm, the second connecting arm, the third connecting arm, and the fourth connecting arm is connected to a different first spring piece.

[0024] In one embodiment, each of the second elastic elements includes: a pair of second spring sheets, the pair of second spring sheets being arranged crosswise; the two ends of each second spring sheet are respectively connected to the support leg and the pitch rocker arm.

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

[0026] Each of the pair of outriggers has a seventh connecting arm and an eighth connecting arm;

[0027] The fifth, sixth, seventh, and eighth connecting arms are each connected to a different second spring at both ends.

[0028] In one embodiment, the joystick input device further includes:

[0029] A first motor is connected to either the first branch rolling rocker or the second branch rolling rocker.

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

[0031] The main control module is electrically connected to the first motor and the second motor, and is used to control the start and stop of the first motor and / or the second motor after receiving an external signal; the first motor provides force feedback to the rolling rocker arm when it starts, and the second motor provides force feedback to the pitch rocker arm when it starts.

[0032] In one embodiment, the first branch roll rocker and the second branch roll rocker are arc-shaped away from both ends of the first branch pitch rocker;

[0033] The line connecting the free end of the first branch rolling rocker and the free end of the second branch rolling rocker is in the first direction. Attached Figure Description

[0034] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0035] Figure 1 This is a structural schematic diagram of a rocker input device without axial force feedback according to an embodiment of the present invention;

[0036] Figure 2 This is an exploded view of a rocker input device without axial force feedback according to an embodiment of the present invention;

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

[0038] Figure 4 yes Figure 3 Top view in the middle;

[0039] Figure 5 yes Figure 4 Sectional view of AA;

[0040] Figure 6 This is a schematic diagram of the structure of the stylus swinging along a first direction in one embodiment of the present invention;

[0041] Figure 7 yes Figure 6 Top view in the middle;

[0042] Figure 8 yes Figure 7 Sectional view of BB;

[0043] Figure 9 This is a schematic diagram of the use of a shaftless force feedback joystick input device in one embodiment of this utility model;

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

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been presented in the various embodiments of this utility model to enable readers to better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0046] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0047] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0048] The embodiments of this utility model will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of this utility model. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of this utility model, but are merely illustrative of the essential spirit of the technical solution of this utility model.

[0049] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0050] The singular forms “a” and “the” used in this specification and the appended claims include plural references unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “and / or” unless otherwise expressly stated herein.

[0051] In the following description, in order to clearly demonstrate the structure and working method of this utility model, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0052] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0053] The first embodiment of this utility model relates to an axisless force feedback joystick input device 100 based on a stylus. The joystick input device 100 can be used in devices such as game flight simulations, professional gimbal camera operation (camera tracking, lens focusing), unmanned vehicle or drone operation, and professional auxiliary design (color adjustment, image or video post-processing). The purpose of this utility model is to design a force feedback base based on an axisless structure for the stylus, which can transform the stylus into an intelligent joystick input device and avoid the various problems caused by axised structures.

[0054] like Figure 1 , Figure 2 As shown, the joystick input device 100 includes: a base 1, a rocker arm assembly 2, a stylus 3, an angle sensor, and a signal transmission module. The rocker arm assembly operably performs pitch and roll operations. The rocker arm assembly 2 has: a rolling rocker arm 21 with an insertion slot 210, and a pitch rocker arm 22 fixedly connected to the base 1. The rolling rocker arm 21 and the pitch rocker arm 22 are elastically connected, and the pitch rocker arm 22 is elastically connected to the base 1. The rocker arm assembly 2 is operably oscillating with at least four degrees of freedom. The stylus 3 is operably inserted into or removed from the insertion slot 210. Insertion of the stylus 3 into the insertion slot 210 operably drives the rolling rocker arm 21 and / or the pitch rocker arm 22 to deflect relative to the vertical direction of the base 1. The angle sensor detects the oscillation angle of the stylus 3, and the signal transmission module is used to transmit the angle detected by the angle sensor. The angle sensor can be a gyroscope. When the stylus 3 is inserted into the insertion slot 210, the angle sensor's sensing function is activated. Shaking the stylus 3 moves the rocker arm assembly 2, and the angle sensor detects the angle of the stylus 3. This angle is then sent to the main control program via the signal transmission module. The main control program uses this angle information to control a professional gimbal camera (camera tracking, lens focusing), an unmanned vehicle or drone, or perform professional auxiliary design (color adjustment, image or video post-processing), thus realizing the joystick function of the stylus 3. This allows users to have multiple input experiences with a single device. The signal transmission module can be a Bluetooth module or a network connection module. Furthermore, through the elastic connection between the rolling rocker arm 21 and the tilt rocker arm 22, and the elastic connection between the tilt rocker arm 22 and the base 1, the stylus 3 can drive the rocker arm assembly 2 to shake, creating a shaftless rocker structure that automatically returns to center. This simple structure is reliable and effectively avoids the wear and tear problems that occur with shafted rocker structures over long-term use. Additionally, as... Figure 9As shown, the base 1 may also be equipped with a USB port for connecting to a user device. Alternatively, the joystick input device 100 may connect to the user device via Bluetooth or Wi-Fi. The USB port and Wi-Fi transmission module can also be used as signal transmission modules. The base 1 may also include a charging station or power supply.

