CN115230651B

CN115230651B - Adjustable pedal controller

Info

Publication number: CN115230651B
Application number: CN202210847763.4A
Authority: CN
Inventors: 耿继晨; 陈帅; 曹成; 龙玮洁; 柳明燚; 何文强; 吴凡; 顾加欢; 李海宝; 杨茜; 钱蕴娟
Original assignee: Lianyungang Jierui Electronics Co Ltd
Current assignee: Lianyungang Jierui Electronics Co Ltd
Priority date: 2022-07-19
Filing date: 2022-07-19
Publication date: 2024-03-26
Anticipated expiration: 2042-07-19
Also published as: CN115230651A

Abstract

The invention discloses an adjustable pedal controller, which comprises a yaw mechanism, a left pedal braking mechanism, a right pedal braking mechanism and a damper mechanism, wherein the yaw mechanism is connected with the left pedal braking mechanism; the yaw mechanism is used for realizing the yaw operation function of the foot controller; the left pedal braking mechanism and the right pedal braking mechanism are used for realizing the braking operation function and the pedal length adjusting function of the pedal controller, and are arranged on the yaw mechanism; the damper mechanism is used for realizing the damping adjustment function of the pedal controller, and is arranged on the yaw mechanism. The adjustable pedal controller introduces the damping adjusting function and the pedal length adjusting function on the basis of realizing the yaw operating function and the brake operating function, and is suitable for the operating demands of different crowds.

Description

Adjustable pedal controller

Technical Field

The invention belongs to the field of pedal controller design, and particularly relates to an adjustable pedal controller.

Background

The pedal controller is an input device, is generally used for braking and yaw operation of unmanned aerial vehicle and other devices, is used for freeing hands of a driver when performing complex operation, performs more precise operation, and is not easy to generate misoperation. The existing foot controller only realizes the functions of braking and yaw operation, and the comfort of operation of different people is not considered in the aspect of ergonomics.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides an adjustable pedal controller, which introduces a damping adjusting function and a pedal length adjusting function on the basis of realizing a yaw operation function and a brake operation function, and is suitable for the operation demands of different people.

The technical solution for realizing the purpose of the invention is as follows: an adjustable pedal controller comprises a yaw mechanism, a left pedal braking mechanism, a right pedal braking mechanism, a damper mechanism, a shell and a top cover; the yaw mechanism is used for realizing the yaw operation function of the foot controller; the left pedal braking mechanism and the right pedal braking mechanism are used for realizing the braking operation function and the pedal length adjusting function of the pedal controller, and are arranged on the yaw mechanism; the damper mechanism is used for realizing the damping adjustment function of the pedal controller and is arranged on the yaw mechanism; the shell and the top cover are arranged outside the yaw mechanism and used for protecting the internal structure.

Further, the yaw mechanism comprises a lower shell, a fixed disc, a first oilless bushing, a main shaft, a second oilless bushing, a swing rod, a connecting rod, a spring, a nut, a gasket, a baffle, a cam follower, a guide rail and a mounting plate; the lower shell is used as a base of the yaw mechanism and is also a base of the whole pedal controller; the fixed disc is fixed at the middle position on the lower shell through a fastener, the first oilless bushing is sleeved in the fixed disc, the main shaft is sleeved in the first oilless bushing, and the main shaft can relatively rotate relative to the fixed disc; the baffle is fixed at the bottom of the main shaft through a fastener, the gasket is arranged between the fixed disc and the baffle, and the baffle and the gasket are used for limiting the axial freedom degree of the main shaft; the inner diameter of the second oilless bushing is sleeved on the main shaft, the two swing rods are sleeved on the outer diameter of the second oilless bushing, the two swing rods can rotate relative to the main shaft, the two springs are sleeved on the arms of the swing rods, the arms of the two swing rods are propped against the block of the lower shell under the action of the pre-tightening force of the springs, and the two swing rods are forced to automatically return when rotating, so that the self-return force of the yaw mechanism is provided; the connecting rod is provided with a kidney-shaped groove, sleeved on a kidney-shaped boss of the main shaft and screwed by a nut, and can rotate together with the main shaft; the connecting rod is provided with a boss which extends into the middle of the arms of the two swing rods, and when the connecting rod rotates in one direction, the boss on the connecting rod can drive the corresponding swing rod to rotate in the same direction; the two guide rails are arranged on two sides of the fixed disc on the lower shell, and the two mounting plates are respectively arranged on the sliding blocks of the two guide rails and can slide along with the sliding blocks; the two cam followers are respectively arranged on two sides of the connecting rod, the mounting plate is provided with a groove, the cam followers extend into the groove, the mounting plate, the cam followers and the connecting rod form a connecting rod sliding block mechanism, and when the mounting plate slides, the connecting rod can be driven to rotate, so that the swing rod is driven to rotate.

