201120611 六、發明說明： 【發明所屬之技術領域】 本發明有關於-種同時具有多項特殊功能而適合 各種移動指令機具使用之智慧型左右手通用多軸直覺 搖桿。 【先前技#?】 < -般1作母機、蚊產#機械、專關具或傳動 设備’常存有單向或多向操作控制其機構移位之須 求，例如令機械軸或臂前進、後退或上昇、下降之控 制’而控㈣桿的問市’的確帶給工作操作技師莫大 便利’其僅須手握搖桿作前、後、左、右輕推，即可 有效控制各部位機械之移動，其所謂—切控制皆「掌 控在握」最能表彰手控搖桿之特性。 曰52見目鈉市井中之單彈簧中心復歸機構手控搖 ,’大都屬於XY二軸控制者居多’所謂二軸控制泛 才曰控制X轴向’使機構呈前進及後退移動；泛指控制 γ轴向’使機構呈向左（向上）及右向（向下）移動 而5 ’其當然包含使搖桿推向χγ轴之間非正向控制 機構’使同時呈前進並向左（向上）、前進並向右（向 下）或後退並向左（向上）、後退並向右（向下）之控 制i但遠二軸控制搖桿對於ΧΥ轴間非正向之控制較 不精確因此常有控制時產生誤動作之疑慮。 奸據此業界發展出於搖桿上另外設置一轉動件， 藉由轉動搖桿頭作為控制同一 機構或另一機構移動之 201120611 XY Z三軸式搖桿，即利用其XY作前進、後退、向 左及向右之控制，而利用Ζ軸作向上及向下（以上X Υ Ζ控制方向可能有所置換）之控制單元。 雖然其增加一軸可帶來操控上之便利，但其缺點 僅限於三軸且其Ζ軸之副控制器係以轉動搖桿頭為控 制機制，其順時針方向或逆時針方向轉動究竟是控制 前進、後退、向左、向右、向上或向下移動，時常導 致操作者產生混淆，殊不知其操作混淆即可能產生致 命之誤動作，其癥結在於其設計缺乏與人體習慣相吻 合之操作直覺性。 又言，一般無論是二軸或三軸式控制搖桿，皆無 不感應帶之設計，任何人員之誤觸或振動即可能產生 非正常指令之誤啟動或誤動作，隨之危害可能立現。 相對於不感應帶設計，一般搖桿常有操作者施力 於搖桿時，不慎或不經意誤觸搖桿而會導致誤動作之 危險。 再者，一般生產類似控制搖桿時或控制搖桿使用 一段時日後，其搖桿回歸原（點）位時，往往很難恰 好定位於十字交叉中心點的位置（平面X Υ之0, 0位 置），實務上往往會稍有偏離原中心點之情況，若依該 偏差之位準即供使用者（再）啟動控制搖桿作為移動 機構之控制時，其誤差或誤動作勢將更加擴大，其主 因乃無原點校正功能所致。 一般搖桿，使用者施力大小並無法從接觸之搖桿 201120611 獲得信賴之回錯，Β , ... 且—叙搖桿並無軸向限制件，使盔 法有效控制正向軸向操控。 便… ^因z C轴直覺式操作，必須用姆指操作，一般 曰左右手操作之差異，顯然出現操作不順的問題。 A 士:斤知’一般搖桿更缺乏搖桿工作狀態顯示功 Μ201120611 VI. Description of the Invention: [Technical Field] The present invention relates to a smart left-handed universal multi-axis intuitive rocker which is suitable for various mobile command tools and has a plurality of special functions. [Previous technology #?] < - 1 as a mother machine, mosquito production # machinery, special equipment or transmission equipment 'has often one-way or multi-directional operation to control the movement of its mechanism, such as the mechanical shaft or The control of the arm forwards, retreats or rises and falls' and the control of the (four) poles does bring great convenience to the working technicians. It can be effectively controlled by simply holding the rocker for the front, back, left and right. The movement of the mechanical parts of each part, the so-called "cutting control" is the most control of the characteristics of the hand-controlled rocker.曰52 See the single spring center return mechanism in the sodium market well, manual control shake, 'mostly belong to XY two-axis controllers mostly' so-called two-axis control ubiquitous control X axis 'to make the mechanism forward and backward movement; general control The γ axis 'move the mechanism to move left (up) and right (down) and 5 'which of course includes pushing the rocker toward the 非 γ axis between the non-positive control mechanisms' to advance simultaneously and to the left (upward ), forward and right (down) or back and left (up), back and right (down) control i but far two-axis control rocker is less accurate for non-positive control between the axes There are often doubts about malfunctions during control. According to the development of the industry, a rotating member is additionally provided on the rocker, and by rotating the rocker head as a 201120611 XY Z three-axis rocker for controlling the movement of the same mechanism or another mechanism, the XY is used to advance and retreat, Control to the left and right, and use the Ζ axis for the control unit up and down (the above X Υ Ζ control direction may be replaced). Although the addition of one axis can bring convenience in handling, its disadvantage is limited to three axes and the sub-controller of its x-axis is controlled by rotating the rocker head. Its clockwise or counterclockwise rotation is control advancement. Moving backwards, backwards, rightward, upwards, or downwards often causes confusion among operators. It is not known that operational confusion may result in fatal misoperations. The crux of the problem is that its design lacks