Manipulation device and manipulation system

Abstract

A manipulation device (100), comprising: a power assembly (110), comprising a first driving mechanism (111) and a second driving mechanism (112); a manipulation assembly (120), comprising a joystick mechanism (121) and a fixed base (122), wherein the joystick mechanism (121) is rotatably arranged on the fixed base (122) along a first rotation axis (x) and a second rotation axis (y), the power of the first driving mechanism (111) provides the joystick mechanism (121) with a force for rotating around the first rotation axis (x), the power of the second driving mechanism (112) provides the joystick mechanism (121) with a force for rotating around the second rotation axis (y), and the extension directions of the first rotation axis (x) and of the second rotation axis (y) are different; and a connecting assembly (130), transmittingly connected between the first driving mechanism (111) and the joystick mechanism (121), so as to transmit the power of the first driving mechanism (111) to the joystick mechanism (121) to provide the joystick mechanism (121) with the force for rotating around the first rotation axis (x).

Description

A control device and control system Technical Field

[0001] This specification relates to the field of analog control, and in particular to a control device and control system. Background Technology

[0002] Control devices (such as joysticks) can be used in a variety of simulation training or gaming scenarios. For example, in simulation training equipment, operators use joysticks to simulate controlling aircraft for training; and in gaming equipment, operators can use joysticks on a game controller to control characters, vehicles, aircraft, etc.

[0003] When operating simulation training equipment or gaming equipment using control devices (such as joysticks), the key to the design of control devices lies in how to enable operators to better perceive the real-time simulation / game scene so that they can make more timely and accurate feedback actions. Summary of the Invention

[0004] This specification provides an embodiment of a control device, comprising: a power assembly including a first drive mechanism and a second drive mechanism; a control assembly including a joystick mechanism and a fixed base; the joystick mechanism is rotatably mounted on the fixed base along a first axis and a second axis, the power of the first drive mechanism provides the joystick mechanism with a force to rotate about the first axis, and the power of the second drive mechanism provides the joystick mechanism with a force to rotate about the second axis; the first axis and the second axis extend in different directions; a connecting assembly is drively connected between the first drive mechanism and the joystick mechanism to transmit the power of the first drive mechanism to the joystick mechanism to provide the joystick mechanism with a force to rotate about the first axis.

[0005] In some embodiments, the first drive mechanism and the second drive mechanism are stacked along a first direction, and the output shafts of the first drive mechanism and the second drive mechanism both extend along a second direction.

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

[0007] In some embodiments, the first rotating shaft and the second rotating shaft are arranged intersectingly or staggeredly.

[0008] In some embodiments, the first drive mechanism includes a first motor and a first reducer, the first reducer being driven between the output shaft of the first motor and the connecting assembly; and / or, 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.

[0009] In some embodiments, the first reducer includes a first disc and a second disc connected in transmission, the diameter of the first disc being smaller than the diameter of the second disc, the first disc being connected to the output shaft of the first motor, and the second disc being connected in transmission to the connecting assembly; and / or, the second reducer includes a third disc and a fourth disc connected in transmission, the diameter of the third disc being smaller than the diameter of the fourth disc, the third disc being connected to the output shaft of the second motor, and the fourth disc being connected in transmission to the lever mechanism.

[0010] In some embodiments, the power assembly further includes a base plate having at least two mounting holes and at least two mounting seats, the second wheel being rotatably mounted on the base plate via one of the mounting seats, and the fourth wheel being rotatably mounted on the base plate via the other mounting seat; the output shaft of the first drive mechanism passes through one of the mounting holes, and the output shaft of the second drive mechanism passes through the other mounting hole.

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

[0012] In some embodiments, the joystick mechanism includes an adapter frame and a joystick, the joystick being rotatably connected to the adapter frame along a first axis, the adapter frame being rotatably connected to the fixed base along a second axis, the joystick being drive-connected to the connecting assembly, and the adapter frame being drive-connected to the second drive mechanism.

[0013] In some embodiments, the adapter is connected to the mounting base via a first bearing.

[0014] In some embodiments, the joystick includes an operating part and an adapter part. The operating part is mounted on the adapter part, and the adapter part is connected to the adapter frame via a second bearing. The adapter part is connected to the connecting assembly. The connecting assembly drives the adapter part to rotate around a first rotating shaft, thereby driving the operating part to rotate around the first rotating shaft.