Further, the yaw mechanism is provided with the limiting brackets, and the limiting brackets are arranged at two ends of the guide rail and used for limiting the travel of the mounting plate, so that the travel of the yaw mechanism can be limited.

Further, a first gear, a first sensor and a second gear are arranged on the yaw mechanism, the first gear is fixed on the main shaft, the second gear is arranged on the shaft of the first sensor, the first gear is meshed with the second gear, and the first sensor is driven to rotate through linkage of the shafts of the first gear, the second gear and the first sensor when the main shaft rotates, so that a position signal is converted into an electric signal.

Further, the damper mechanism is mounted on the yaw mechanism through a damper bracket, a damper mounting plate and a fastener, and the damper mechanism is sleeved on the main shaft.

Further, the damper mechanism comprises a damper shell, a bearing baffle, a damper main shaft, a friction plate, a damper pressing plate, a belleville spring, an adjusting shaft and a damper upper cover; the damper shell is a cylindrical shell, a bearing hole is formed in the bottom surface of the damper shell for installing a bearing, and other components of the damper mechanism are placed in the damper shell; the damper main shaft is provided with a disc and is sleeved in the damper shell through a bearing, and the damper main shaft can move up and down; the friction plates are respectively arranged above and below the disc of the damper main shaft and are rubbed with the disc; the damper pressing plate is arranged above the upper friction plate, and a plurality of belleville springs are arranged in the damper pressing plate; the damper upper cover is arranged above the damper shell through a fastener, a threaded hole is formed in the center of the damper upper cover, the adjusting shaft is screwed into the damper upper cover through threads and compresses the belleville spring, the friction plate is pressed to bear force, the upper position and the lower position of the adjusting shaft can be adjusted by rotating the adjusting shaft, the force of the belleville spring is changed, and the damping force of the rotation of the damper main shaft is adjusted.

Further, the left pedal braking mechanism and the right pedal braking mechanism are symmetrical mechanisms and are respectively arranged on mounting plates at the left side and the right side of the yaw mechanism; an upper shell is arranged above the lower shell, grooves are formed in the positions, corresponding to the left pedal braking mechanism and the right pedal braking mechanism, of the upper shell, and the left pedal braking mechanism and the right pedal braking mechanism drive sliding blocks on the guide rails to slide, so that a yaw function is achieved.

Further, the pedal controller further comprises dustproof baffles arranged on two sides of the left pedal braking mechanism and the right pedal braking mechanism and used for blocking grooves formed in the upper shell and preventing dust from entering.

Further, the foot controller also comprises a knob arranged on the adjusting shaft of the damper mechanism, and the damping force of the yaw mechanism can be adjusted by rotating the knob.

Compared with the prior art, the invention has the remarkable advantages that: the device can realize yaw operation function, brake operation function, damping adjustment function and pedal length adjustment function, can be used for unmanned aerial vehicle, unmanned ship control and various operation device simulation platforms, and is suitable for different crowds.

The invention is described in further detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a front view of the overall structure of the present invention.

Fig. 2 is a side view of the overall structure of the present invention.

Fig. 3 is a top view of the overall structure of the present invention.

FIG. 4 is a schematic view of a yaw mechanism.

Fig. 5 is a partial schematic view of the yaw mechanism.

FIG. 6 is a partial structural perspective view of the yaw mechanism.

Fig. 7 is a cross-sectional view of the present invention.

Fig. 8 is a cross-sectional view of the damper mechanism.

Fig. 9 is a top view of a portion of the structure of the present invention.

Fig. 10 is a side view of the pedal braking mechanism.

Fig. 11 is a rear view of the pedal braking mechanism.

Fig. 12 is a cross-sectional view of the brake mechanism of fig. 1.

