WO2019037332A1 - 遥控器及机动装置 - Google Patents

遥控器及机动装置 Download PDF

Info

Publication number
WO2019037332A1
WO2019037332A1 PCT/CN2017/115057 CN2017115057W WO2019037332A1 WO 2019037332 A1 WO2019037332 A1 WO 2019037332A1 CN 2017115057 W CN2017115057 W CN 2017115057W WO 2019037332 A1 WO2019037332 A1 WO 2019037332A1
Authority
WO
WIPO (PCT)
Prior art keywords
remote controller
rod body
remote
magnetic element
reset
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/115057
Other languages
English (en)
French (fr)
Inventor
张辉华
梁智颖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019037332A1 publication Critical patent/WO2019037332A1/zh
Priority to US16/800,965 priority Critical patent/US11531332B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04722—Mounting of controlling member elastic, e.g. flexible shaft
    • G05G2009/04725—Mounting of controlling member elastic, e.g. flexible shaft with coil spring

Definitions

  • the present invention relates to the field of remote control technologies, and in particular, to a remote controller having a rocker device.
  • the rocker device is basically provided on the remote controller. However, the operation of the rocker device and the actual movement of the remotely controlled motor device have no image correspondence, and the operation is complicated and the user experience is not good.
  • an embodiment of the present invention provides a remote controller that is simple to operate.
  • the embodiment of the present invention provides the following technical solutions:
  • a remote control for remotely controlling a mobile device includes first and second rocker devices, a processor, and a signal transmitting device.
  • the rod body of the first rocker device is configured to linearly move in a first direction or a second direction, thereby triggering the remote controller to generate a first remote control command or a second remote control command, and the rod body of the first rocker device further For rotating in the third rotation direction or the fourth rotation direction, thereby triggering the remote controller to generate a third remote control command or a fourth remote control command, the first direction is opposite to the second direction, and the third rotation direction is The four remote directions are opposite, the first remote command is used to control the linear motion of the motor device in a first direction, and the second remote command is used to control the linear motion of the motor device in the second direction, The three remote command is used to control the motor device to rotate in a third rotation direction, and the fourth remote command is used to control the motor device to rotate in the fourth rotation direction.
  • the processor is coupled to the first rocker device and the second rocker device for processing the first One, two, three, four remote command.
  • the signal transmitting device is connected to the processor, and configured to receive the first, second, third, and fourth remote control commands processed by the processor, and send the same.
  • the first rocker device includes a lever assembly, a first magnetic element, a first circuit board, and a first reset assembly.
  • the first magnetic component is mounted to the operating lever assembly;
  • the first circuit board includes a first magnetic sensor, the first magnetic sensor facing the first magnetic component, the first magnetic component being initializable from The position is linearly moved relative to the first magnetic sensor in the first direction or the second direction by the operating lever assembly.
  • the first rocker device includes a second magnetic element and a second circuit board.
  • the second magnetic component is mounted to the operating lever assembly;
  • the second circuit board includes a second magnetic sensor, the second magnetic sensor faces the second magnetic component, and the second magnetic component is initializable from The position is rotated by the operating lever assembly relative to the second magnetic sensor in the third rotational direction or the fourth rotational direction.
  • the first rocker device includes a first reset assembly that connects the lever assembly, the first reset assembly for positioning the lever assembly along the first The two directions or the first direction are reset such that the first magnetic element is reset to its initial position.
  • the first rocker device includes a second reset assembly that connects the lever assembly, the second reset assembly for rotating the lever assembly along a fourth The direction or third rotational direction is reset such that the second magnetic element is reset to its initial position.
  • the operating lever assembly includes a first rod body, a second rod body and a pin shaft; central axes of the first rod body and the second rod body are disposed along the first direction and the second direction;
  • the first rod body is provided with a receiving passage and a pin hole, the receiving passage is disposed along an axial direction of the first rod body, the pin hole is opened on an outer side wall of the first rod body; and an outer side wall of the second rod body a sliding groove is disposed, the sliding groove is disposed along an axial direction of the second rod body, and the second rod body portion is received in the receiving passage and movable relative to the first rod body along an axial direction thereof;
  • One end of the pin passes through the pin hole and is received in the sliding groove.
  • the second shaft is coupled to the first reset assembly and the second reset assembly;
  • the first magnetic member is mounted to the first shaft, the first shaft, the pin, and the The first magnetic element may move linearly with respect to the second rod along the first direction or the second direction;
  • the first reset component is configured to drive the pin along the first direction or the second The direction is reset such that the first magnetic element is reset to its initial position.
  • the first resetting assembly includes a fixing frame, a swinging block and an elastic member;
  • the fixing frame includes a first limiting post and is provided with a first guiding groove;
  • the number of the swinging blocks is two One end of each swing block is hinged to the fixed frame at one end of the other swing block; the two ends of the elastic element are respectively connected to the other end of each of the swing blocks;
  • the second rod is fixedly mounted on the same a fixing frame;
  • the pin shaft passes through the first guiding groove and is movable in the first direction or the second direction in the first guiding groove, the pin shaft and the first limit position
  • the post is located between the two wobble blocks.
  • each of the wobble blocks includes a hinged end, a resisting portion and a free end, the abutting portion being located between the hinged end and the free end; two of the two wobble blocks a hinged end is commonly hinged to the fixing frame; two ends of the elastic element are respectively connected to two free ends of the two swinging blocks; the pin shaft and the first limiting post are arranged side by side in two Between the two abutting portions of the swinging block.
  • the first circuit board is fixedly mounted to the mounting bracket; the mounting bracket is provided with a rod passage, and the first rod body and the second rod body portion are received in the rod passage; a second rod body connecting the second resetting member and the second magnetic element, the second magnetic element being movable from the initial position by the second rod body in the third rotational direction or the fourth rotational direction relative to The second magnetic sensor rotates; the second reset assembly is configured to reset the second rod in a fourth rotational direction or a third rotational direction such that the second magnetic element is reset to its initial position.
  • the second resetting assembly includes a connecting frame, a rotating member and a torsion spring;
  • the connecting frame includes a bottom portion, a second limiting post and a curved inner side wall, the curved inner side wall connecting the bottom portion
  • One end of the second limiting post is connected to the bottom
  • the rotating member comprises a bottom plate and a curved outer side wall, the curved outer side wall is connected to the bottom plate;
  • the bottom plate is provided with a curved second guiding a slot, a gap is formed between the two ends of the curved sidewall;
  • the second limiting post passes through the second guiding slot;
  • the torsion spring portion is received in a space defined by the curved outer sidewall
  • the torsion spring includes two torsion spring arms, the two torsion spring arms passing through the notches and respectively abutting the two ends of the curved outer sidewall; the second rod passing through the The connecting frame and the rotating member, the second rod body can drive the rotating member to rotate relative to the connecting frame in
  • the second shaft includes a connection end that is fixedly coupled to the second magnetic element.
  • the second reset component includes a fixture, the second magnetic component Mounted on the fixing member, the connecting end is fixedly connected to the fixing member.
  • the second circuit board is fixedly mounted to the connector.
  • the first magnetic sensor and the second magnetic sensor are both Hall elements.
  • the body of the second rocker device is for movement to trigger the remote control to generate a panning remote command for controlling the motor to move in a horizontal plane.
  • a motorized device comprising a body and a remote controller, wherein the remote controller is communicatively coupled to the body for controlling the machine according to remote command generated by the first rocker device and the second rocker device Flight state
  • the first remote control command is used to control the linear motion of the mobile device in a first direction
  • the second remote control command is used to control linear motion of the mobile device in a second direction
  • the third remote control command For controlling the motor device to rotate in a third rotation direction
  • the fourth remote command is used to control the motor device to rotate in a fourth rotation direction.
  • the lever of the second rocker device of the remote controller is for moving to trigger the remote controller to generate a panning remote command; wherein the panning remote command is used to control the motor device at a horizontal plane Move inside.
  • the motorized device is a drone.
  • the first rocker device has only four directions of motion: a linear movement along the first direction and the second direction, and a rotation along the third rotation direction and the fourth rotation direction.
  • the operation of the remote controller is simple and convenient for the user to remember.
  • the motorized device is communicably connected to the remote controller and controlled by the remote controller to make a response with a corresponding relationship (the motion state of the body and the first remote control device or the second remote control device of the remote controller)
  • the motion state is correspondingly), which is convenient for the user of the mobile device to remember.
  • FIG. 1 is a perspective view of a remote controller according to one embodiment of the present invention, which is simplified;
  • FIG. 2 is a schematic diagram of functional modules of a remote controller according to an embodiment of the present invention.
  • FIG 3 is a perspective view of the rocker device of the remote controller shown in Figure 1;
  • Figure 4 is an exploded view of the rocker device shown in Figure 3;
  • Figure 5 is a cross-sectional view of the rocker device shown in Figure 4.