[0055] Furthermore, such as Figure 2 As shown, the rolling rocker arm 21 has a main support rod 211, and a first branch rolling rocker arm 212 and a second branch rolling rocker arm 213 connected to the main support rod 211. The main support rod 211 has an insertion slot 210; and the first branch rolling rocker arm 212 and the second branch rolling rocker arm 213 form a first preset angle. The pitch rocker arm 22 has a first branch pitch rocker arm 221 and a second branch pitch rocker arm 222 that are cross-connected, wherein the extension direction of the second branch pitch rocker arm 222 forms a second preset angle with the branch rolling rocker arm; the first branch pitch rocker arm 221 extends along a first direction, and the second branch pitch rocker arm 222 extends along a second direction. The first branch rolling rocker arm 212 and the second branch rolling rocker arm 213 are elastically connected to the two ends of the first branch pitch rocker arm 221, and both ends of the second branch pitch rocker arm 222 are elastically connected to the base 1.

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

[0057] Furthermore, such as Figure 2As shown, the joystick input device 100 further includes: a pair of support legs 4, a pair of first elastic elements 5, and a pair of second elastic elements 6. The support legs 4 are mounted on the base 1 and located on both sides of the extending direction of the first branch rolling joystick 212. The two ends of the first branch pitch joystick 221 are respectively connected to the first branch rolling joystick 212 and the second branch rolling joystick 213 via the first elastic elements 5. The two ends of the second branch pitch joystick 222 are respectively connected to the pair of support legs 4 via the second elastic elements 6. The support rod can operably drive the rolling joystick 21 and / or the pitch joystick 22 to deflect relative to the vertical direction of the base 1. When the main support rod 211 deflects in the second direction, the first branch rolling rocker 212 and the second branch rolling rocker 213 cause the first elastic element 5 to deform, and the first elastic element 5 provides a restoring force to pull the first branch rolling rocker 212 and the second branch rolling rocker 213 back to their original positions; when the main support rod 211 deflects in the first direction, the second branch pitch rocker 222 causes the second elastic element 6 to deform, and the second elastic element 6 provides a restoring force to return the rolling rocker arm 21 and the pitch rocker arm 22 to their original positions. Specifically, when the stylus 3 is rocking, it can form different angles with the vertical line of the base 1, and the stylus 3 can rotate around the vertical line of the base 1. Figure 1 , Figure 4 , Figure 6 As shown, the first direction is the Y direction in the diagram, and the second direction is the X direction in the diagram, as... Figure 3 , Figure 4 , Figure 5 The diagram shows the user controlling the stylus 3 to swing to the right. At this time, the rolling rocker arm 21 causes the first elastic element 5 to deform. When the user moves away from the stylus 3, the first elastic element 5 causes the rolling rocker arm 21 to return to its original position. In other words, when the user controls the stylus 3 to swing in the second direction... Figure 3 , Figure 4 , Figure 5 The rocker arm 21 swings to the left or right, causing the first elastic element 5 to deform. For example... Figure 6 The image shows the forward-swinging state. The user controls the stylus 3 to swing in the back-and-forth direction, as shown... Figure 7 , Figure 8 When the stylus 3 swings in the first direction, the pitch rocker arm 22 causes the second elastic element 6 to deform. When the user removes the stylus 3, the second elastic element 6 causes the pitch rocker arm 22 and the roll rocker arm 21 to return to their original positions. Understandably, the stylus 3 can also be operated to swing in directions other than the first and second directions. Depending on the swing direction, the first elastic element 5 and the second elastic element 6 will undergo corresponding deformation.

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

[0059] In addition, such as Figure 2 As shown, each first elastic element 5 includes: a pair of first spring plates 51, the pair of first spring plates 51 are arranged crosswise, and the two ends of each first spring plate 51 are respectively connected to the rolling rocker arm 21 and the pitch rocker arm 22.