Fig. 13 is a cross-sectional view of the brake mechanism 2.

Fig. 14 is a top view of the pedal length adjustment mechanism.

Fig. 15 is a schematic view of a part of the structure of the pedal length adjusting mechanism 1.

Fig. 16 is a schematic view of a part of the structure of the pedal length adjusting mechanism 2.

Fig. 17 is a top view of the front pedal.

The reference numerals in the drawings illustrate:

1-yaw mechanism, 2-left pedal brake mechanism, 3-right pedal brake mechanism, 4-damper mechanism, 5-upper housing, 6-top cover, 7-dust guard, 8-knob, 101-lower housing, 102-fixed disk, 103-first oilless bushing, 104-spindle, 105-second oilless bushing, 106-swing link, 107-link, 108-spring, 109-nut, 110-spacer, 111-baffle, 112-cam follower, 113-guide rail, 114-mounting plate, 115-limit bracket, 116-first gear, 117-second gear, 118-angle sensor, 201-damper bracket, 202-damper mounting plate, 203-damper housing, 204-bearing, 205-bearing guard, 206-damper spindle, 207-friction plate, 208-damper press plate, 209-belleville spring 210-adjusting shaft, 211-damper upper cover, 1 '-brake mechanism, 2' -pedal length adjustment mechanism, 101 '-housing, 102' -first oilless bushing, 103 '-second oilless bushing, 104' -first spring, 105 '-second spring, 106' -hinge pin, 107 '-hinge pin bracket, 108' -spring press block, 109 '-first gear, 110' -second gear, 111 '-angle sensor, 112' -post, 1011 '-limit hole, 201' -guide rail plate, 202 '-rear pedal, 203' -front pedal, 204 '-guide rail bushing, 205' -first bushing baffle, 206 '-second bushing baffle, 207' -third bushing baffle, 208 '-press block, 209' -third spring, 210 '-guide screw, 211' -spring baffle, 212 '-stopper, 2031' -limit slot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1 to 3, the present invention provides an adjustable foot controller including a yaw mechanism 1, a left pedal brake mechanism 2, a right pedal brake mechanism 3, a damper mechanism 4, a housing, and a top cover; the yaw mechanism 1 is used for realizing the yaw operation function of the foot controller; the left pedal braking mechanism 2 and the right pedal braking mechanism 3 are used for realizing the braking operation function and the pedal length adjusting function of the pedal controller, and the left pedal braking mechanism 2 and the right pedal braking mechanism 3 are arranged on the yaw mechanism 1; the damper mechanism 4 is used for realizing the damping adjustment function of the pedal controller, and is arranged on the yaw mechanism 1; the housing and the top cover are mounted outside the yaw mechanism 1 for protecting the internal structure.

Referring to fig. 3 to 7, the yaw mechanism includes a lower housing 101, a fixed disk 102, a first oilless bushing 103, a main shaft 104, a second oilless bushing 105, a swing link 106, a link 107, a spring 108, a nut 109, a washer 110, a shutter 111, a cam follower 112, a guide rail 113, and a mounting plate 114; the lower shell 101 is used as a base of a yaw mechanism and is also a base of the whole pedal controller; the fixed disc 102 is fixed at the middle position on the lower shell 101 through a fastener, the first oilless bushing 103 is sleeved in the fixed disc 102, the main shaft 104 is sleeved in the first oilless bushing 103, and the main shaft 104 can relatively rotate relative to the fixed disc 102; the baffle 111 is fixed at the bottom of the main shaft 104 through a fastener, the gasket 110 is arranged between the fixed disc 102 and the baffle 111, and the baffle 111 and the gasket 110 are used for limiting the axial freedom degree of the main shaft 104; the inner diameter of the second oilless bushing 105 is sleeved on the main shaft 104, the two swing rods 106 are sleeved on the outer diameter of the second oilless bushing 105, the two swing rods 106 can rotate relative to the main shaft 104, the two springs 108 are sleeved on the arms of the swing rods 106, the arms of the two swing rods 106 are propped against the block of the lower shell 101 under the action of the pretightening force of the springs 108, and the two swing rods 106 are forced to return automatically when rotating, so that the self-return force of the yaw mechanism is provided; the connecting rod 107 is provided with a kidney-shaped groove, is sleeved on a kidney-shaped boss of the main shaft 104 and is screwed by a nut, and the connecting rod 107 can rotate together with the main shaft 104; a boss is arranged on the connecting rod 107 and extends into the middle of the arms of the two swing rods 106, and when the connecting rod 107 rotates in one direction, the boss on the connecting rod 107 can drive the corresponding swing rod 106 to rotate in the same direction; the two guide rails 113 are installed on the two sides of the fixed disk 102 on the lower shell 101, and the two mounting plates 114 are respectively installed on the sliding blocks of the two guide rails 113 and can slide along with the sliding blocks; the two cam followers 112 are respectively installed on two sides of the connecting rod 107, the mounting plate 114 is provided with a groove, the cam followers 112 extend into the groove, the mounting plate 114, the cam followers 112 and the connecting rod 107 form a connecting rod sliding block mechanism, and when the mounting plate 114 slides, the connecting rod 107 can be driven to rotate, and then the swing rod 106 is driven to rotate.