  • Figure 6 is another cross-sectional view of the rocker device shown in Figure 3;
  • Figure 7 is an exploded view of the rocker mechanism of the rocker device shown in Figure 3;
  • Figure 8 is an exploded perspective view showing another angle of the rocker mechanism shown in Figure 7;
  • Figure 9 is an exploded view of the operating lever assembly of the rocker mechanism shown in Figure 7;
  • Figure 10 is a perspective view of the operating lever assembly shown in Figure 9;
  • Figure 11 is a cross-sectional view of the operating rod assembly shown in Figure 9;
  • Figure 12 is a schematic view showing the assembly of the operating lever assembly and the first resetting assembly of the rocker mechanism shown in Figure 7;
  • Figure 13 is a perspective view of the operating lever assembly and the first reset assembly shown in Figure 12;
  • Figure 14 is a cross-sectional view of the operating lever assembly and the first reset assembly shown in Figure 13;
  • Figure 15 is a schematic view showing the assembly of the operating rod assembly of the rocker mechanism shown in Figure 7, the first reset assembly and the first circuit board;
  • Figure 16 is a perspective view of the operating lever assembly, the first reset assembly and the first circuit board shown in Figure 15;
  • Figure 17 is an exploded view of the second reset assembly and the second circuit board of the rocker mechanism shown in Figure 7;
  • 18 is a schematic view showing the assembly of the operating lever assembly, the first reset component, the first circuit board, the second reset component, and the second circuit board according to an embodiment of the present invention
  • FIG. 19 is a perspective view of an operating lever assembly, a first reset assembly, a first circuit board, a second reset assembly, and a second circuit board according to an embodiment of the present invention
  • Figure 20 is a cross-sectional view of the operating lever assembly, the first reset assembly, the first circuit board, the second reset assembly, and the second circuit board shown in Figure 19;
  • Figure 21 is a perspective view of another angle of the rocker device of the embodiment of the present invention.
  • Figure 22 is a cross-sectional view of a rocker apparatus according to an embodiment of the present invention, wherein the operating lever assembly moves in a first direction;
  • FIG. 23 is a cross-sectional view of a rocker apparatus according to an embodiment of the present invention, wherein the operating lever assembly is reset to its initial position;
  • Figure 24 is a cross-sectional view of a rocker apparatus according to an embodiment of the present invention, wherein the operating lever assembly moves in a second direction;
  • Figure 25 is a cross-sectional view of a rocker apparatus according to an embodiment of the present invention, wherein the operating lever assembly is rotated in a third direction or a fourth direction;
  • Figure 26 is a cross-sectional view of a rocker apparatus according to an embodiment of the present invention, wherein the operating lever assembly is reset to its initial position in a third direction or a fourth direction;
  • Figure 27 is a cross-sectional view showing a rocker apparatus according to another embodiment of the present invention.
  • a remote controller 400 is used for remotely controlling a mobile device.
  • the motorized device can be a drone, a model airplane, an electric toy, or the like.
  • the remote controller 400, the package The first rocker device 100, the second rocker device 200, and the housing 402 are mounted, and the first rocker device 100 and the second rocker device 200 are both mounted to the housing 402.
  • the rod body of the first rocker device 100 is used for linear motion in the first direction or the second direction, thereby triggering the remote controller 400 to generate a first remote control command or a second remote control command, and is also used in the third rotation direction. Or rotating in the fourth rotation direction, thereby triggering the remote controller 400 to generate a third remote control command or a fourth remote control command.
  • the first direction is opposite to the second direction
  • the third direction of rotation is opposite to the fourth direction of rotation.
  • the first remote control command is used to control the linear movement of the motor device in a first direction
  • the second remote control command is used to control linear motion of the motor device in a second direction
  • the third remote control command is used for
  • the motor device is controlled to rotate in a third rotation direction
  • the fourth remote command is used to control the motor device to rotate in a fourth rotation direction.
  • the lever of the second rocker device 200 is used for movement, thereby triggering the remote controller 400 to generate a panning remote command.
  • the panning remote command is used to control movement of the motorized device in a horizontal plane.
  • the remote controller 400 further includes a processor 410 and a signal transmitting device 420.
  • the processor 410 is coupled to the first rocker device 100 and the second rocker device 200 for processing the first, second, third, and fourth remote control commands and the panning remote command.
  • the signal transmitting device 420 is connected to the processor 410, and configured to receive the first, second, third, and fourth remote control commands and the panning remote control command processed by the processor 410, and the first The second, third, and fourth remote control commands and the panning remote command are transmitted to the remotely controlled mobile device.
  • first rocker device 100 is used for the left hand operation of the user
  • second rocker device 200 is used for the right hand operation of the user. It will be appreciated that in some other embodiments, the positions of the first rocker device 100 and the second rocker device 200 may be reversed according to the user's usage habits.
  • the first rocker device 100 includes a housing 10 and a rocker mechanism 20 mounted to the housing 10 .
  • the outer casing 10 includes a first casing portion 11 and a second casing portion 12.
  • the first shell portion 11 is substantially in the shape of a thin plate, and a rod through hole 110 is defined in the middle portion.
  • the opposite sides of the first shell portion 11 respectively extend two strips 112 vertically, and the outer side of each block 112 is opened.
  • the second housing portion 12 defines a cylindrical cavity 120.
  • the inner wall of the cavity 120 defines two oppositely disposed slots 122.
  • the inner wall of each slot 122 is provided with a protrusion 124.
  • the rocker mechanism 20 includes an operating lever assembly 21, a first reset component 22, a first magnetic component 23, a first circuit board 24, a second reset component 25, and a second magnetic component. 26, and a second circuit board 27.
  • a part of the operating rod assembly 21 passes through the rod through hole 110 and is exposed to the outside of the outer casing 10. The remaining portion of the operating rod assembly 21 is received in the cavity 120.
  • the first reset component 22, the first magnetic component 23, the first circuit board 24, the second reset component 25, the second magnetic component 26, and the second circuit board 27 are all housed in the cavity 120.
  • the first magnetic element 23 is mounted to the operating lever assembly 21, and the first magnetic element 23 is drivable from the initial position by the operating lever assembly 21 in a first direction or a second direction relative to the first
  • the circuit board 24 is moved linearly, the first direction being opposite to the second direction.
  • the first reset assembly 22 is for resetting the lever assembly 21 in a second direction or a first direction such that the first magnetic element 23 is reset to its initial position.
  • the second magnetic element 26 is mounted to the operating lever assembly 21, and the second magnetic element 26 is drivable from the initial position by the operating lever assembly 21 in a third rotational direction or a fourth rotational direction relative to the
  • the second circuit board 27 is rotated, and the second resetting assembly 25 is configured to reset the operating lever assembly 21 in the fourth rotational direction or the third rotational direction to bring the two magnetic elements 26 to their original positions.
  • the third rotational direction is opposite to the fourth rotational direction.
  • the lever assembly 21 includes a first shaft 210 , a second rod 212 , and a pin 214 .
  • the first rod body 210 is a hollow cylinder, and is provided with a receiving passage 2102, a pin hole 2104 and a slot 2106.
  • the receiving passage 2102 is disposed along the axial direction of the first rod body 210, and is in the first rod body.
  • One end of the 210 has an opening, and the slot 2106 and the pin hole 2104 are defined in an outer sidewall of the first rod 210.
  • the slot 2106 and the pin hole 2104 are communicated with the receiving passage 2102.
  • the second rod body 212 is a cylinder, and two outer holes are provided with two threaded holes 2122 and sliding grooves. 2124.
  • the sliding groove 2124 is elongated and disposed along the axial direction of the second rod 212.
  • the two threaded holes 2122 are disposed on opposite sides of the sliding groove 2124 along the axial direction of the second rod 212.
  • the second rod 212 includes a connecting end 2126, the outer side wall of the connecting end 2126 has an internal thread, and the connecting end 2126 has an elliptical cross section for rotation limit.
  • the second rod body 212 is partially received in the receiving passage 2102 and is movable relative to the first rod body 210 along its axial direction.
  • One end of the pin shaft 214 passes through the pin hole 2104 of the first rod body 210, is received in the sliding groove 2124 of the second rod body 212, and is slidable in the sliding groove 2124.
  • the first magnetic element 23 is mounted on the first rod body 210, and the first rod body 210, the pin shaft 214 and the first magnetic element 23 can be together along the first direction or the second direction
  • the second rod 212 moves in a straight line.
  • the central axes of the first rod body 210 and the second rod body 212 are all disposed along the first direction and the second direction.
  • the first reset assembly 22 includes a mounting bracket 220, a swinging block 222, an elastic member 224, and a fixed shaft 226.