[0060] In addition, such as Figure 2 As shown, the rolling rocker arm 21 has a first connecting arm 214 disposed at the free end of the first branch rolling rocker arm 212, and a second connecting arm 215 disposed at the free end of the second branch rolling rocker arm 213. The pitch rocker arm 22 has a third connecting arm 223 and a fourth connecting arm 224 respectively connected to both ends of the first branch pitch rocker arm 221. The first connecting arm 214, the second connecting arm 215, the third connecting arm 223, and the fourth connecting arm 224 are inclined relative to the horizontal plane; both ends of the first connecting arm 214, the second connecting arm 215, the third connecting arm 223, and the fourth connecting arm 224 are connected to different first spring pieces 51. The first spring piece 51 can be a metal spring piece and can be disassembled and replaced. The damping of the rocker arm assembly 2 can be precisely adjusted by changing the thickness of the first spring piece 51, which can better simulate the operating feel.

[0061] In addition, such as Figure 2 As shown, each second elastic element 6 includes: a pair of second spring plates 61, which are arranged crosswise; the two ends of each second spring plate 61 are respectively connected to the support leg 4 and the pitch rocker arm 22. The second spring plate 61 can be a metal spring plate and can be disassembled and replaced. The damping of the rocker arm assembly 2 can be precisely adjusted by changing the thickness of the second spring plate 61, which can better simulate the operation feel.

[0062] Furthermore, such as Figure 2 As shown, the pitch rocker arm 22 has a fifth connecting arm 225 and a sixth connecting arm 226 that are respectively connected to both ends of the second branch pitch rocker arm 222. A pair of support legs 4 each have a seventh connecting arm 41 and an eighth connecting arm 42. Different second spring clips 61 are connected to both ends of the fifth connecting arm 225, the sixth connecting arm 226, the seventh connecting arm 41, and the eighth connecting arm 42.

[0063] Furthermore, such as Figure 1 and Figure 2As shown, the joystick input device 100 further includes: a main control module, a first motor 7, and a second motor 8. The first motor 7 is connected to either the first branch rolling joystick 212 or the second branch rolling joystick 213, and the second motor 8 is connected to the first branch pitch joystick 221. The main control module is electrically connected to the first motor 7 and the second motor 8, and is used to control the start and stop of the first motor 7 and / or the second motor 8 after receiving an external signal. The first motor 7 provides force feedback to the rolling joystick 21 when it starts, and the second motor 8 provides force feedback to the pitch joystick 22 when it starts. The first motor 7 is directly connected to the rolling joystick 21 through the first connecting rod 91, and the second motor 8 is connected to the pitch joystick 22 through the second connecting rod 92.

[0064] Furthermore, such as Figure 1 , Figure 2 As shown, the first branch roll rocker 212 and the second branch roll rocker 213 are arc-shaped, away from both ends of the first branch pitch rocker 221. The line connecting the free ends of the first branch roll rocker 212 and the second branch roll rocker 213 is in the first direction. Furthermore, the free ends of the first branch roll rocker 212 and the second branch roll rocker 213 are slightly away from the first branch pitch rocker 221.

[0065] When the joystick input device 100 is used in a non-force feedback device, in a non-force feedback game scenario, the user shakes the stylus 3 to transmit angle information to the main control program via the signal transmission module, thereby achieving the control function. During the shaking of the stylus 3, the rolling rocker arm 21 causes at least one of the first elastic element 5 and the second elastic element 6 to deform, and the stylus 3 deflects along the geometric center around which the first elastic element 5 and the second elastic element 6 are located. When the user's finger leaves the stylus 3, the elastic element will restore its deformation and drive the pitch rocker arm 22 and the rolling rocker arm 21 back to their initial state, completing the automatic return-to-center function.

[0066] When the joystick input device 100 is used in a device with force feedback, such as in a racing or airplane game scenario, the user shakes the stylus 3 to transmit angle information to the main control program via the signal transmission module, thus achieving the control function. Simultaneously, the main control program controls the first motor 7 and the second motor 8 to rotate in opposite directions according to the game scenario, applying feedback torque to the rocker arm assembly 2 via the first link 91 and the second link 92. For example... Figures 3-5 During the rolling maneuver, i.e., the swaying motion in the second direction, the main control program controls the rotation of the first motor 7 according to the game scenario, and applies a feedback torque to the rolling rocker arm 21 through the first linkage 91, completing the force feedback operation in the rolling state; for example Figures 6-8In the game, during pitch control (swinging in the first direction), the main control program controls the second motor 8 to rotate according to the game scenario, applying feedback torque to the pitch rocker arm 22 via the second linkage 92, thus completing the force feedback operation in the pitch state. When the stylus 3 swings in the direction between the first and second directions, the rolling rocker arm 21 causes the first elastic element 5 to deform, and the pitch rocker arm 22 causes the second elastic element 6 to deform. Both the first motor 7 and the second motor 8 rotate, correspondingly applying feedback force to the rolling rocker arm 21 and the pitch rocker arm 22. The first motor 7 and the second motor 8 work together to achieve force feedback function for stylus 3 operation in any direction within ±45 degrees. That is, the angle between the stylus 3 and the vertical line of the base 1 can vary from 0° to 45°, and the stylus 3 can rotate around the vertical line of the base 1. Of course, the angle between the stylus 3 and the vertical line of the base 1 can also be greater than 45°. The appropriate elasticity of the first elastic element 5 and the second elastic element 6 can be selected according to actual needs. In other words, it enables flight and driving operations within gaming devices; in force feedback scenarios, two motors can apply opposing forces to the pitch and roll arms respectively, achieving the effect of force feedback.