operational intuition that is consistent with human habits. In addition, generally no matter whether it is a two-axis or three-axis control rocker, there is no design of the induction belt. Any accidental touch or vibration of the person may cause a false start or malfunction of the abnormal command, and the hazard may stand up. Compared with the non-inductive belt design, the general rocker often has the danger of malfunction when the operator applies force to the rocker, accidentally or inadvertently touching the rocker. Furthermore, when the joystick is generally controlled to be controlled or the joystick is used for a period of time, when the joystick is returned to the original (point) position, it is often difficult to locate the position of the intersection center point (plane X Υ 0, 0 Position), in practice, there will often be a slight deviation from the original center point. If the user is (re)started to control the joystick as the movement mechanism, the error or malfunction will be further expanded. The main reason is that there is no origin correction function. Generally, the rocker, the user's force can not get the return error from the contact rocker 201120611, Β, ... and - the rocker has no axial limit, so that the helmet method effectively controls the forward axial control . ^... Because the z-axis intuitive operation, you must use the thumb to operate, generally the difference between left and right hand operation, obviously the problem of unsatisfactory operation. A Shi: Jin knows that the general rocker lacks the working state of the rocker.
=，即其是錢於賴、仰或輯、施力移位值大小 寺，皆無任何訊息可供參考。 、傳統旋轉式_桿常有觀狀虞，其搖桿更無 可連接作為系統監測之特性，顯然傳統搖桿尚有諸 改善空間。 【發明内容】 鑑於傳統習#手控操作搖桿之缺失，發明人據以 研發完成此「智慧型左右手通用多軸直覺搖桿」發明 創作内容。 本發明案於手掌握持操控之搖桿上對應於姆指位 置處附設有一副控制搖桿’使其搖桿同時具備四軸輸 出控制功能，其具有多機一體之特性，並可降低生產 者及使用者之成本。 本發明搖桿頂方設有一由電路板上内建備有串列 仏號、數位1 & 〇及類比信號多種程式供選擇連接之 開關，以供使用者選擇其所須之輸出模式連接。 本發明搖桿’其磁性感應器上藉由内建微處理器 控制電路而設定有不感應帶，使其搖桿在中心點—定 201120611 圓周範圍内小幅移動時，並不會啟動執行動作，據以 可以有效防止誤動作。 本發明搖桿’針對防止操作者不經意觸碰搖動所 產生之誤動作或與操作意識相異之誤操作，其於搖桿 内特別内建有軸向角度偏移檢知設計，即操作者施力 、 於播桿時，其移動值或角度值須大於内建值時才會啟 ’ 動指令’其同樣可防止不經意之觸碰搖動所產生之誤 % 動作或與操作意識相異之誤操作。 本發明搖桿，其微處理器控制電路設有可原點校 正電路’供該搖桿無論是生產時或使用後，其搖桿回 歸原（點）位時’即以該點作為初始中心點，據以儘 可能地降低操作誤差或誤動作。 本發明搖桿，其搖桿頭上設有一表面呈鑽石錐狀 切面之支點環，據使由彈簧壓力大小獲得回饋而得知 施力移位大小，其可提供操作者更明確判斷正向}(γ 方向手感。 本發明搖桿，其可於搖桿上加設一鏤空狀如十字 、 之十字正軸向限制元件，使其二軸或四軸輪出時限制 同時僅一正向輸出，其提供限於玉軸向操控須求之機 具使用，以防止錯誤之誤指令或誤動作。 本發明搖桿，其搖桿頭上設有環狀透光壤，經由 L E D與電路板上之電路連通，據以明確提供使用者 顯不該搖桿處於待機、故障、施力移位值大小之訊牵 供操時之參考。 〜 201120611 本發㈣桿’其搖桿㈣作多種位置之旋轉定 :體供左手或右手者通用，且其副搖桿乃 以適應 人體直覺前、後、左、古抽敕士 覺式設計。移方式設置，因此其為直 祕#，其⑦有系統監視裝置，該裝置與搖 速判讀該搖桿之向量值，據以判斷其正 【實施方式】 轴直一圖所示，本發明「智慧型左右手通用多 (ir，it」，其主搖桿⑴均設有1、型副搖桿 >第一圖所不，因此本發明搖桿同時具有χγ z C四軸之操控機能。 =第三圖所示’該主搖桿⑴，其有一盒狀基 =10)，盒狀基座（1〇)内有—内隔層（11)， 有-孔徑（111)，隔層（11)下端固定 r板（2 )，盒狀基座（1〇)底端以基座下蓋 (1 2 )封閉盒狀基座（〇 )底端。 上述控制主板（2)上設有微處理器控制電路、 ^I供選擇包含串列信號、數位、類比信號多種程 奸呈式、不感應帶設定程式、軸向角度偏移檢 壬式、原點校正電路、副搖桿數位處理應感器（2 、輸入連接端子（22)、(23)、輸出連接端子 (Z 4 )及糸統監視連接端子（2 5 )。 201120611 上述盒狀基座（l〇)其内隔層（1丄）上方固 定有-銅套固^座（i 3)，其中央呈―孔徑（工3 1)，該銅套固定座（13)經由一上鋼套（1 下鋼套（1 5)將-球桿（玉6)以可旋動狀套設於 ，固定座（1 3 )上’球桿（工6 )之圓球下方固 - 定一磁鐵（1 6 1 )，磁鐵（1 6 1 )對應於副搖桿數 位處理應感器（2 1)，而球桿（1 6)上端桿體穿經 # 鋼套固定座（1 3 )之孔徑（1 3 1 )向上延伸。 銅套固定座（1 3)上方並套設一其上設有鑽石 錐=切面（1 7 1)之支點環（1 7)及中央呈十字 鏤二（1 8 1 )之十字正軸向限制元件（1 g)，其上 並以基座上蓋（1 9)封閉盒狀基座（1 〇)上端。 上述穿經銅套固定座（丄3)孔徑（丄3丄）向 上延伸之球桿（1 6 )，其上端位於銅套固定座（i 3 ) 上方套入一滑動塊（3 )，滑動塊（3 )上方頸部（3 _ 1 )處套入一彈簧圈（3 2 )，彈簧圈（3 2 )上端套 入一握把基座（3 3 )，其上有一角度定位板（3 4 )， - :度定位板（3 4 )上方為一旋轉座（3 5 )，該角度 =位板（3 4)及旋轉座（3 5)上分別設有對稱之 定位塊（3 4 1 )及圓弧槽（3 5 1 )，其圓弧槽（3 5 1)内經套入一螺桿（36)、套筒（361)、彈 簧圈（3 6 2 )’並由握把基座（3 3 )側向套入彈簀 銷（3 3 1 )組合後，將握把基座（3 3 )、角度定位 板（3 4)及旋轉座（3 5)呈可定位旋動狀結合為 201120611 一體’使主搖桿（1 )可作多種角度之旋轉及定位， 以供慣用左手或右手者皆可通用。 上述旋轉座（3 5)上方置入一平墊圈（3 7 )， 方疋轉座（3 5)上方並固定一指示燈環（3 8)及一 指不燈電路板（3 8 1 )，指示燈環（3 8 )上方經- ‘ +墊圈（3 9)將-把手上蓋（4)連同橡膠防塵罩 • (4 1 )上環固定於旋轉座（3 5 )上，該橡膠防塵 鲁罩（4 1 )下環經由本體固定板（4 2)及防塵套壓 蓋（4 3)將其固定於基座上蓋（工9)上，據以組 成基本之手握搖桿。 