  • the fixing frame 220 is substantially rectangular, and includes a mounting plate 2201 and a supporting block 2202. Two of the supporting blocks 2202 extend perpendicularly from opposite sides of the mounting plate 2201, and the two supporting blocks 2202 A rod passage 2203 is provided between the openings. The first rod body 210 and the second rod body 212 are partially received in the rod passage 2203, and the first circuit board 24 is mounted to the two support blocks 2202 by a plurality of screws. The first circuit board 24, the two support blocks 2202 and the mounting board 2201 surround the first rod body 210 and the second rod body 212.
  • the mounting plate 2201 includes a first limiting post 2204 , and one end of the first limiting post 2204 vertically connects the surface of the mounting plate 2201 facing away from the supporting block 2202 .
  • the mounting plate 2201 is provided with a first guiding slot 2205, a first mounting hole 2206 and a second mounting hole 2207.
  • the first guiding groove 2205 is elongated and disposed along the axial direction of the first rod 210.
  • the first mounting hole 2206 and the first limiting post 2204 are located on opposite sides of the first guiding slot 2205, and the two second mounting holes 2207 are located at the other two opposite sides of the first guiding slot 2205. side. After the two screws 2208 pass through the two second mounting holes 2207, the two screw holes 2122 of the second rod 212 are inserted to fix the second rod 212 and the mounting plate 2201 together.
  • each swing block 222 includes a hinge end 2220, which is resisted.
  • the portion 2222 and the free end 2224 are located between the hinged end 2220 and the free end 2224.
  • the hinged end 2220 is provided with a hinge hole 2226. After the fixed shaft 226 passes through the two hinge holes 2226 of the two swing blocks 222, the first mounting hole 2206 is inserted into the two swing blocks 222. It is hinged to the mounting plate 2201.
  • One end of the resilient member 224 is coupled to the free end 2224 of one of the swinging blocks 222, and the other end of the resilient member 224 is coupled to the free end 2224 of the other swinging block 222.
  • the pin 214 passes through the first guiding slot 2205 and is sandwiched by the first limiting post 2204 between the two abutting portions 2222 of the two swinging blocks 222.
  • the elastic member 224 is a tension spring. It can be understood that in some other embodiments, the elastic member 224 can be other elastic members that can provide a rebound tensile force, such as a rubber band.
  • the first circuit board 24 includes a first magnetic sensor 242 facing the first magnetic element 23 for sensing a change in a magnetic field of the first magnetic element 23 to obtain the first magnetic element
  • the moving position of the second circuit board 24 generates a corresponding remote command according to the moving position of the first magnetic element 23 obtained by the first magnetic sensor 242.
  • the first magnetic sensor 242 is a Hall element. It can be understood that in some other implementations, the first magnetic sensor 242 can be other magnetic sensors that can sense changes in the magnetic field, such as magnetic Encoder.
  • the second reset assembly 25 includes a connecting bracket 250, a rotating member 251, a torsion spring 252, and a fixing member 253.
  • the connecting bracket 250 is hollow cylindrical and includes a circular bottom 2501, an annular outer sidewall 2502, a mounting post 2503, a second limiting post 2504 and a curved inner sidewall 2505.
  • the annular side wall 2502 vertically connects the outer edges of the circular bottom 2501, and similarly, the curved inner side wall 2505 vertically connects the circular bottom 2501.
  • One end of the second limiting post 2504 and one end of the mounting post 2503 are perpendicularly connected to the circular bottom 2501.
  • a central portion of the circular bottom portion 2501 defines a circular first axial through hole 2506, and the annular outer sidewall 2502 and the curved inner sidewall 2505 surround the first axial through hole 2506, and the first shaft
  • the through hole 2506 is centered.
  • the second limiting post 2504 is located between the first axial through hole 2506 and the curved inner side wall 2505, and the curved inner side wall 2505 is located at the second limiting post 2503 and the circular outer side. Between the walls 2502, the mounting post 2503 contacts the inner surface of the annular sidewall 2502.
  • the rotating member 251 includes a circular bottom plate 2511 and a curved outer side wall 2512 that vertically connects the outer edges of the circular bottom plate 2511.
  • the circular bottom plate 2511 defines an arc-shaped second guiding groove 2514 and a second shaft through hole 2516.
  • the second shaft through hole 2516 has a substantially elliptical cross section, and is opened on the circular bottom plate 2511.
  • the second guiding groove 2514 is located between the second shaft through hole 2516 and the curved outer side wall 2512.
  • a notch 2515 is formed between both ends of the curved side wall 2512.
  • the rotating member 251 is received in a space defined by the curved inner sidewall 2505, the second limiting post 2504 passes through the second guiding slot 2514, the first axial through hole 2506 and the first The two-axis through holes 2516 are aligned.
  • the connecting bracket 250 and the rotating member 251 are injection molded from a plastic material.
  • the torsion spring 252 includes a torsion spring body 2520 and two torsion spring arms 2521.
  • the torsion spring body 2520 has a third shaft through hole 2526.
  • the two torsion spring arms 2521 are respectively connected to the torsion spring body 2520. .
  • the torsion spring body 2520 is received in a space defined by the curved outer sidewall 2512, and the third shaft through hole 2526 is aligned with the second shaft through hole 2516, and the two torsion spring arms 2521 are The notches 2515 are exposed and respectively abut both ends of the curved outer side wall 2512.
  • the fixing member 253 defines a receiving hole 2531.
  • the second magnetic component 26 is received in the receiving hole 2531 and faces the second circuit board 27.
  • the fixing member 253 is partially received in the third shaft through hole 2526.
  • the fixing member 253 is a fixing nut.
  • the connecting end 2126 of the second rod body 212 passes through the first shaft through hole 2506 and the second shaft through hole 2516 in sequence, and is finally fixedly connected to the fixing member 253.
  • the connecting end 2126 has a substantially elliptical cross section
  • the second axial through hole 2513 has a substantially elliptical cross section, so that when the connecting end 2126 rotates, the rotating member 251 and the fixing member 253 can be driven together. Rotating relative to the connecting frame 250.
  • the cross section of the connecting end 2126 and the cross section of the second shaft through hole 2513 may be other rotation limiting structures, for example, the cross section of the connecting end 2126.
  • the cross section of the second shaft through hole 2513 may be D-shaped.
  • the second circuit board 27 includes a second magnetic sensor 272 facing the second magnetic element 26 for sensing a change in a magnetic field of the second magnetic element 26 to obtain the second The moving position of the magnetic member 26, the second circuit board 27 generates a corresponding remote command according to the moving position of the second magnetic member 26 obtained by the second magnetic sensor 272.
  • the second circuit board 27 is fixedly mounted to the connecting bracket 250.
  • the second magnetic sensor 272 is a Hall element.
  • the second magnetic sensor 272 can be other magnetic sensors that can sense changes in the magnetic field, such as magnetic encoders.
  • the second rod body 212 When assembling, referring to FIG. 9 to FIG. 11 , the second rod body 212 is inserted into the receiving passage 2102 of the first rod body 210 , and one end of the pin shaft 214 is inserted through the pin hole 2104 and inserted into the The sliding groove 2124 of the second rod 212 is assembled to obtain the operating rod assembly 21.
  • One of the two threaded holes 2122 is exposed from the slot 2106.
  • the connecting end 2126 is exposed outside the receiving passage 2102.
  • the pin 214 passes through the first guiding groove 2205 , and the first rod 210 and the second rod 212 are received in the rod passage 2203 , and the screw 2208 passes through the After the second mounting hole 2207 is inserted, the screw hole 2122 is inserted and fixed, so that the second rod 212 is fixed to the mounting plate 2201.
  • the fixing shaft 226 is inserted through the hinge holes 2226, inserted and fixed to the first mounting holes 2206, so that The swinging member 222 is hinged to the mounting plate 2201, and the pin shaft 214 and the first limiting post 2204 are sandwiched between the two abutting portions 2222 of the two swinging members 222.
  • Two ends of the elastic member 224 are respectively connected to the two free ends 2224 of the two swinging members 222.
  • a first magnetic component 23 is mounted to the first rod 210, and the first circuit board 24 is fixedly mounted to the two support blocks 2202 such that the first magnetic sensor 242 Facing the first magnetic element 23.
  • the rotating member 251 is placed in a space defined by the curved inner side wall 2505, and the second limiting post 2504 passes through the second guiding groove 2514.
  • the first shaft through hole 2506 is aligned with the second shaft through hole 2516.
  • the torsion spring body 2520 is placed in a space defined by the curved outer side wall 2512, and the third shaft through hole 2526 is aligned with the second shaft through hole 2516, and the two torsion spring arms 2521 are
  • the notches 2515 are exposed and respectively abut against both ends of the curved outer sidewall 2512.
  • the second magnetic element 26 is fixed to the receiving hole 2531 of the fixing member 253, and the fixing member 253 is partially received in the third shaft through hole 2526.