[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] Figure 1A is a structural block diagram of the operating device according to some embodiments of this specification;

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

[0027] Figure 2A is a schematic diagram of the power assembly according to some embodiments of this specification;

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

[0029] Figure 3 is another structural schematic diagram of the operating device according to some embodiments of this specification;

[0030] Figure 4 is an exploded view of a power assembly according to some embodiments of this specification;

[0031] Figure 5A is a schematic diagram of the installation of the first drive mechanism and the second drive mechanism according to some embodiments of this specification;

[0032] Figure 5B is a schematic diagram of the structure of the first drive mechanism and the second drive mechanism according to some embodiments of this specification;

[0033] Figure 5C is a schematic diagram of the installation of the first drive mechanism and the second drive mechanism according to some other embodiments of this specification;

[0034] Figure 5D is a structural schematic diagram of the first and second drive mechanisms according to some other embodiments of this specification;

[0035] Figure 6 is an exploded view of the manipulation components shown according to some embodiments of this specification;

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

[0037] Figure 7B is an exploded view of a connection assembly shown according to some embodiments of this specification;

[0038] Figure 8 is an assembly diagram of the connecting components according to some embodiments of this specification;

[0039] Figure 9 is an exploded view of the operating components and connecting components according to some embodiments of this specification;

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

[0041] Figure 11 is an exploded view of the operating device according to some embodiments of this specification;

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

[0043] Figure 13 is a schematic diagram of the assembly of the operating device according to some embodiments of this specification;

[0044] Figure 14 is a schematic diagram of 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] Figure 1A is a structural block diagram of the control device according to some embodiments of this specification, and Figure 1B is a structural schematic diagram of the control device according to some embodiments of this specification. As shown in Figures 1A and 1B, 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 rotation axis x and a second rotation axis y. The power of the first drive mechanism 111 provides the joystick mechanism 121 with a force to rotate about the first rotation axis x, and the power of the second drive mechanism 112 provides the joystick mechanism 121 with a force to rotate about the second rotation axis y. The first rotation axis x and the second rotation axis y extend in different directions. The connecting assembly 130 is drively connected between the first drive mechanism 111 and the joystick mechanism 121 to transmit the power of 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 generating 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 it. For more specific details about the structure of the power assembly 110, please refer to the relevant descriptions in Figures 2A-5D below.

[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 relevant description in Figure 2B below. For more specific details regarding the structure of the control assembly 120, please refer to the relevant description in Figure 6 below. 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 relevant descriptions in Figures 7A-8 below.

[0057] Figure 2A is a schematic diagram of the power assembly according to some embodiments of this specification. As shown in Figure 2A, 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. Figure 2B is a schematic diagram of the rotation of a joystick mechanism according to some embodiments of this specification. As shown in Figure 2B, in some embodiments, the first axis x is perpendicular to the second axis y. The first axis x is perpendicular to both the first and second directions, that is, the first axis x is perpendicular to both the first and second directions. The second axis is parallel to the second direction. By setting the second 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 axis y to the joystick mechanism 121. In other embodiments, the first axis x and the second axis y may not be perpendicular, such as the angle between the first axis x and the second axis y being 45°, 60°, 85°, etc.

[0059] In some embodiments, as shown in FIG2B, the first rotating shaft x and the second rotating shaft y are arranged alternately, that is, the first rotating shaft x and the second rotating shaft y do not intersect. However, such an arrangement will result in inconsistent rotation strokes and radii of the first rotating shaft x and the second rotating shaft y. In some embodiments, in order to ensure that the rotation strokes and radii of the first rotating shaft x and the second rotating shaft y are consistent, as shown in FIG1B, the first rotating shaft x and the second rotating shaft y are arranged intersecting, with the first rotating shaft x intersecting the second rotating shaft y perpendicularly.

[0060] Figure 3 is another structural schematic diagram of the operating device according to some embodiments of this specification. As shown in Figure 3, 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, the part in the dashed box in Figure 3 is only increased in size in the opposite direction of the second direction 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 details regarding reducers, please refer to the following descriptions of Figures 4-5B.

[0062] Figure 4 is an exploded view of a power assembly according to some embodiments of this specification; Figure 5A is a structural schematic diagram of a first drive mechanism and a second drive mechanism according to some embodiments of this specification; and Figure 5B is a structural schematic diagram of a first drive mechanism and a second drive mechanism according to some embodiments of this specification.

[0063] As shown in Figures 4-5B, 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 and 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. As shown in Figures 4-5B, the base plate 115 is provided with 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] Figure 5C is an installation schematic diagram of the first and second drive mechanisms according to some embodiments of this specification, and Figure 5D is a structural schematic diagram of the first and second drive mechanisms according to some embodiments of this specification. Figures 5C and 5D show the first drive mechanism 111 and the second drive mechanism 112 without the reducer. As shown in Figures 5C and 5D, a first coupling disk 1134 and a second coupling disk 1144 are provided on the base plate 115. Both the first coupling disk 1134 and the second coupling disk 1144 are rotatably mounted 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 and the second motor 1121 and the joystick mechanism 121 more convenient and reliable.