上述把手上蓋（4)頂端及側向處設有各設有一 孔（44)、（45)，其中一孔供一按鈕開關（4 6 ) 置入，另一孔供一X C軸控制副搖桿之小型副搖桿 (5)置入。 一=第四圖所示，該小型副搖桿（5)係由副轴固 • f巾目（5 1 )及上方之副軸基座本體（5 2 )將副 f東才干_( 5 3 )、副軸上銅套（5 4 )、副轴下銅套（5 • =、副細套間格片（5 5 1)、控制副電路板（5 〇^軸固定蓋（5 7 )、副軸固定座（5 8)加上 里裒（5 8 1 )置入副軸固定螺帽（5 ^ )内，並 使副軸球桿（5 3)向上延伸。 該副㈣桿（53)上轉套人—_滑動塊（5 H副轴滑動塊（59)上方頭部（591)處套入 耳圈（5 9 2 )，彈菁圈（5 9 2 )上端套入-副 201120611 轴彈簧阻擔墊片（5 9 3 )並以一c型環（594) 固定，該副軸基座本體（5 2)上方套入一副轴橡膠 防塵罩（5 9 5 )後，以副軸固定上蓋（5 9 6 )固 定該副軸橡膠防塵罩（5 9 5 )及上方之副轴圓球把 手（5 9 7 )而完成該小型副搖桿（5 )。 * 上述副軸球桿（5 3)球體下方同樣固定一磁鐵 ， (5 3 1 )，而控制副電路板（5 6)對應於磁鐵（5 3 1 )處同樣設有一副搖桿數位處理應感器（5 6 — 1)〇 上述控制主板（2)上之副搖桿數位處理應残哭 ⑴）由球桿（16)之磁鐵（161)移動 副搖桿數位處理應感器（2 )運算結果， 出連接端子（24)輸出。 | 小型副搖桿（5)之控制副電路板（5 6)之運 算結果，係由一延伸電線未端之連接器（5 6 2 )連 • 接至控制主板（2)之輸入連接端子（2 2)提供給 控制主板（2 );而按鈕開關（4 6 )係由一延伸電線 , 未端之連接器（4 6 1 )連接至控制主板（2)之另 一輸入連接端子（2 3);另指示燈電路板（3 8工） 上設有L ED發光體（3 8 2 )，並由一延伸電線未端 之連接器（3 8 3)電性連接至輸入連接端子（2 3 )， 供控制主板（2)按搖桿操作狀態提供電源及訊號給 指示燈電路板（3 8 1 )，並由其上之led發光體（3 8 2)傳送亮光予指示燈環8)。=, that is, it is money in Lai, Yang or series, Shili shift value size temple, there is no information for reference. The traditional rotary _ rod often has a view 虞, and its rocker is less connected as a system monitoring feature. Obviously, the traditional rocker still has room for improvement. SUMMARY OF THE INVENTION In view of the lack of the traditional manual hand-operated joystick, the inventors have developed and developed the "intelligent left-handed universal multi-axis intuition rocker" invention. In the invention, the control rocker is provided with a pair of control rockers corresponding to the position of the thumb finger, so that the rocker has a four-axis output control function at the same time, which has the characteristics of multi-machine integration and can reduce the producer. And the cost of the user. The top of the rocker of the present invention is provided with a switch with a series of serial number, digital 1 & 〇 and analog signal on the circuit board for the user to select the desired output mode connection. The rocker of the invention has a non-inductive band set by the built-in microprocessor control circuit on the magnetic sensor, so that the rocker does not start the action when the rocker moves slightly within the circumference of the center point of the 201120611. According to it can effectively prevent malfunctions. The rocker of the present invention is designed to prevent an operator from inadvertently touching the shaking motion or an erroneous operation different from the operational consciousness. The rocker has a built-in axial angle offset detection design, that is, the operator applies force, When the pen is used, the movement value or angle value must be greater than the built-in value to activate the 'moving command', which can also prevent the accidental movement caused by the inadvertent touch and the misoperation of the operation consciousness. In the rocker of the invention, the microprocessor control circuit is provided with an origin correction circuit for the rocker to return to the original (point) position when the rocker is produced or used, that is, the point is taken as the initial center point. According to, as far as possible to reduce operational errors or malfunctions. The rocker of the invention has a fulcrum ring with a diamond cone-shaped cutting surface on the rocker head, and the magnitude of the force displacement is obtained by the feedback of the spring pressure, which can provide the operator with a clearer judgment of the positive direction} Γ-direction hand feeling. The rocker of the present invention can add a hollow-shaped positive-axis axial limiting element to the