The yaw mechanism 1 is provided with a limiting bracket 115, and the limiting brackets 115 are arranged at two ends of the guide rail 113 and used for limiting the travel of the mounting plate 114, namely limiting the travel of the yaw mechanism 1.

The yaw mechanism 1 is provided with a first gear 116, a first sensor (angle sensor) 118 and a second gear 117, wherein the first gear 116 is fixed on the main shaft 104, the second gear 117 is arranged on the shaft of the first sensor 118, the first gear 116 is meshed with the second gear 117, and when the main shaft 104 rotates, the first sensor 118 is driven to rotate through the linkage of the shafts of the first gear 116, the second gear 117 and the first sensor 118, and a position signal is converted into an electric signal.

The operating principle of the yaw mechanism 1 can be simplified to a double slider rocker mechanism. The sliding block of the guide rail 113 can slide back and forth, and the matched guide rail corresponds to a sliding block mechanism; cam follower 112 is slidable left and right in a slot in mounting plate 114, corresponding to a slider mechanism; the connecting rod 107 can rotate around the axis of the main shaft 104, and the belt rotates along with the main shaft, which is equivalent to a rocker mechanism. When the sliding blocks of the guide rail 113 slide back and forth, the double-sliding-block rocker mechanism is driven to move, and finally the main shaft 104 is driven to rotate, and the rotation is transmitted to the angle sensor 118 through the first gear 116 and the second gear 117. The two swing rods 106 are sleeved on the main shaft 104, the two swing rods 106 respectively extend out of the two arms, the two springs 108 are respectively sleeved on the arms at two sides of the two swing rods 106, the two stop blocks protruding out of the lower shell and the two stop blocks protruding out of the connecting rod 107 respectively extend into the space between the arms of the two swing rods 106, the connecting rod 107 drives the swing rods 106 to rotate when rotating, and the rotation of the swing rods 106 is limited under the action of the springs 108 to provide self-return force.

Referring to fig. 8, a D-shaped hole is provided below the damper mechanism 4, and may be sleeved on the main shaft 104, and mounted on the yaw mechanism 1 through a damper bracket 201, a damper mounting plate 202 and a fastener.

The damper mechanism comprises a damper housing 203, a bearing 204, a bearing baffle 205, a damper main shaft 206, a friction plate 207, a damper pressing plate 208, a belleville spring 209, an adjusting shaft 210 and a damper upper cover 211; the damper housing 203 is a cylindrical shell, the bottom surface of the damper housing is provided with a bearing hole for installing a bearing 204, and other components of the damper mechanism are arranged in the damper housing; a disc is arranged on the damper main shaft 206, and the damper main shaft 206 is sleeved in the damper shell 203 through a bearing 204 and can move up and down; the friction plates 207 are respectively arranged above and below the disc of the damper main shaft 206 and are rubbed with the disc; the damper pressing plate 208 is arranged above the upper friction plate, and a plurality of belleville springs 209 are arranged in the damper pressing plate 208; the damper upper cover 211 is installed above the damper housing 203 through a fastener, a threaded hole is formed in the center of the damper upper cover 211, the adjusting shaft 210 is screwed into the damper upper cover 211 through threads and compresses the belleville springs 209, the friction plates 207 are pressed to bear force, the adjusting shaft 210 is rotated to adjust the vertical position, the force of the belleville springs 209 is changed, and the damping force of the rotation of the damper main shaft 206 is adjusted.