  • the rocker mechanism 20 is placed in the cavity 120, and the screws are inserted through the bottom of the second shell portion 12 to be inserted into and fixed to the three mounting posts of the connecting bracket 250. 2503.
  • the second circuit board 27 is pressed against the bottom of the second shell portion 12.
  • the first shell portion 11 covers the opening of the cavity 120, and the block 112 is correspondingly inserted into the card slot 122.
  • the groove 114 receives the protrusion 124 correspondingly, and the invention is assembled.
  • the first rocker device 100 of the embodiment (see Figure 4 together).
  • a pulling force is applied to the first rod 210 to bring the pin 214 from its initial position along with the first rod 210 in the first direction (for example, the upward direction in FIG. 22).
  • the first limiting post 2204 abuts one of the resisting portions 2222, and the pin shaft 214 drives the other of the resisting portions 222 to open in the first direction, the elasticity Element 224 is extended.
  • the first magnetic element 23 is linearly moved along the first direction from the initial position of the first magnetic element 23, and the first magnetic sensor 242 senses a change in the magnetic field of the first magnetic element 23 to obtain a position of movement of the first magnetic element 23 in the first direction.
  • the first circuit board 24 generates a remote control command according to the moving position of the first magnetic component 23 obtained by the first magnetic sensor 242, and the remote controller 200 transmits the remote control command to the operated mobile device.
  • the linear movement of the motorized device in the first direction is performed, the first limiting post 2204 abuts one of the resisting portions 2222, and the
  • a thrust is applied to the first rod 210 such that the pin 214 is from its initial position along with the first rod 210 in the second direction (eg, the downward direction in FIG. 24).
  • the first limiting post 2204 abuts one of the abutting portions 2222, and the pin shaft 214 drives the other of the abutting portions 2222 to open in the second direction.
  • the elastic member 224 is extended.
  • the first magnetic element 23 is linearly moved from the initial position by the first rod 210 along the second direction, and the first magnetic sensor 242 senses a change in the magnetic field of the first magnetic element 23 to obtain a position of movement of the first magnetic element 23 in the second direction.
  • the first A circuit board 24 generates a remote control command according to the moving position of the first magnetic component 23 obtained by the first magnetic sensor 242, and the remote controller 200 transmits the remote control command to the operated mobile device, so that The motorized device moves linearly in the second direction.
  • a torque is applied to the first rod body 210 such that the first rod body 210 drives the second rod body 212, and the first resetting assembly 22 and the first circuit board 24 are along the third rotating direction. Or rotating in the fourth rotation direction, the connecting end 2126 drives the rotating member 251 and the fixing member 253 together with the connecting frame 250 and the second circuit board 27 in the third rotating direction or the fourth rotating direction. Turn.
  • the second magnetic member 26 When the fixing member 253 is rotated in the third rotation direction or the fourth rotation direction with respect to the second circuit board 27, the second magnetic member 26 is inclined from the initial position thereof relative to the second magnetic sensor 272.
  • the third rotational direction or the fourth rotational direction rotates.
  • the second magnetic sensor 272 senses a change in the magnetic field of the second magnetic element 26 to obtain a rotation amount of the second magnetic element 23 in the third rotational direction or the fourth rotational direction.
  • the second circuit board 27 generates a remote control command according to the amount of rotation of the second magnetic component 26 obtained by the second magnetic sensor 272, and the remote controller 200 transmits the remote control command to the operated motorized device. And rotating the motor device in the third rotation direction or the fourth rotation direction.
  • One of the torsion spring arms 2521 is pushed by one end of the curved outer side wall 2512 in the third rotational direction or the fourth rotation when the rotating member 251 is rotated relative to the connecting frame 250.
  • the arm 2521 causes the torsion spring 252 to be compressed.
  • the torsion spring 252 When the torsion force applied to the first rod body 210 disappears, the torsion spring 252 is restored to its original shape, and the two torsion spring arms 2521 respectively push one end of the curved outer side wall 2512 and the curved inner side wall 2506
  • One end of the rotating member 251 is rotated relative to the connecting frame 250 in the fourth rotating direction or the third rotating direction to drive the fixing member 253, the first rod body 210, the second rod body 212,
  • the first reset component 22 and the first circuit board 24 are reset in the fourth rotational direction or the third rotational direction such that the second magnetic element 26 is rotated to the fourth rotational direction or the third rotational direction thereof initial position.
  • the structure of the first rocker device 300 according to another embodiment of the present invention is basically the same as that of the first rocker device 100 provided by the above embodiment, and the difference is that the first rocker device 300 A potentiometer 274 is used in place of the magnetic sensor 272 of the first rocker device 100.
  • the potentiometer 274 is disposed on the circuit board 27, and the connection end 2126 is inserted into the potentiometer 274 and is in contact with the potentiometer 274.
  • the potentiometer 274 includes a resistor body, and the connection end 2126 includes a brush.
  • the potentiometer 274 obtains the change according to a resistance value or a voltage.
  • the circuit board 27 generates a corresponding remote command according to the amount of rotation of the connecting end 2126 in the third rotational direction or the fourth rotational direction, and the remote controller 200 transmits the remote control command to the operated motorized device, so that The motor unit rotates in the third rotational direction or the fourth rotational direction.
  • the first rocker device 300 can be replaced by the first rocker device 100 provided by the above embodiment, and mounted on the housing 402.
  • the first rod body 210 has only four directions of motion: a linear movement along the first direction and the second direction, along the third The rotation of the rotation direction and the fourth rotation direction is simple in operation and convenient for the user to remember.
  • the first reset component 22 or the second reset component 25 may reset the first shaft 210 when the force applied to the first rod 210 disappears, further simplifying the first rocker The operation of device 100.
  • the lever of the second rocker device 200 is used for movement, and the remote controller 400 is triggered to generate a panning remote command.
  • the panning remote command is used to control movement of the motorized device in a horizontal plane.
  • the second rocker device 200 can adopt a swing structure in the prior art, and triggers when the rod body of the second rocker device 200 moves forward, backward, left or right with respect to the user.
  • the remote controller 400 generates the panning remote command that instructs the motorized device to move forward, backward, left or right, and the like.
  • the motorized device is a drone
  • the remote control 400 is used to operate the drone.
  • the first rod body 210 is linearly moved in the first direction (for example, the upward direction in FIG. 22)
  • the remote controller 400 controls the drone to rise; at the first rod body 210
  • the second direction for example, the downward direction in FIG. 24
  • the remote controller 400 controls the drone to descend; in the third rotating direction or the fourth in the third rotating body
  • the remote controller 400 controls the drone to rotate left or right.
  • the moving direction of the first rod 210 corresponds to the moving direction of the drone, so that the operation of the remote controller 400 is intuitive and simple, and the first rod 210 has only four directions of motion, which is convenient for the user to remember. .