rocker, so that the two-axis or four-axis wheeling is limited and only one forward output is limited. The utility model is provided for the use of the tool for limiting the axial manipulation of the jade, so as to prevent false errors or malfunctions. The rocker of the invention has a ring-shaped light-transmissive soil on the rocker head, and is connected to the circuit on the circuit board via the LED. Clearly provide the reference for the user to show that the joystick is in standby, fault, and force shift value. ~ 201120611 This shot (four) rod 'the rocker (four) for a variety of positions of rotation: body for the left hand Or the right hand is universal, and its secondary rocker is designed to adapt to the human body's intuitive front, rear, left, and ancient pumping styles. The shift mode is set, so it is a straight secret #, and its 7 has a system monitoring device, and the device has Read the joystick at a slow speed The vector value is judged to be positive. [Embodiment] As shown in the figure of the axis, the "smart type left and right hand is more common (ir, it", and the main joystick (1) is provided with a type 1 side rocker> In the figure, the rocker of the present invention has the χγ z C four-axis control function. = The third figure shows the main rocker (1), which has a box-shaped base = 10), and the box-shaped base (1〇) There is an inner compartment (11), an aperture (111), a lower plate (11) fixed at the lower end of the r plate (2), and a bottom of the box-shaped base (1〇) with a base lower cover (1 2 ) The bottom of the box-shaped base (〇) is closed. The above control board (2) is provided with a microprocessor control circuit, ^I for selecting serial signals, digital, analog signals, various types of procedures, non-inductive band setting program , axial angle offset check type, origin correction circuit, secondary rocker digital processing sensor (2, input connection terminal (22), (23), output connection terminal (Z 4) and system monitoring connection terminal (2 5 ) 201120611 The above-mentioned box-shaped base (l〇) is fixed with a copper sleeve (i 3) above the inner compartment (1丄), and its center is “aperture (3 1)), the copper set The fixed seat (13) is sleeved on the upper seat (1 5) with the club (Jade 6) in a rotatable manner, on the fixed seat (1 3 ), the club (work 6) A magnet is fixed below the sphere (1 6 1 ), the magnet (1 6 1 ) corresponds to the secondary rocker digital treatment sensor (2 1), and the upper end of the club (16) passes through the steel The aperture (1 3 1 ) of the sleeve (1 3 ) extends upwards. Above the copper sleeve holder (13), a fulcrum ring (1 7) with a diamond cone=cut surface (1 7 1) is disposed. And a cross-positive axial limiting element (1 g) with a cross 镂 (1 8 1 ) in the center, and the upper end of the box-shaped base (1 〇) is closed by a base cover (1 9). The above-mentioned club (16) extending upward through the aperture (丄3丄) of the copper sleeve holder (丄3) has an upper end located above the copper sleeve fixing seat (i 3 ) and a sliding block (3), the sliding block (3) A spring ring (3 2 ) is inserted into the upper neck (3 _ 1 ), and the upper end of the spring ring (3 2 ) is sleeved into a grip base (3 3 ) with an angle positioning plate (3 4 ), - : Above the positioning plate (3 4 ) is a rotating seat (3 5 ), the angle=bit plate (34) and the rotating seat (35) are respectively provided with symmetrical positioning blocks (3 4 1 ) And the arc groove (3 5 1 ), the arc groove (3 5 1) is inserted into a screw (36), a sleeve (361), a spring ring (3 6 2 )' and is supported by the grip base ( 3 3) After the lateral insertion of the magazine pin (3 3 1 ), the grip base (3 3 ), the angle positioning plate (34) and the rotating seat (35) are combined and rotatably combined. 