Preferably, the shim and the friction plate are made of nonmetallic materials.

The working principle of the damper mechanism 4 is as follows: the damping force is provided by increasing the pressure. The adjusting shaft 210 is rotated to press the belleville spring 209 downwards, the belleville spring 209 deforms to provide pressure to press the friction plate 207 and the damper main shaft 206, and the friction force between the friction plate 207 and the damper main shaft 206 correspondingly changes according to the pressure provided by the adjusting shaft 210.

Referring to fig. 3 and 9, the left pedal brake mechanism 2 and the right pedal brake mechanism 3 are symmetrical mechanisms, and are respectively installed on the mounting plates 114 on the left side and the right side of the yaw mechanism 1; an upper shell 5 is arranged above the lower shell 101, grooves are formed in the corresponding positions of the left pedal braking mechanism 2 and the right pedal braking mechanism 3 in the upper shell 5, and the left pedal braking mechanism 2 and the right pedal braking mechanism 3 drive sliding blocks on the guide rails to slide, so that a yaw function is realized.

The foot controller also comprises dustproof baffles arranged on two sides of the left pedal braking mechanism 2 and the right pedal braking mechanism 3, and the dustproof baffles are used for blocking grooves arranged on the upper shell 5 and preventing dust from entering.

The foot controller further comprises a knob 8 mounted on the adjustment shaft 210 of the damper mechanism 4, the damping force of the yaw mechanism 1 being adjustable by turning the knob 8.

Further, as a specific example, in one embodiment, in conjunction with fig. 10, the pedal braking mechanism includes a braking mechanism 1 'and a pedal length adjustment mechanism 2'; the brake mechanism 1' realizes a brake function through pedal rotation, and the pedal length adjusting mechanism 2' is arranged on the brake mechanism 1' and used for adjusting the length of the pedal.

Further, with reference to fig. 12 and 13, the brake mechanism 1' includes a housing 101', a first oilless bushing 102', a second oilless bushing 103', a first spring 104', a second spring 105', a hinge pin 106', a hinge pin bracket 107', a spring press 108', a first gear 109', a second gear 110', an angle sensor 111', and a strut 112'; the hinge pin bracket 107 'is fixed on the support column 112' through a fastener, and a through hole is arranged on the hinge pin bracket 107 'and used for penetrating the hinge pin 106'; the hinge pin 106 is sleeved with a first oilless bushing 102 'and two second oilless bushings 103', wherein the first oilless bushing 102 'has smaller outer diameter and penetrates into the through hole of the hinge pin bracket 107', and the two second oilless bushings 103 'are propped against two ends of the hinge pin bracket 107' to play a role in positioning; the shell 101' is provided with a mounting hole of a hinge pin 106', the hinge pin 106' and a first oilless bushing 102', a second oilless bushing 103' and a hinge pin bracket 107' penetrating through the hinge pin 106' are assembled inside the shell 101', the hinge pin 106' is screwed by nuts, the left and right positions of the shell 101' relative to the hinge pin bracket 107' can be limited, a limiting hole 1011' is formed below the shell 101' for the hinge pin bracket 107' to penetrate through, and the shell 101' can rotate relative to the hinge pin bracket 107' around the hinge pin 106'; the two second oilless bushings 103' are respectively sleeved with a first spring 104' and a second spring 105', one side supporting legs of the first spring 104' and the second spring 105' are propped against the lower side of the shell 101', the other side supporting legs are pressed under a spring pressing block 108', and the spring pressing block 108' is fixed on the hinge pin bracket 107' through a fastener; the first spring 104 'and the second spring 105' have a certain pretightening force when being installed, so that the brake mechanism is driven to return automatically; the first gear 109 'is fixed on the hinge pin bracket 107' through a fastener, the angle sensor 111 'is fixed on the housing 101', the second gear 110 'is fixed on the angle sensor 111', the first gear 109 'is meshed with the second gear 110', and when the housing 101 'rotates, the angle sensor 111' can be driven to rotate, and a rotating position signal of the housing 101 is converted into an electric signal.