  • the first reset component 22 or the second reset component 25 may reset the first shaft 210 when the force applied to the first rod 210 disappears, further simplifying the remote control device 400. operating.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Input By Displaying (AREA)
  • Manipulator (AREA)
  • Mechanical Control Devices (AREA)
  • Switches With Compound Operations (AREA)

Abstract

一种用于遥控机动装置的遥控器（400），包括第一、二摇杆装置（100，200），处理器（410）以及信号发射装置（420）。第一摇杆装置（100）的杆体用于沿第一、二方向做直线运动，触发遥控器（400）产生第一、二遥控指令，还用于沿第三、四转动方向转动，触发遥控器（400）产生第三、四遥控指令，第一、二方向相反，第三、四转动方向相反。处理器（410）与第一、二摇杆装置（100，200）连接，用于处理第一、二、三、四遥控指令。信号发射装置（420）与处理器（410）连接，用于接收处理器（410）处理后的第一、二、三、四遥控指令，并进行发送。所述第一摇杆装置（100）仅有四个方向的动作：沿所述第一、二方向的直线移动，沿所述第三、四转动方向的转动，使得遥控器的操作简单。

Description

遥控器及机动装置
申请要求于2017年08月25日申请的、申请号为201710742670.4、发明名称为“遥控器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及遥控技术领域，尤其涉及一种具有摇杆装置的遥控器。
【背景技术】
目前，越来越多的电子产品比如无人机、航模、电动玩具等都采用的是远程控制技术，也即采用遥控器进行操作。
遥控器上基本都设有摇杆装置，然而摇杆装置的操作和被遥控的机动装置的实际运动没有形象的对应关系，而且操作复杂，用户体验不佳。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种操作简单的遥控器。
为了解决上述技术问题，本发明实施例提供以下技术方案：
一种遥控器，用于遥控机动装置，其包括第一、二摇杆装置，处理器以及信号发射装置。所述第一摇杆装置的杆体用于沿第一方向或第二方向做直线运动，从而触发所述遥控器产生第一遥控指令或第二遥控指令，所述第一摇杆装置的杆体还用于沿第三转动方向或第四转动方向转动，从而触发所述遥控器产生第三遥控指令或第四遥控指令，所述第一方向与第二方向相反，所述第三转动方向与第四转动方向相反，所述第一遥控指令用于控制所述机动装置沿第一方向做直线运动，所述第二遥控指令用于控制所述机动装置沿第二方向做直线运动，所述第三遥控指令用于控制所述机动装置沿第三转动方向自转，所述第四遥控指令用于控制所述机动装置沿第四转动方向自转。所述处理器与所述第一摇杆装置和所述第二摇杆装置连接，用于处理所述第 一、二、三、四遥控指令。所述信号发射装置与所述处理器连接，用于接收所述处理器处理后的所述第一、二、三、四遥控指令，并进行发送。
在一些实施例中，所述第一摇杆装置，包括：操作杆组件，第一磁性元件，第一电路板和第一复位组件。所述第一磁性元件安装于所述操作杆组件；所述第一电路板包括第一磁传感器，所述第一磁传感器面向所述第一磁性元件，所述第一磁性元件可从其初始位置被所述操作杆组件带动沿第一方向或第二方向相对于所述第一磁传感器做直线移动。
在一些实施例中，所述第一摇杆装置包括：第二磁性元件和第二电路板。所述第二磁性元件安装于所述操作杆组件；所述第二电路板包括第二磁传感器，所述第二磁传感器面向所述第二磁性元件，所述第二磁性元件可从其初始位置被所述操作杆组件带动沿所述第三转动方向或第四转动方向相对于所述第二磁传感器转动。
在一些实施例中，所述第一摇杆装置包括第一复位组件，所述第一复位组件连接所述操作杆组件，所述第一复位组件用于将所述操作杆组件沿所述第二方向或第一方向复位，使得所述第一磁性元件复位至其初始位置。
在一些实施例中，所述第一摇杆装置包括第二复位组件，所述第二复位组件连接所述操作杆组件，所述第二复位组件用于将所述操作杆组件沿第四转动方向或第三转动方向复位，使得所述第二磁性元件复位至其初始位置。
在一些实施例中，所述操作杆组件包括第一杆体，第二杆体以及销轴；所述第一杆体和所述第二杆体的中心轴沿所述第一方向和第二方向设置；所述第一杆体开设有收容通道和销孔，所述收容通道沿所述第一杆体的轴向设置，所述销孔开设于所述第一杆体的外侧壁；所述第二杆体的外侧壁开设有滑动槽，所述滑动槽沿所述第二杆体的轴向设置，所述第二杆体部分收容于所述收容通道，并可沿其轴向相对于所述第一杆体移动；所述销轴的一端穿过所述销孔，并收容于所述滑动槽。
在一些实施例中，所述第二杆体连接所述第一复位组件和第二复位组件；所述第一磁性元件安装于所述第一杆体，所述第一杆体，所述销轴以及所述第一磁性元件可一同沿所述第一方向或第二方向相对于所述第二杆体做直线移动；所述第一复位组件用于驱动所述销轴沿所述第一方向或第二方向复位，使得所述第一磁性元件复位至其初始位置。
在一些实施例中，所述第一复位组件包括固定架，摆动块和弹性元件；所述固定架包括第一限位柱，并开设有第一导向槽；所述摆动块的数量为两个，每个摆动块的一端与另一个摆动块的一端共同铰接于所述固定架；所述弹性元件的两端分别连接每个所述摆动块的另一端；所述第二杆体固定安装于所述固定架；所述销轴穿过所述第一导向槽，并可在所述第一导向槽内沿所述第一方向或第二方向移动，所述销轴和所述第一限位柱位于两个所述摆动块之间。
在一些实施例中，每个所述摆动块包括铰接端，抵持部以及自由端，所述抵持部位于所述铰接端与所述自由端之间；两个所述摆动块的两个铰接端共同铰接于所述固定架；所述弹性元件的两端分别连接两个所述摆动块的两个自由端；所述销轴与所述第一限位柱并排设于两个所述摆动块的两个抵持部之间。
在一些实施例中，所述第一电路板固定安装于所述固定架；所述固定架开设有杆通道，所述第一杆体和所述第二杆体部分收容于所述杆通道；所述第二杆体连接所述第二复位组件和所述第二磁性元件，所述第二磁性元件可从其初始位置被所述第二杆体带动沿所述第三转动方向或第四转动方向相对于所述第二磁传感器转动；所述第二复位组件用于将所述第二杆体沿第四转动方向或第三转动方向复位，使得所述第二磁性元件复位至其初始位置。
在一些实施例中，所述第二复位组件包括连接架，转动件以及扭簧；所述连接架包括底部，第二限位柱和弧形内侧壁，所述弧形内侧壁连接所述底部，所述第二限位柱的一端连接所述底部；所述转动件包括底板和弧形外侧壁，所述弧形外侧壁连接所述底板；所述底板开设有弧形的第二导引槽，所述弧形侧壁的两端之间形成缺口；所述第二限位柱穿过所述第二导引槽；所述扭簧部分收容于所述弧形外侧壁所限定的空间，所述扭簧包括两个扭簧支臂，所述两个扭簧支臂穿过所述缺口，并分别抵持所述弧形外侧壁的两端；所述第二杆体穿过所述连接架和所述转动件，所述第二杆体可带动所述转动件沿所述第三方向或第四方向相对于所述连接架转动。
在一些实施例中，所述第二杆体包括连接端，所述连接端与所述第二磁性元件固定连接。
在一些实施例中，所述第二复位组件包括固定件，所述第二磁性元件安 装于所述固定件，所述连接端固定连接所述固定件。
在一些实施例中，所述第二电路板固定安装于所述连接架。
在一些实施例中，所述第一磁传感器和所述第二磁传感器皆为霍尔元件。
在一些实施例中，所述第二摇杆装置的杆体用于移动，从而触发所述遥控器产生平移遥控指令，所述平移遥控指令用于控制所述机动装置在一水平面内移动。
一种机动装置，包括机身和上述的遥控器，所述遥控器与所述机身通信连接，用于根据所述第一摇杆装置和第二摇杆装置产生的遥控指令控制所述机身飞行状态；
其中，所述第一遥控指令用于控制所述机动装置沿第一方向做直线运动，所述第二遥控指令用于控制所述机动装置沿第二方向做直线运动，所述第三遥控指令用于控制所述机动装置沿第三转动方向自转，所述第四遥控指令用于控制所述机动装置沿第四转动方向自转。
在一些实施例中，所述遥控器的第二摇杆装置的杆体用于移动，从而触发所述遥控器产生平移遥控指令；其中，所述平移遥控指令用于控制所述机动装置在一水平面内移动。
在一些实施例中，所述机动装置为无人机。
与现有技术相比较，所述第一摇杆装置仅有四个方向的动作：沿所述第一方向和第二方向的直线移动，沿所述第三转动方向和第四转动方向的转动，使得所述遥控器的操作简单，便于使用者记忆。
所述机动装置通过与所述遥控器通信连接，并受所述遥控器的控制以作出具有对应关系的反应(机身的运动状态与所述遥控器的第一遥控装置或第二遥控装置的运动状态呈对应关系)，便于机动装置使用者记忆。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术 人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为简化示出的本发明其中一实施例提供的一种遥控器的立体图；