201120611 One-in-one main rocker (1) can be rotated and positioned at various angles for common left-hand or right-handed. A flat washer (3 7 ) is placed above the rotating base (3 5), and an indicator ring (38) and a non-lighting circuit board (3 8 1 ) are fixed above the square rotating base (3 5), indicating Above the light ring (3 8 ), the - ' + washer (3 9) will be - the handle upper cover (4) together with the rubber dust cover • (4 1 ) the upper ring is fixed to the rotating seat (3 5), the rubber dustproof cover (4 1) The lower ring is fixed to the base cover (work 9) via the body fixing plate (42) and the dust cover (43) to form a basic hand rocker. The top cover and the lateral direction of the handle upper cover (4) are respectively provided with a hole (44), (45), one hole for a button switch (4 6 ), and the other hole for an XC axis control sub rocker The small secondary rocker (5) is placed. As shown in the fourth figure, the small auxiliary rocker (5) is composed of the sub-shaft solids f (5 1 ) and the upper sub-base body (5 2 ). ), the copper sleeve on the countershaft (5 4 ), the copper sleeve under the counter shaft (5 • =, the sub-sleeve grid (5 5 1), the control sub-board (5 〇 ^ shaft fixed cover (5 7), The countershaft mount (5 8) and the inner bore (5 8 1 ) are placed in the countershaft retaining nut (5 ^ ) and the countershaft club (5 3) is extended upwards. The counter (four) lever (53) Upturned sleeve - _ sliding block (5 H countershaft sliding block (59) above the head (591) nested in the ear ring (5 9 2), the elastic ring (5 9 2) upper end nested - Deputy 201120611 shaft spring The resisting washer (5 9 3 ) is fixed by a c-ring (594), and a sub-shaft rubber dust cover (5 9 5 ) is fitted over the counter-shaft base body (52) and fixed by the countershaft. The sub-shaft rubber dust cover (5 9 5 ) and the upper counter-shaft ball handle (5 9 7 ) are fixed by the upper cover (5 9 6) to complete the small auxiliary rocker (5). * The above-mentioned auxiliary shaft club (5) 3) A magnet is also fixed under the sphere, (5 3 1 ), and the control sub-board (5 6) corresponds to the magnet (5 3 1 ) A rocker digital processing sensor (5 6 - 1) is provided. The secondary joystick digital processing on the control board (2) should be cried (1). The secondary rocker is moved by the magnet (161) of the club (16). The digital processing is the result of the sensor (2) operation, and the output terminal (24) is output. | The operation result of the control sub-board (5 6) of the small auxiliary rocker (5) is a connector of an extension wire end. (5 6 2 ) Connect • The input connection terminal (2 2) connected to the control board (2) is supplied to the control board (2); and the push button switch (4 6) is connected by an extension cable, the end connector (4) 6 1) Connect to the other input connection terminal (2 3) of the control board (2); the other indicator circuit board (3 8 workers) is provided with L ED illuminator (3 8 2 ), and an extension cord is not provided The connector of the terminal (3 8 3) is electrically connected to the input connection terminal (2 3 ) for the control board (2) to provide power and signal to the indicator circuit board (3 8 1 ) according to the state of the joystick operation, and The LED illuminator (3 8 2) transmits the light to the indicator ring 8).