Further preferably, the size of the limiting hole 1011' below the housing 101' is adjustable, so as to limit the rotation angle of the housing 101 '. When the housing 101' rotates, a strut stopper is provided on the impact surface between the strut 112' and the housing 101 '.

Further preferably, the first oil-free bushing 102', the second oil-free bushing 103', and the post stop are made of non-metallic materials.

Further, referring to fig. 11 and 14 to 17, the pedal length adjusting mechanism 2' includes a rail plate 201', a rear pedal 202', a front pedal 203, a rail bushing 204', a first bushing block 205', a second bushing block 206', a third bushing block 207', a pressing block 208', a third spring 209', a guide screw 210', and a spring block 211'; the guide rail plate 201' is mounted on the shell 101' through a fastener and can rotate along with the shell 101 '; the rear pedal 202 'is mounted on the rail plate 201' by a fastener; the guide rail plate 201 'is provided with an I-shaped guide rail, the front pedal 203' is provided with an inner cavity which is attached to the I-shaped guide rail, and the front pedal 203 'can slide back and forth along the guide rail plate 201' to realize pedal length adjustment; the guide rail bushing 204' is installed in the front pedal 203' and is positioned by the first bushing block 205', the second bushing block 206', and the third bushing block 207' to limit the relative sliding between the guide rail bushing 204 and the front pedal 203', and the guide rail bushing 204' can slide back and forth on the guide rail plate 201' along with the front pedal 203 '; the pressing block 208' is installed in a hole formed in the guide rail plate 201', and a boss for limiting the pressing block 208' from falling out of the hole is arranged on the pressing block 208; the third spring 209 'is installed in the pressing block 208' and guided by a guide screw, the guide screw is installed on the spring baffle 211', the spring baffle 211' is fixed on the bottom surface of the guide rail plate 201 'through a fastener, and under the action of the spring, the pressing block 208' can return automatically after being pressed; the front pedal 203 'and the guide rail bushing 204' are provided with positioning holes, the pressing block 208 'can extend into the positioning holes, and multi-gear switching of the pedal length can be realized when the pressing block 208' extends into different holes.

Further, two parallel limiting grooves 2031 'are provided on the guide rail 201' along the axial direction, and the limiting groove 2031 'is provided with a front pedal 203' limiting block 212', so that the front pedal 203' can be prevented from being pulled out when the length of the pedal is adjusted.

Further, the shape of the joint between the front pedal 203 'and the rear pedal 202' is matched with each other.

Further preferably, the rail bushing 204' is made of a non-metallic material.

The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the foregoing embodiments are not intended to limit the invention, and the above embodiments and descriptions are meant to be illustrative only of the principles of the invention, and that various modifications, equivalent substitutions, improvements, etc. may be made within the spirit and scope of the invention without departing from the spirit and scope of the invention.

Claims

1. An adjustable foot controller is characterized by comprising a yaw mechanism, a left pedal braking mechanism, a right pedal braking mechanism, a damper mechanism, a shell and a top cover; the yaw mechanism is used for realizing the yaw operation function of the foot controller; the left pedal braking mechanism and the right pedal braking mechanism are used for realizing the braking operation function and the pedal length adjusting function of the pedal controller, and are arranged on the yaw mechanism; the damper mechanism is used for realizing the damping adjustment function of the pedal controller and is arranged on the yaw mechanism; the shell and the top cover are arranged outside the yaw mechanism and used for protecting the internal structure;