图2为简化示出的本发明实施例提供的遥控器的功能模块示意图；
图3为图1所示的遥控器的摇杆装置的立体图；
图4为图3所示的摇杆装置的分解图；
图5为图4所示的摇杆装置的剖面图；
图6为图3所示的摇杆装置的另一剖面图；
图7为图3所示的摇杆装置的摇杆机构的分解图；
图8为图7所示的摇杆机构的另一角度的分解图；
图9为图7所示的摇杆机构的操作杆组件的分解图；
图10为图9所示的操作杆组件的立体图；
图11为图9所示的操作杆组件的剖面图；
图12为图7所示的摇杆机构的操作杆组件和第一复位组件的装配示意图；
图13为图12所示的操作杆组件和第一复位组件的立体图；
图14为图13所示的操作杆组件和第一复位组件的剖面图；
图15为图7所示的摇杆机构的操作杆组件，第一复位组件和第一电路板的装配示意图；
图16为图15所示的操作杆组件，第一复位组件和第一电路板的立体图；
图17为图7所示的摇杆机构的第二复位组件和第二电路板的分解图；
图18为本发明实施例的操作杆组件，第一复位组件，第一电路板，第二复位组件和第二电路板的装配示意图；
图19为本发明实施例的操作杆组件，第一复位组件，第一电路板，第二复位组件和第二电路板的立体图；
图20为图19所示的操作杆组件，第一复位组件，第一电路板，第二复位组件和第二电路板的剖面图；
图21为本发明实施例的摇杆装置的另一角度的立体图；
图22为本发明实施例的摇杆装置的剖视图，其中所述操作杆组件沿第一方向移动；
图23为本发明实施例的摇杆装置的剖视图，其中所述操作杆组件复位至其初始位置；
图24为本发明实施例的摇杆装置的剖视图，其中所述操作杆组件沿第二方向移动；
图25为本发明实施例的摇杆装置的剖视图，其中所述操作杆组件沿第三方向或第四方向转动；
图26为本发明实施例的摇杆装置的剖视图，其中所述操作杆组件沿第三方向或第四方向复位至其初始位置；
图27为本发明另一实施例提供的摇杆装置的剖面图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施方式，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，本发明其中一实施例提供的一种遥控器400，用于遥控一机动装置。所述机动装置可为无人机、航模、电动玩具等。所述遥控器400，包 括第一摇杆装置100，第二摇杆装置200以及壳体402，所述第一摇杆装置100和第二摇杆装置200皆安装于所述壳体402。
所述第一摇杆装置100的杆体用于沿第一方向或第二方向做直线运动，从而触发所述遥控器400产生第一遥控指令或第二遥控指令，还用于沿第三转动方向或第四转动方向转动，从而触发所述遥控器400产生第三遥控指令或第四遥控指令。所述第一方向与第二方向相反，所述第三转动方向与第四转动方向相反。所述第一遥控指令用于控制所述机动装置沿第一方向做直线运动，所述第二遥控指令用于控制所述机动装置沿第二方向做直线运动，所述第三遥控指令用于控制所述机动装置沿第三转动方向自转，所述第四遥控指令用于控制所述机动装置沿第四转动方向自转。
所述第二摇杆装置200的杆体用于移动，从而触发所述遥控器400产生平移遥控指令。所述平移遥控指令用于控制所述机动装置在一水平面内移动。
请参阅图2，所述遥控器400还包括处理器410和信号发射装置420。所述处理器410与所述第一摇杆装置100和所述第二摇杆装置200连接，用于处理所述第一、二、三、四遥控指令和所述平移遥控指令。所述信号发射装置420与所述处理器410连接，用于接收所述处理器410处理后的所述第一、二、三、四遥控指令和所述平移遥控指令，并将所述第一、二、三、四遥控指令和所述平移遥控指令发送至被遥控的所述机动装置。
在本实施例中，所述第一摇杆装置100用于使用者的左手操作，所述第二摇杆装置200用于使用者的右手操作。可以理解的是，在一些其它实施例中，可以根据使用者的使用习惯将所述第一摇杆装置100和所述第二摇杆装置200的位置对调。
请参阅图3至图4，所述第一摇杆装置100包括外壳10和安装于所述外壳10的摇杆机构20。
所述外壳10包括第一壳部11和第二壳部12。所述第一壳部11大致为薄板状，其中部开设有杆通孔110，所述第一壳部11的两相对侧分别垂直延伸出两个卡块112，每个卡块112的外侧开设有凹槽114，两个所述卡块112的两个凹槽114朝向相反方向设置。
所述第二壳部12开设有圆柱形的空腔120，所述空腔120的内壁开设有两个相对设置的卡槽122，每个卡槽122的内壁设置有凸起124。当所述第一壳部11盖住所述空腔120的开口时，所述卡块112相应插入至所述卡槽122中，所述凹槽114相应收容所述凸起124，可方便所述第一壳部11快速、准确地安装于所述第二壳部12。
请一并参阅图5和图6，所述摇杆机构20包括操作杆组件21，第一复位组件22，第一磁性元件23，第一电路板24，第二复位组件25，第二磁性元件26，以及第二电路板27。所述操作杆组件21一部分穿过所述杆通孔110，露于所述外壳10的外部，所述操作杆组件21的其余部分收容于所述空腔120。所述第一复位组件22，第一磁性元件23，第一电路板24，第二复位组件25，第二磁性元件26，以及第二电路板27皆收容于所述空腔120。
所述第一磁性元件23安装于所述操作杆组件21，所述第一磁性元件23可从其初始位置被所述操作杆组件21带动沿第一方向或第二方向相对于所述第一电路板24做直线移动，所述第一方向与第二方向相反。所述第一复位组件22用于将所述操作杆组件21沿第二方向或第一方向复位，使得所述第一磁性元件23复位至其初始位置。所述第二磁性元件26安装于所述操作杆组件21，所述第二磁性元件26可从其初始位置被所述操作杆组件21带动沿第三转动方向或第四转动方向相对于所述第二电路板27转动，所述第二复位组件25用于将所述操作杆组件21沿第四转动方向或第三转动方向复位，带动所述二磁性元件26复位至其初始位置。所述第三转动方向与第四转动方向相反。
请参阅图7和图8，所述操作杆组件21包括第一杆体210，第二杆体212以及销轴214。
所述第一杆体210为中空圆柱体，其开设有收容通道2102，销孔2104和开槽2106，所述收容通道2102沿所述第一杆体210的轴向设置，并在所述第一杆体210的一端具有开口，所述开槽2106和销孔2104开设于所述第一杆体210的外侧壁，所述开槽2106和销孔2104皆与所述收容通道2102相连通。
所述第二杆体212为圆柱体，其外侧壁开设有两个螺纹孔2122和滑动槽 2124。所述滑动槽2124为长条形，沿所述第二杆体212的轴向设置，两个所述螺纹孔2122沿所述第二杆体212的轴向设置于所述滑动槽2124的两侧。
所述第二杆体212包括一连接端2126，所述连接端2126外侧壁具有内螺纹，并且所述连接端2126具有椭圆形横截面，用于转动限位。所述第二杆体212部分收容于所述收容通道2102，并可沿其轴向相对于所述第一杆体210移动。
所述销轴214的一端穿过所述第一杆体210的销孔2104，收容于所述第二杆体212的滑动槽2124，并可于滑动槽2124内滑动。
所述第一磁性元件23安装于所述第一杆体210，所述第一杆体210，所述销轴214以及所述第一磁性元件23可一同沿所述第一方向或第二方向相对于所述第二杆体212做直线移动。在本实施例中，所述第一杆体210和第二杆体212的中心轴皆沿所述第一方向和第二方向设置。
所述第一复位组件22包括固定架220，摆动块222，弹性元件224和固定轴226。
所述固定架220大致为矩形，其包括安装板2201和支撑块2202，两个所述支撑块2202垂直地从所述安装板2201的两相对侧延伸而出，两个所述支撑块2202之间开设有杆通道2203。所述第一杆体210和所述第二杆体212部分收容于所述杆通道2203，所述第一电路板24通过多个螺钉安装于两个所述支撑块2202。所述第一电路板24，两个所述支撑块2202以及所述安装板2201围绕所述第一杆体210和所述第二杆体212。
所述安装板2201包括第一限位柱2204，所述第一限位柱2204的一端垂直地连接所述安装板2201背向所述支撑块2202的表面。所述安装板2201开设有第一导向槽2205，第一安装孔2206以及第二安装孔2207。所述第一导向槽2205为长条形，沿所述第一杆体210的轴向设置。所述第一安装孔2206和所述第一限位柱2204位于所述第一导向槽2205的两相对侧，两个所述第二安装孔2207位于所述第一导向槽2205的另两相对侧。两个螺钉2208穿过两个所述第二安装孔2207后，插入所述第二杆体212的两个所述螺纹孔2122，将所述第二杆体212和安装板2201固定在一起。
所述摆动块222的数量为两个，每个摆动块222包括铰接端2220，抵持 部2222以及自由端2224，所述抵持部2222位于所述铰接端2220与所述自由端2224之间。所述铰接端2220开设有铰接孔2226，所述固定轴226穿过所述两个摆动块222的两个铰接孔2226后，插入所述第一安装孔2206，将所述两个摆动块222铰接于所述安装板2201。