201120611 參第三圖所示，上述按射 (4 6 )配合控制 ，板（2 )上包含㈣信號、數位、類比信號多種程 :’使該按射 (46)具有多種輸出模式供選擇 週用。 *第五圖所示，上述控制主板⑵上之副搖桿 位處理應感H (2 1 )上設有—不錢帶區域（2 1)’其配合控制主板（2 )上之不感應帶設定程式， =防止人員誤觸該主搖桿（1)或振動，使主搖桿 )之磁鐵（161)中心點對應於不感應帶區域 (211)中心點—定圓周範圍内小幅移動時，並不 會啟動執行動作。 本發㈣制主板（2 )上之副搖減位處理應感 =2 1 )配合控制主板（2)上所設軸向角度偏移 仏知程式，其可強制操作者施力於主搖桿⑴時， f移動值須超過—定之行程或角度後，才會啟動指 ^ 可防止不經意之觸碰搖動所產生之誤動作或與 操作意識相異之誤操作。 〃 本么月控制主板（2)上副搖桿數位處理應感器 ，1 )配合控制主板（2)上所設原點校正電路， 4 ^主搖柃（1 )無論是生產時或使用一段時曰後， 其搖桿回料（點）㈣縱使未停留於正中心點，即 :以該點重新⑦定作為初始中心點，據以可降低操作 誤差或誤動作。 參第六圖及第七圖所示 ’上述支點環（1 7 )之 201120611 上方設有鑽石錐狀切面（1 7 1 )，其可使球桿（1 6 ) 與移動時，藉由滑動塊（3)與鑽石錐狀切面（1 7 1 )之位差改變而改變對彈簧圈（3 2)之壓縮量產 生之抗力回饋（正向移動時彈簧圈之麼縮量小即抗力 較小較省力、斜向移動時彈簧圈之屢縮量大即抗力較 . 大較費力）’據使操作者由施力獲得回饋得知移位大小 及方位作為操作上之參考，其與傳統各角度施力無差 異而無法提供操作回饋之單彈簧中心復歸機構相較， 顯然本發明具有增進功效及進步性。 參第八圖所示，上述十字正軸向限制元件（工 8 )，其上之十字鏤空（i 8 i)使操控搖桿時於同時 間内僅限於-正向輸出，提供限於正麵向操控須求之 機具使用，以防止無謂之誤指令或誤動作。 參第九圖所示，上述握把基座（3 3 )、 板（34)、旋轉座（35)、軸桿（36)== • (3 6 1 )組合，將使主搖桿（χ )可作多種角度之 旋轉及定位’以供慣用左手或右手者皆可通用，且小 , 副搖桿（5 )為非旋轉式控制，而係以符合人體方 位概念向上下左右推動之直覺式操作設計。 參第十圖及第十-圖所示’上指示燈環（3 8) 及指示燈電路板（3 8 1 )，該指示燈電路板（3 8工） 上设有L E D發光體（3 8 2 )，控制主板（2)按搖 桿操作狀態提供電源及訊號給指示燈電路板（3 8 1)，並由其上之LED發光體（3 8 2 )傳送亮光予 [S] 12 201120611 指示燈環（3 8 )。 之糸2十"圖所示，本發师桿，其㈣主板（2 ) 裝ί，，=Γ子(25)可使該搖桿與系統監視 ⑹判=搖捍連線後可快速由系統監視裝置 二备之向量值，據以判斷其正常與否。 ，十二圖所示’本發明主搖 可去除小型副搖捏w ； ^ ]搖#(5)而僅留下主搖桿d)、如第 十四圖所示’本發明主搖桿⑴其實施時可去除^ 鈕開關（46)或如第十五圖及笛 ’、 土队，, 罘卞五圖及弟十六圖所示，同時201120611 As shown in the third figure, the above-mentioned shot (4 6 ) is combined with the control, and the board (2) contains (4) signals, digits, analog signals, multiple steps: 'Make the shot (46) have multiple output modes for selection. . *In the fifth figure, the secondary rocker position on the above control board (2) should be sensed on H (2 1 ) - no money belt area (2 1)', which cooperates with the non-inductive belt on the control board (2) Set the program, = prevent the person from accidentally touching the main joystick (1) or vibration, so that the center point of the magnet (161) of the main rocker) corresponds to the center point of the non-inductive zone (211) - when moving slightly within the fixed circumference range, It does not initiate an action. The secondary shake reduction processing on the main board (2) of this hair (4) should be sensed = 2 1) with the axial angle offset known to the control board (2), which can force the operator to apply force to the main joystick (1) When the f movement value must exceed the specified stroke or angle, the finger will be activated to prevent the inadvertent touch or the misoperation caused by the operation consciousness. 〃 This month controls the main board (2) on the secondary joystick digital processing sensor, 1) with the original point correction circuit set on the control board (2), 4 ^ main shake 柃 (1) whether it is production or use a section After the time, the rocker returns (point) (4), even if it does not stay at the positive center point, that is, the point 7 is re-determined as the initial center point, thereby reducing the operation error or malfunction. As shown in the sixth and seventh figures, above the 201120611 of the above fulcrum ring (1 7 ), there is a diamond cone-shaped section (1 7 1 ), which can make the club (16) move with the sliding block. (3) The difference between the position of the conical section of the diamond (1 7 1 ) changes and the resistance to the compression of the coil (3 2) is changed. (The amount of compression of the coil is small when the movement is positive, that is, the resistance is small. The labor-saving and oblique movement of the coil is large, that is, the resistance is larger than the force. It is more laborious. 