[0067] As can be seen from the above, a stylus with a gyroscope can be transformed into a smart joystick device. The use of a shaftless structure avoids the wear and tear problems associated with shafted structures over long-term use. It boasts advantages such as simple structure, easy manufacturing, low cost, and high reliability. Furthermore, the joystick can automatically return to center when not powered, and when powered, it can provide force feedback via a motor.

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

[0069] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

[0070] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A stylus-based, axisless force feedback joystick input device, characterized in that, include: Base; A rocker arm assembly operably performs pitch and roll operations, the rocker arm assembly having: a rolling rocker arm with an insertion slot, and a pitch rocker arm fixedly connected to the base; an elastic connection between the rolling rocker arm and the pitch rocker arm, and an elastic connection between the pitch rocker arm and the base; the rocker arm assembly is operably oscillating with at least four degrees of freedom. A stylus, which is operable to be inserted into or removed from the insertion slot; the stylus, when inserted into the insertion slot, operable to drive the rolling rocker arm and / or the pitch rocker arm to deflect relative to the vertical direction of the base; An angle sensor that detects the swing angle of the stylus; as well as A signal transmission module is used to transmit the angle detected by the angle sensor.

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

3. The stylus-based shaftless force feedback joystick input device according to claim 2, characterized in that, The joystick input device also includes: A pair of support legs, the support legs being disposed on the base and located on both sides of the extension direction of the first support rolling rocker arm; A pair of first elastic elements, wherein the two ends of the first branch pitch rocker are respectively connected to the first branch roll rocker and the second branch roll rocker through the first elastic elements; and A pair of second elastic elements, the two ends of the second branch pitch rocker are respectively connected to the pair of legs through the second elastic elements; The support rod operably drives the rolling rocker arm and / or the pitch rocker arm to deflect relative to the vertical direction of the base; when the main support rod deflects towards the second direction, the first branch rolling rocker arm and the second branch rolling rocker arm cause the first elastic element to deform, and the first elastic element provides a restoring force to pull the first branch rolling rocker arm and the second branch rolling rocker arm back to their original positions; when the main support rod deflects towards the first direction, the second branch pitch rocker arm causes the second elastic element to deform, and the second elastic element provides a restoring force to reset the rolling rocker arm and the pitch rocker arm.

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

5. The stylus-based shaftless force feedback joystick input device according to claim 3, characterized in that, Each of the first elastic elements includes: a pair of first spring plates, the pair of first spring plates being arranged crosswise, and the two ends of each first spring plate being connected to the rolling rocker arm and the pitch rocker arm, respectively.

6. The axisless force feedback joystick input device based on a stylus according to claim 5, characterized in that, The rolling rocker arm has a first connecting arm disposed at the free end of the first branch rolling rocker arm, and a second connecting arm disposed at the free end of the second branch rolling rocker arm. The pitch rocker arm has a third connecting arm and a fourth connecting arm that are respectively connected to both ends of the first branch pitch rocker arm; The first connecting arm, the second connecting arm, the third connecting arm, and the fourth connecting arm are inclined relative to the horizontal plane; each end of the first connecting arm, the second connecting arm, the third connecting arm, and the fourth connecting arm is connected to a different first spring piece.

7. The stylus-based shaftless force feedback joystick input device according to claim 6, characterized in that, Each of the second elastic elements includes: a pair of second spring sheets, which are arranged crosswise; the two ends of each second spring sheet are respectively connected to the support leg and the pitch rocker arm.

8. The stylus-based shaftless force feedback joystick input device according to claim 7, characterized in that, The pitch rocker arm has a fifth connecting arm and a sixth connecting arm that are respectively connected to both ends of the second branch pitch rocker arm; Each of the pair of outriggers has a seventh connecting arm and an eighth connecting arm; The fifth, sixth, seventh, and eighth connecting arms are each connected to a different second spring at both ends.

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

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

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