[0070] Figure 6 is an exploded view of the control assembly according to some embodiments of this specification. As shown in Figure 6, 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 is provided with a mounting shaft extending along the first axis of rotation x. The adapter frame 1212 is rotatably connected to a 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, referring to Figures 4, 6, and 10, when the second drive mechanism 112 includes a second reducer 114, and the second reducer 114 is configured according to the embodiments described above, the fourth wheel 1142 of the second reducer 114 has 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] Figure 7A is a schematic diagram of the connecting assembly according to some embodiments of this specification, and Figure 7B is an exploded view of the connecting assembly according to some embodiments of this specification. As shown in Figures 7A and 7B, 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 lever 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] Figure 8 is a schematic diagram of the assembly of the connecting components according to some embodiments of this specification. As shown in Figure 8, 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 have a 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 have a 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] Figure 9 is an exploded view of the control assembly and connecting assembly according to some embodiments of this specification, and Figure 10 is an assembly schematic diagram of the power assembly, control assembly, and connecting assembly according to some embodiments of this specification. As shown in Figures 9 and 10, in some embodiments, when the first drive mechanism 111 includes a first reducer 113, which is configured according to the embodiments described above, and the joystick mechanism 121 includes a transition frame 1212 and a joystick 1211, with the joystick 1211 including a control part 12111 and a transition part 12112, and 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 drively connects the second wheel 1132 of the first reducer 113 to the transition part 12112. In some embodiments, the second ball is connected to the second wheel 1132, and the first ball 131 is connected to the transition part 12112. In some embodiments, the first sphere 131 and the second sphere may be provided with a connecting structure, such as a threaded structure or a snap-fit ​​structure. In some embodiments, the second sphere 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] Figure 11 is an exploded view of the operating device according to some embodiments of this specification. As shown in Figure 11, 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 control 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 limit the scope of this application. As shown in FIG11, the base plate 115 is mounted to the fixing structure of the power assembly 110 using the first screw 116, such as to 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 to the base plate 115. The first wheel 1131 of the first reducer 113 is mounted to the output shaft of the first motor 1111, and the third wheel 1141 of the second reducer 114 is mounted to the output shaft of the second motor 1121. Then, a first transmission belt 1133 is 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 mounting 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 mounting 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 into the state shown in FIG. 12. Further, as shown in FIG13, the housing 140 is fixed to the base plate 115 by the third screw 141. Finally, the locking cover 12113 is disposed on 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 the nut 126. Other structures can be mounted on one end of the operating part 12111 through the locking cover 12113.

[0088] Figure 14 is a schematic diagram of the installation position of the control device according to some embodiments of this specification. As shown in Figure 14, in some embodiments, the output shaft of the first drive mechanism 111 and the output shaft of 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 description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine 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 a single embodiment 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 control device, characterized in that, include: The power assembly includes a first drive mechanism and a second drive mechanism; The control components include a joystick mechanism and a mounting base; The joystick mechanism is rotatably mounted on the fixed base along a first axis and a second axis. The power of the first drive mechanism provides the joystick mechanism with a force to rotate around the first axis, and the power of the second drive mechanism provides the joystick mechanism with a force to rotate around the second axis. The first axis and the second axis extend in different directions. A connecting component is drively connected between the first drive mechanism and the joystick mechanism to transmit power from the first drive mechanism to the joystick mechanism, thereby providing the joystick mechanism with a force for rotation about the first axis.

2. The operating device according to claim 1, characterized in that, The first drive mechanism and the second drive mechanism are stacked along a first direction, and the output shafts of the first drive mechanism and the second drive mechanism both extend along a second direction.

3. The operating device according to claim 2, characterized in that, The first direction is perpendicular to the second direction; the first axis of rotation is perpendicular to the second axis of rotation, the first axis of rotation is perpendicular to the first direction, the first axis of rotation is perpendicular to the second direction, and the second axis of rotation is parallel to the second direction.

4. The operating device according to claim 3, characterized in that, The first rotating shaft and the second rotating shaft are arranged intersectingly or alternately.

5. The operating device according to claim 1, characterized in that, The first drive mechanism includes a first motor and a first reducer, wherein the first reducer is drively connected between the output shaft of the first motor and the connecting assembly; and / or, The second drive mechanism includes a second motor and a second reducer, with the second reducer being drively connected between the output shaft of the second motor and the control lever mechanism.