'According to the operator's feedback from the force to know the displacement size and orientation as the operational reference, it is different from the traditional angle. Compared with a single spring center reverting mechanism that does not provide a difference in force and provides operational feedback, it is apparent that the present invention has improved efficacy and progress. As shown in Figure 8, the above-mentioned cross-positive axial limiting element (Work 8), on which the cross-height (i 8 i) allows the joystick to be limited to the positive output at the same time, providing limited frontal orientation Manipulating the required tools to prevent unnecessary misinformation or malfunction. As shown in Figure 9, the above grip base (3 3 ), plate (34), swivel seat (35), shaft (36) == • (3 6 1 ) combination will make the main rocker (χ ) can be rotated and positioned at various angles for common left-hand or right-handed, and small, the secondary rocker (5) is non-rotating control, and is intuitive to push up and down in accordance with the concept of human body orientation. Operational design. Refer to the 'uplight ring (3 8) and the indicator circuit board (3 8 1) shown in the tenth and tenth-figure diagrams. The indicator board (3 8 workers) is equipped with an LED illuminator (3 8 2), the control board (2) presses the joystick operation state to provide power and signal to the indicator circuit board (3 8 1), and the LED illuminator (3 8 2 ) on it transmits the light to [S] 12 201120611 indication Light ring (3 8). After the 20th " picture shows, the hairpin, its (four) motherboard (2) installed ί,, = scorpion (25) can make the joystick and system monitoring (6) = rocking connection can be quickly The system monitors the vector value of the device to determine whether it is normal or not. , shown in the twelfth figure, 'the present invention can remove the small sub-spindle w; ^ ] shake # (5) and leave only the main joystick d), as shown in the fourteenth figure, the main rocker of the present invention (1) In the implementation, the button switch (46) can be removed or as shown in the fifteenth figure and the flute, the earth team, the fifth figure and the sixteenth figure,
去料型副搖桿（5)及按_關（46)。 r f上本發明設計及結構，本搖桿_具有XYZ j 控制、多種輸出模式開關選擇、不感應帶 二、軸向角度偏移檢知、軸向限制、原點校正、軸 :把力回饋、左右手通用、z c轴直覺操作、工作狀 態顯示及系統監測等多項功能。 【圖式簡單說明】 苐一圖為本發明立體圖。 第，圖為本發明同時XYZC四軸控制示意圖圖。 第二圖為本發明分解立體圖。 第四圖為本發明小型副搖桿分解立體圖。 第五圖為本發明副搖桿數位處理應感器不感應帶示意 圖。 第六圖為本發明支點環俯視圖。Remove the secondary rocker (5) and press _ off (46). Rf on the design and structure of the present invention, the rocker _ has XYZ j control, a variety of output mode switch selection, non-inductive band two, axial angular offset detection, axial limit, origin correction, axis: force feedback, Universal left and right hand, zc axis intuitive operation, working status display and system monitoring. BRIEF DESCRIPTION OF THE DRAWINGS A first view of the present invention is a perspective view of the present invention. First, the figure is a schematic diagram of the simultaneous XYZC four-axis control of the present invention. The second figure is an exploded perspective view of the present invention. The fourth figure is an exploded perspective view of the small auxiliary rocker of the present invention. The fifth figure is a schematic diagram of the sensorless non-inductive band of the secondary joystick digital processing of the present invention. The sixth figure is a top view of the fulcrum ring of the present invention.
13 201120611 第七圖為本發明支點環配合彈簧圈壓縮比形成之軸向 施力回饋示意圖。 第八圖為本發明十字正軸向限制元件俯視圖。 第九圖為本發明左右手通用示意圖。 第十圖為本發明指示燈電路板俯視圖。 第十一圖為本發明指示燈環及指示燈電路板發光剖視 圖。 第十二圖為本發明搖桿連接系統監視裝置示意圖 第十三圖為本發明搖桿去除小型副搖桿實施例示意 圖。 第十四圖為本發明搖桿去除按鈕開關實施例示意圖。 第十五圖為本發明搖桿同時去除小型副搖桿及按鈕開 關實示意圖。 第十六、凑本發明搖桿同時去除小型副搖桿及按鈕 開關另一搖桿頭實施例示意圖。 