the yaw mechanism comprises a lower shell, a fixed disc, a first oil-free bushing, a main shaft, a second oil-free bushing, a swinging rod, a connecting rod, a spring, a nut, a gasket, a baffle, a cam follower, a guide rail and a mounting plate; the lower shell is used as a base of the yaw mechanism and is also a base of the whole pedal controller; the fixed disc is fixed at the middle position on the lower shell through a fastener, the first oilless bushing is sleeved in the fixed disc, the main shaft is sleeved in the first oilless bushing, and the main shaft can relatively rotate relative to the fixed disc; the baffle is fixed at the bottom of the main shaft through a fastener, the gasket is arranged between the fixed disc and the baffle, and the baffle and the gasket are used for limiting the axial freedom degree of the main shaft; the inner diameter of the second oilless bushing is sleeved on the main shaft, the two swing rods are sleeved on the outer diameter of the second oilless bushing, the two swing rods can rotate relative to the main shaft, the two springs are sleeved on the arms of the swing rods, the arms of the two swing rods are propped against the block of the lower shell under the action of the pre-tightening force of the springs, and the two swing rods are forced to automatically return when rotating, so that the self-return force of the yaw mechanism is provided; the connecting rod is provided with a kidney-shaped groove, sleeved on a kidney-shaped boss of the main shaft and screwed by a nut, and can rotate together with the main shaft; the connecting rod is provided with a boss which extends into the middle of the arms of the two swing rods, and when the connecting rod rotates in one direction, the boss on the connecting rod can drive the corresponding swing rod to rotate in the same direction; the two guide rails are arranged on two sides of the fixed disc on the lower shell, and the two mounting plates are respectively arranged on the sliding blocks of the two guide rails and can slide along with the sliding blocks; the two cam followers are respectively arranged on two sides of the connecting rod, the mounting plate is provided with a groove, the cam followers extend into the groove, the mounting plate, the cam followers and the connecting rod form a connecting rod sliding block mechanism, and when the mounting plate slides, the connecting rod can be driven to rotate, so that the swing rod is driven to rotate.

2. The adjustable foot operated controller according to claim 1, wherein the yaw mechanism is provided with a limit bracket, and the limit bracket is arranged at two ends of the guide rail and used for limiting the travel of the mounting plate, i.e. limiting the travel of the yaw mechanism.

3. The adjustable foot operated controller according to claim 1, wherein the yaw mechanism is provided with a first gear, a first sensor and a second gear, wherein the first gear is fixed on the main shaft, the second gear is arranged on the shaft of the first sensor, the first gear and the second gear are meshed, and the main shaft rotates to drive the first sensor to rotate through linkage of the shafts of the first gear, the second gear and the first sensor, so that the position signal is converted into an electric signal.

4. The adjustable foot controller of claim 1, wherein the damper mechanism is mounted to the yaw mechanism by a damper bracket, a damper mounting plate, and a fastener, and wherein the damper mechanism is sleeved on the spindle.

5. The adjustable foot operable controller of claim 1, wherein said damper mechanism comprises a damper housing, a bearing retainer, a damper spindle, a friction plate, a damper platen, a belleville spring, an adjustment shaft, and a damper upper cover; the damper shell is a cylindrical shell, a bearing hole is formed in the bottom surface of the damper shell for installing a bearing, and other components of the damper mechanism are placed in the damper shell; the damper main shaft is provided with a disc and is sleeved in the damper shell through a bearing, and the damper main shaft can move up and down; the friction plates are respectively arranged above and below the disc of the damper main shaft and are rubbed with the disc; the damper pressing plate is arranged above the upper friction plate, and a plurality of belleville springs are arranged in the damper pressing plate; the damper upper cover is arranged above the damper shell through a fastener, a threaded hole is formed in the center of the damper upper cover, the adjusting shaft is screwed into the damper upper cover through threads and compresses the belleville spring, the friction plate is pressed to bear force, the upper position and the lower position of the adjusting shaft can be adjusted by rotating the adjusting shaft, the force of the belleville spring is changed, and the damping force of the rotation of the damper main shaft is adjusted.

6. The adjustable foot operable controller of claim 5, wherein said spacer and friction plate are made of non-metallic materials.

7. The adjustable foot controller of claim 1, wherein the left pedal brake mechanism and the right pedal brake mechanism are symmetrical mechanisms, respectively mounted on mounting plates on the left and right sides of the yaw mechanism; an upper shell is arranged above the lower shell, grooves are formed in the positions, corresponding to the left pedal braking mechanism and the right pedal braking mechanism, of the upper shell, and the left pedal braking mechanism and the right pedal braking mechanism drive sliding blocks on the guide rails to slide, so that a yaw function is achieved.

8. The adjustable foot operable controller of claim 7, further comprising dust barriers mounted on both sides of the left and right pedal brake mechanisms for blocking grooves provided on the upper housing to prevent dust from entering.

9. The adjustable foot operable controller of claim 1, further comprising a knob mounted on the adjustment shaft of the damper mechanism, wherein turning the knob adjusts the damping force of the yaw mechanism.