所述弹性元件224的一端连接其中一个摆动块222的自由端2224，所述弹性元件224的另一端连接另一个摆动块222的自由端2224。
所述销轴214穿过所述第一导向槽2205，并与所述第一限位柱2204并排夹于所述两个摆动块222的两个抵持部2222之间。
在本实施例中，所述弹性元件224为拉簧，可以理解的是，在一些其它实施例中，所述弹性元件224可以为其它可提供回弹拉力的弹性元件，例如橡皮筋。
所述第一电路板24包括第一磁传感器242，所述磁传感器242面向所述第一磁性元件23，用于感测所述第一磁性元件23的磁场变化，获得所述第一磁性元件23的移动位置，所述第一电路板24根据第一磁传感器242获得的第一磁性元件23的移动位置，产生相应的遥控指令。在本实施例中，所述第一磁传感器242为霍尔元件，可以理解的是，在一些其它实施中，所述第一磁传感器242可为其它可以感测磁场变化的磁传感器，如磁编码器。
所述第二复位组件25包括连接架250，转动件251，扭簧252以及固定件253。
所述连接架250为中空圆柱形，其包括圆形底部2501，环形外侧壁2502，安装柱2503，第二限位柱2504和弧形内侧壁2505。所述环形侧壁2502垂直地连接所述圆形底部2501的外边缘，相似地，所述弧形内侧壁2505垂直地连接所述圆形底部2501。所述第二限位柱2504的一端和所述安装柱2503的一端垂直地连接所述圆形底部2501。所述圆形底部2501的中部开设圆形的第一轴通孔2506，所述环形外侧壁2502和所述弧形内侧壁2505围绕所述第一轴通孔2506，并以所述第一轴通孔2506为中心。所述第二限位柱2504位于所述第一轴通孔2506与所述弧形内侧壁2505之间，所述弧形内侧壁2505位于所述第二限位柱2503与所述圆形外侧壁2502之间，所述安装柱2503接触所述环形侧壁2502的内表面。
所述转动件251包括圆形底板2511和弧形外侧壁2512，所述弧形外侧壁2512垂直地连接所述圆形底板2511的外边缘。所述圆形底板2511开设有弧形的第二导引槽2514和第二轴通孔2516，所述第二轴通孔2516的横截面大致为椭圆形，开设于所述圆形底板2511的中部，所述第二导引槽2514位于所述第二轴通孔2516与所述弧形外侧壁2512之间。所述弧形侧壁2512的两端之间形成缺口2515。
所述转动件251收容于所述弧形内侧壁2505所限定的空间，所述第二限位柱2504穿过所述第二导引槽2514，所述第一轴通孔2506与所述第二轴通孔2516对齐。
所述连接架250和所述转动件251由塑料材料注塑制得。
所述扭簧252包括扭簧主体2520和两个扭簧支臂2521，所述扭簧主体2520具有第三轴通孔2526，所述两个扭簧支臂2521分别连接所述扭簧主体2520。所述扭簧主体2520收容于所述弧形外侧壁2512所限定的空间，所述第三轴通孔2526与所述第二轴通孔2516对齐，所述两个扭簧支臂2521从所述缺口2515露出，并分别抵持所述弧形外侧壁2512的两端。
所述固定件253开设有收容孔2531，所述第二磁性元件26收容于所述收容孔2531，并面向所述第二电路板27。所述固定件253部分收容于所述第三轴通孔2526。在本实施例中，所述固定件253为固定螺母。
所述第二杆体212的连接端2126依次穿过第一轴通孔2506和第二轴通孔2516，最后固定连接所述固定件253。所述连接端2126的横截面大致为椭圆形，所述第二轴通孔2513的横截面大致为椭圆形，使得所述连接端2126转动时，可带动所述转动件251和固定件253一同相对于所述连接架250转动。可以理解的是，在一些其它实施例中，所述连接端2126的横截面和所述第二轴通孔2513的横截面可为其它转动限位结构，例如，所述连接端2126的横截面和所述第二轴通孔2513的横截面可为D形。
所述第二电路板27包括第二磁传感器272，所述第二磁传感器272面向所述第二磁性元件26，用于感测所述第二磁性元件26的磁场变化，获得所述第二磁性元件26的移动位置，所述第二电路板27根据第二磁传感器272获得的第二磁性元件26的移动位置，产生相应的遥控指令。所述第二电路板27固定安装于所述连接架250。在本实施例中，所述第二磁传感器272为霍尔元 件，可以理解的是，在一些其它实施中，所述第二磁传感器272可为其它可以感测磁场变化的磁传感器，如磁编码器。
组装时，请参阅图9至图11，将所述第二杆体212插入所述第一杆体210的收容通道2102，将所述销轴214的一端穿过所述销孔2104后插入至所述第二杆体212的滑动槽2124，装配得到所述操作杆组件21。两个所述螺纹孔2122中的一个从所述开槽2106露出。所述连接端2126露于所述收容通道2102之外。在所述第一杆体210与所述销轴214一同沿所述第一方向或第二方向做直线移动时，所述销轴214的一端在所述滑动槽2124内活动。
请参阅图12至图14，将所述销轴214穿过所述第一导向槽2205，所述第一杆体210和第二杆体212收容于所述杆通道2203，所述螺钉2208穿过所述第二安装孔2207后，插入并固定于所述螺纹孔2122，使得所述第二杆体212固定于所述安装板2201。将所述两个摆动件222的铰接孔2226对准所述第一安装孔2206，所述固定轴226穿过所述铰接孔2226后，插入并固定于所述第一安装孔2206，使得所述摆动件222铰接于所述安装板2201，所述销轴214和所述第一限位柱2204并排夹于两个所述摆动件222的两个抵持部2222之间。所述弹性元件224的两端分别连接所述两个摆动件222的两个自由端2224。
请参阅图15和图16，将第一磁性元件23安装于所述第一杆体210，将所述第一电路板24固定安装于两个所述支撑块2202，使得所述第一磁传感器242面向所述第一磁性元件23。
请参阅图17至图20，将所述转动件251放置于所述弧形内侧壁2505所限定的容间，所述第二限位柱2504穿过所述第二导引槽2514，所述第一轴通孔2506与所述第二轴通孔2516对齐。将所述扭簧主体2520放置于所述弧形外侧壁2512所限定的空间，所述第三轴通孔2526与所述第二轴通孔2516对齐，所述两个扭簧支臂2521从所述缺口2515露出，并分别抵持所述弧形外侧壁2512的两端。将所述第二磁性元件26固定于所述固定件253的收容孔2531，将所述固定件253部分收容于所述第三轴通孔2526。将所述第二杆体212的连接端2126依次穿过第一轴通孔2506以及第二轴通孔2516，最后固 定连接所述固定件253。将所述第二电路板27固定安装于所述连接架250的两个所述安装柱2503。至此，装配得到所述摇杆机构20。
请参阅图21，将所述摇杆机构20放入所述空腔120，将螺钉穿过所述第二壳部12的底部后插入并固定于所述连接架250的三个所述安装柱2503，所述第二电路板27抵持所述第二壳部12的底部。将所述第一壳部11盖住所述空腔120的开口，所述卡块112相应插入至所述卡槽122中，所述凹槽114相应收容所述凸起124，装配得到本发明实施例的第一摇杆装置100(可一并参见图4)。
请参阅图22，对所述第一杆体210施加拉力，使所述销轴214从其初始位置，连同所述第一杆体210一起沿所述第一方向(例如，图22中的向上方向)做直线移动时，所述第一限位柱2204抵持其中一个所述抵持部2222，所述销轴214带动另一个所述抵持部222沿所述第一方向张开，所述弹性元件224被接伸。所述第一磁性元件23从其初始位置被所述第一杆体210带动沿所述第一方向做直线移动，所述第一磁传感器242感测所述第一磁性元件23的磁场变化，获得所述第一磁性元件23沿所述第一方向的移动位置。所述第一电路板24根据所述第一磁传感器242获得的所述第一磁性元件23的移动位置，产生遥控指令，所述遥控器200向被操控的所述机动装置发送所述遥控指令，使得所述机动装置沿所述第一方向做直线移动。
请参阅图23，在施加于所述第一杆体210的拉力消失时，所述被拉伸的弹性元件224恢复原状，拉动张开的所述摆动块222复位，从而带动所述销轴214、第一杆体210和第一磁性元件23复位，使得所述第一磁性元件23沿所述第二方向移动至其初始位置。
请参阅图24，对所述第一杆体210施加推力，使所述销轴214从其初始位置，连同所述第一杆体210一起沿所述第二方向(例如，图24中的向下方向)做直线移动时，所述第一限位柱2204抵持其中一个所述抵持部2222，所述销轴214带动另一个所述抵持部2222沿所述第二方向张开，所述弹性元件224被接伸。所述第一磁性元件23从其初始位置被所述第一杆体210带动沿所述第二方向做直线移动，所述第一磁传感器242感测所述第一磁性元件23的磁场变化，获得所述第一磁性元件23沿所述第二方向的移动位置。所述第 一电路板24根据所述第一磁传感器242获得的所述第一磁性元件23的移动位置，产生遥控指令，所述遥控器200向被操控的所述机动装置发送所述遥控指令，使得所述机动装置沿所述第二方向做直线移动。