6. The operating device according to claim 5, characterized in that, The first reducer includes a first disc and a second disc connected in a transmission connection. The diameter of the first disc is smaller than the diameter of the second disc. The first disc is connected to the output shaft of the first motor, and the second disc is connected in a transmission connection to the connecting assembly; and / or, The second reducer includes a third wheel and a fourth wheel that are connected in a transmission connection. The diameter of the third wheel is smaller than the diameter of the fourth wheel. The third wheel is connected to the output shaft of the second motor, and the fourth wheel is connected in a transmission connection to the control lever mechanism.

7. The operating device according to claim 6, characterized in that, The power assembly further includes a base plate, on which at least two mounting holes and at least two mounting seats are provided. The second wheel is rotatably mounted on the base plate via one of the mounting seats, and the fourth wheel is rotatably mounted on the base plate via the other mounting seat. The output shaft of the first drive mechanism passes through one of the mounting holes, and the output shaft of the second drive mechanism passes through the other mounting hole.

8. The operating device according to claim 6, characterized in that, The first wheel and the second wheel are connected by a first transmission belt; The third and fourth wheel are connected by a second transmission belt.

9. The operating device according to claim 1, characterized in that, The joystick mechanism includes a transfer frame and a joystick. The joystick is rotatably connected to the transfer frame along a first axis, and the transfer frame is rotatably connected to the fixed base along a second axis. The joystick is connected to the connecting assembly, and the transfer frame is drively connected to the second drive mechanism.

10. The operating device according to claim 9, characterized in that, The adapter is connected to the fixed base via a first bearing.

11. The operating device according to claim 9, characterized in that, The joystick includes a control part and a transfer part. The control part is mounted on the transfer part, and the transfer part is connected to the transfer frame through a second bearing. The transfer part is connected to the connecting assembly. The connecting assembly drives the transfer part to rotate around a first rotating shaft, thereby driving the control part to rotate around the first rotating shaft.

12. The operating device according to claim 9, characterized in that, The mounting base includes a housing with a through hole and a receiving cavity formed inside the housing. The adapter is mounted inside the receiving cavity, and a portion of the control lever is located inside the receiving cavity. The control lever passes through the through hole and partially extends out of the receiving cavity.

13. The operating device according to claim 12, characterized in that, The fixing base includes a plurality of plug-in portions disposed at one end of the housing; The power assembly also includes a base plate, and the plurality of the plug-in portions are fixed to the base plate.

14. The operating device according to claim 13, characterized in that, The second drive mechanism includes a second motor and a second reducer. The second reducer is driven between the output shaft of the second motor and the control lever mechanism. The second reducer includes a third wheel and a fourth wheel that are driven together. The diameter of the third wheel is smaller than the diameter of the fourth wheel. The third wheel is connected to the output shaft of the second motor, and the fourth wheel is driven together with the control lever mechanism. The fourth wheel is provided with a plurality of slots spaced apart along the circumference of the fourth wheel, and each slot extends along the circumference of the fourth wheel; the fourth wheel is rotatably disposed on the base plate; the plurality of insertion parts are respectively inserted into the plurality of slots; When the fourth wheel rotates, the slot rotates relative to the insertion part.

15. The operating device according to claim 1, characterized in that, 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.

16. The operating device according to claim 15, characterized in that, One end of the connecting rod is threaded to the first ball seat, and the other end of the connecting rod is threaded to the second ball seat.

17. The operating device according to claim 15, characterized in that, The first drive mechanism includes a first motor and a first reducer, wherein the first reducer is drively connected between the output shaft of the first motor and the connecting assembly; The first reducer includes a first disc and a second disc connected by a transmission connection. The diameter of the first disc is smaller than the diameter of the second disc. The first disc is connected to the first motor. The joystick mechanism includes a transfer frame and a joystick. The joystick is rotatably connected to the transfer frame along a first axis of rotation. The transfer frame is rotatably connected to the fixed base along a second direction. The transfer frame is connected to the second drive mechanism. The joystick includes a control part and a transfer part. The control part is mounted on the transfer part, and the transfer part is rotatably connected to the transfer frame along a first rotating axis. The connecting assembly drives the adapter and the second wheel; the second ball is connected to the second wheel, and the first ball is connected to the adapter.

18. The operating device according to claim 1, characterized in that, The control device also includes a housing with an inner cavity formed therein. The housing is fixedly connected to the power assembly, and at least a portion of the power assembly, the control assembly, and the connection assembly are all located within the inner cavity.

19. A control system, characterized in that, Includes the operating device and controller as described in any one of claims 1-18; The controller is used to control the power output of the power component of the operating device.

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