【主要元件符號說明】 主搖桿（1 ) 盒狀基座（1 0 ) 内隔層（1 1 ) 孔徑（1 1 1 ) 基座下蓋（1 2) 鋼套固定座（1 3 ) 孔徑（1 3 1 ) 201120611 上銅套（1 4) 下銅套（1 5) 球桿（1 6) 磁鐵（1 6 1 ) 支點環（1 7) 鑽石錐狀切面（1 7 1 ) 十字正軸向限制元件（1 8) 十字鏤空（1 8 1 ) • 基座上蓋（19) 控制主板（2 ) 副搖桿數位處理應感器（2 1 ) 不感應帶區域（2 11) 輸入連接端子（2 2) 輸入連接端子（2 3) 輸出連接端子（2 4) 系統監視連接端子（2 5) 滑動塊（3) 頸部（3 1 ) ' 彈簧圈（3 2) - 握把基座（3 3) 彈簧銷（3 3 1 ) 角度定位板（3 4) 定位塊（3 4 1 ) 旋轉座（3 5) 15 201120611 圓弧槽（3 5 1 ) 螺桿（3 6) 套筒（3 6 1 ) 彈簧圈（3 6 2 ) 平墊圈（3 7) 指示燈環（3 8) 指示燈電路板（3 8 1 ) L E D發光體（3 8 2 ) 連接器（3 8 3 ) 平墊圈（3 9 ) 把手上蓋（4) 橡膠防塵罩（4 1 ) 本體固定板（4 2) 防塵套壓蓋（4 3) 孔（4 4 ) 孔（4 5 ) 按鈕開關（4 6) 連接器（4 6 1 ) 小型副搖桿（5) 副軸固定螺帽（5 1 ) 副軸基座本體（5 2) 副軸球桿（5 3) 磁鐵（5 3 1 ) 副軸上銅套（5 4) 16 201120611 副軸下銅套（5 5) 副軸銅套間格片（5 5 1 ) 控制副電路板（5 6 ) 副搖桿數位處理應感器（5 6 1 ) 連接器（5 6 2 ) ^ 副軸固定蓋（5 7) 副軸固定座（5 8) " 〇型環（5 8 1 ) • 副軸滑動塊（5 9) 頸部（5 9 1 ) 彈簧圈（5 9 2) 副軸彈簧阻擋墊片（5 9 3 ) C型環（5 9 4 ) 副轴橡膠防塵罩（5 9 5 ) 副軸固定上蓋（5 9 6 ) I 副軸圓球把手（5 9 7 ) 系統監視裝置（6) 1713 201120611 The seventh figure is a schematic diagram of the axial force feedback of the fulcrum ring with the compression ratio of the coil. The eighth figure is a plan view of the cross positive axial limiting element of the present invention. The ninth figure is a schematic view of the left and right hands of the present invention. The tenth figure is a top view of the indicator circuit board of the present invention. Figure 11 is a cross-sectional view showing the illumination of the indicator ring and the indicator circuit board of the present invention. Fig. 12 is a schematic view showing the monitoring device of the rocker connecting system of the present invention. Fig. 13 is a schematic view showing an embodiment of the rocker removing the small secondary rocker according to the present invention. Figure 14 is a schematic view showing an embodiment of the rocker removal button switch of the present invention. The fifteenth figure is a schematic view of the rocker simultaneously removing the small auxiliary rocker and the button switch. Sixteenth, a schematic diagram of an embodiment of the rocker of the invention while removing the small secondary rocker and the button switch and the other rocker head. [Main component symbol description] Main rocker (1) Box-shaped base (1 0 ) Inner compartment (1 1 ) Aperture (1 1 1 ) Base lower cover (1 2) Steel sleeve fixing seat (1 3 ) Aperture (1 3 1 ) 201120611 Upper copper sleeve (1 4) Lower copper sleeve (1 5) Club (1 6) Magnet (1 6 1 ) Pivot ring (1 7) Diamond cone section (1 7 1 ) Cross positive axis To the limiting element (1 8), the cross is hollowed out (1 8 1 ) • The base cover (19) controls the main board (2) The secondary joystick digital processing sensor (2 1 ) The non-inductive band area (2 11) Input connection terminal ( 2 2) Input connection terminal (2 3) Output connection terminal (2 4) System monitor connection terminal (2 5) Slide block (3) Neck (3 1 ) ' Spring ring (3 2) - Grip base (3 3) Spring pin (3 3 1 ) Angle positioning plate (3 4) Positioning block (3 4 1 ) Rotating seat (3 5) 15 201120611 Circular groove (3 5 1 ) Screw (3 6) Sleeve (3 6 1 ) Coil (3 6 2 ) Flat washer (3 7) Indicator ring (3 8) Indicator circuit board (3 8 1 ) LED illuminator (3 8 2 ) Connector (3 8 3 ) Flat washer (3 9 ) Handle cover (4) Rubber dust cover (4 1 ) Body fixing plate (4 2) Dust cover Cover (4 3) Hole (4 4 ) Hole (4 5 ) Push button switch (4 6) Connector (4 6 1 ) Small secondary rocker (5) Secondary shaft fixing nut (5 1 ) Countershaft base body ( 5 2) Countershaft club (5 3) Magnet (5 3 1 ) Bracket on the countershaft (5 4) 16 201120611 Brass sleeve on the countershaft (5 5) Bracket on the countershaft (5 5 1 ) Sub-board (5 6 ) Secondary rocker digital processing sensor (5 6 1 ) Connector (5 6 2 ) ^ Counter-axis fixing cover (5 7) Counter-shaft mounting seat (5 8) " 〇-ring ( 5 8 1 ) • Countershaft slide block (5 9) Neck (5 9 1 ) Spring ring (5 9 2) Countershaft spring stop washer (5 9 3 ) C-ring (5 9 4 ) Countershaft rubber dustproof Cover (5 9 5 ) Sub-shaft fixed upper cover (5 9 6 ) I Counter-shaft ball handle (5 9 7 ) System monitoring device (6) 17