在施加于所述第一杆体210的推力消失时，所述被拉伸的弹性元件224恢复原状，拉动张开的所述摆动块222复位，从而带动所述销轴214、第一杆体210和第一磁性元件23复位，使得所述第一磁性元件23沿所述第一方向移动至其初始位置。
请参阅图25和图26，对所述第一杆体210施加扭力，使得所述第一杆体210带动第二杆体212，第一复位组件22和第一电路板24一同沿所述第三转动方向或第四转动方向转动，所述连接端2126带动所述转动件251和所述固定件253一同相对于所述连接架250和第二电路板27沿所述第三转动方向或第四转动方向转动。
所述固定件253相对于所述第二电路板27沿所述第三转动方向或第四转动方向转动时，所述第二磁性元件26从其初始位置相对于所述第二磁传感器272沿所述第三转动方向或第四转动方向转动。所述第二磁传感器272感测所述第二磁性元件26的磁场变化，获得所述第二磁性元件23沿所述第三转动方向或第四转动方向的转动量。所述第二电路板27根据所述第二磁传感器272获得的所述第二磁性元件26的转动量，产生遥控指令，所述遥控器200向被操控的所述机动装置发送所述遥控指令，使得所述机动装置沿所述第三转动方向或第四转动方向转动。
在所述转动件251相对于所述连接架250转动时，其中一个所述扭簧支臂2521由所述弧形外侧壁2512的一端推动，沿所述第三转动方向或所述第四转动方向靠近另一个所述扭簧支臂2521和所述弧形内侧壁2506的一端，所述弧形外侧壁2512的一端和所述弧形内侧壁2506的一端分别挤压所述两个扭簧支臂2521，使得所述扭簧252被压缩。
在施加于所述第一杆体210的扭力消失时，所述扭簧252恢复原状，所述两个扭簧支臂2521分别推动所述弧形外侧壁2512的一端和所述弧形内侧壁2506的一端，所述转动件251相对于所述连接架250沿所述第四转动方向或第三转动方向转动，带动所述固定件253，所述第一杆体210，第二杆体212， 第一复位组件22和第一电路板24沿所述第四转动方向或第三转动方向复位，使得所述第二磁性元件26沿所述第四转动方向或所述第三转动方向转动至其初始位置。
请参阅图27，本发明另一实施例提供的第一摇杆装置300的结构与上述实施例提供的第一摇杆装置100的结构基本相同，区别点在于：所述第一摇杆装置300采用电位器274代替所述第一摇杆装置100的磁传感器272。
所述电位器274设置于所述电路板27，所述连接端2126插入所述电位器274，并与所述电位器274接触。所述电位器274包括电阻体，所述连接端2126包括电刷。
当所述连接端2126沿所述第三转动方向或第四转动方向相对于所述电位器274和第二电路板27转动时，所述电位器274根据电阻值或电压的变化，获得所述连接端2126沿所述第三转动方向或第四转动方向的转动量，所述电路板27产生相应的遥控指令，所述遥控器200向被操控的所述机动装置发送所述遥控指令，使得所述机动装置沿所述第三转动方向或第四转动方向转动。
所述第一摇杆装置300可替换上述实施例提供的第一摇杆装置100，安装于所述壳体402。
在发明实施例的所述第一摇杆装置100，300中，所述第一杆体210仅有四个方向的动作：沿所述第一方向和第二方向的直线移动，沿所述第三转动方向和第四转动方向的转动，操作简单，并便于使用者记忆。另外，在施加于所述第一杆体210的力量消失时，所述第一复位组件22或所述第二复位组件25可使得所述第一杆体210复位，进一步简化了所述第一摇杆装置100的操作。
所述第二摇杆装置200的杆体用于移动，触发所述遥控器400产生平移遥控指令。所述平移遥控指令用于控制所述机动装置在一水平面内移动。例如，所述第二摇杆装置200可采用现有技术中的摆动结构，在所述第二摇杆装置200的杆体相对于使用者向前，后，左或右等方向移动时，触发所述遥控器400产生所述平移遥控指令，所述平移遥控指令指令所述机动装置向前，后，左或右等方向移动。
在一些实施例中，所述机动装置为无人机，所述遥控器400用于操控所述无人机。在所述第一杆体210沿所述第一方向(例如，图22中的向上方向)做直线运动时，所述遥控器400操控所述无人机上升；在所述第一杆体210沿所述第二方向(例如，图24中的向下方向)做直线运动时，所述遥控器400操控所述无人机下降；在所述第一杆体210沿所述第三转动方向或第四转动方向转动时，所述遥控器400操控所述无人机左自转或右自转。
所述第一杆体210的运动方向与所述无人机的运动方向相对应，使得遥控器400的操作直观、简单，并且所述第一杆体210仅有四个方向的动作，便于使用者记忆。另外，在施加于所述第一杆体210的力量消失时，所述第一复位组件22或所述第二复位组件25可使得所述第一杆体210复位，进一步简化了所述遥控装置400的操作。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (19)

  1. 一种遥控器(400)，用于遥控机动装置，其特征在于，所述遥控器(400)包括：
    第一摇杆装置(100)，所述第一摇杆装置(100)的杆体用于沿第一方向或第二方向做直线运动，从而触发所述遥控器(400)产生第一遥控指令或第二遥控指令，所述第一摇杆装置(100)的杆体还用于沿第三转动方向或第四转动方向转动，从而触发所述遥控器(400)产生第三遥控指令或第四遥控指令，所述第一方向与第二方向相反，所述第三转动方向与第四转动方向相反，所述第一遥控指令用于控制所述机动装置沿第一方向做直线运动，所述第二遥控指令用于控制所述机动装置沿第二方向做直线运动，所述第三遥控指令用于控制所述机动装置沿第三转动方向自转，所述第四遥控指令用于控制所述机动装置沿第四转动方向自转；
    第二摇杆装置(200)；
    处理器(410)，所述处理器(410)与所述第一摇杆装置(100)和所述第二摇杆装置(200)连接，用于处理所述第一、二、三、四遥控指令；以及
    信号发射装置(420)，所述信号发射装置(420)与所述处理器(410)连接，用于接收所述处理器(410)处理后的所述第一、二、三、四遥控指令，并进行发送。
  2. 根据权利要求1所述的遥控器(400)，其特征在于，所述第一摇杆装置(100)包括：
    操作杆组件(21)；
    第一磁性元件(23)，所述第一磁性元件(23)安装于所述操作杆组件(21)；
    第一电路板(24)，其包括第一磁传感器(242)，所述第一磁传感器(242)面向所述第一磁性元件(23)，所述第一磁性元件(23)可从其初始位置被所述操作杆组件(21)带动沿所述第一方向或第二方向相对于所述第一磁传感器(242)做直线移动。
  3. 根据权利要求2所述的遥控器(400)，其特征在于，所述第一摇杆装 置(100)包括：
    第二磁性元件(26)，所述第二磁性元件安装于所述操作杆组件(21)；
    第二电路板(27)，其包括第二磁传感器(272)，所述第二磁传感器(272)面向所述第二磁性元件(26)，所述第二磁性元件(26)可从其初始位置被所述操作杆组件(21)带动沿所述第三转动方向或第四转动方向相对于所述第二磁传感器(272)转动。
  4. 根据权利要求3所述的遥控器(400)，其特征在于，所述第一摇杆装置(100)包括第一复位组件(22)，所述第一复位组件(22)连接所述操作杆组件(21)，所述第一复位组件(22)用于将所述操作杆组件(21)沿所述第二方向或第一方向复位，使得所述第一磁性元件(23)复位至其初始位置。
  5. 根据权利要求4所述的遥控器(400)，其特征在于，所述第一摇杆装置(100)包括第二复位组件(25)，所述第二复位组件(25)连接所述操作杆组件(21)，所述第二复位组件(25)用于将所述操作杆组件(21)沿第四转动方向或第三转动方向复位，使得所述第二磁性元件(26)复位至其初始位置。
  6. 根据权利要求5所述的遥控器(400)，其特征在于，所述操作杆组件(21)包括第一杆体(210)，第二杆体(212)以及销轴(214)；
    所述第一杆体(210)和所述第二杆体(212)的中心轴沿所述第一方向和第二方向设置；
    所述第一杆体(210)开设有收容通道(2102)和销孔(2104)，所述收容通道(2102)沿所述第一杆体(210)的轴向设置，所述销孔(2104)开设于所述第一杆体(210)的外侧壁；
    所述第二杆体(212)的外侧壁开设有滑动槽(2124)，所述滑动槽(2124)沿所述第二杆体(212)的轴向设置，所述第二杆体(212)部分收容于所述收容通道(2102)，并可沿其轴向相对于所述第一杆体(210)移动；
    所述销轴(214)的一端穿过所述销孔(2104)，并收容于所述滑动槽(2124)。
  7. 根据权利要求6所述的遥控器(400)，其特征在于，所述第二杆体(212)连接所述第一复位组件(22)和第二复位组件(25)；
    所述第一磁性元件(23)安装于所述第一杆体(210)，所述第一杆体(210)，所述销轴(214)以及所述第一磁性元件(23)可一同沿所述第一方向或第二方向相对于所述第二杆体(212)做直线移动；
    所述第一复位组件(22)用于驱动所述销轴(214)沿所述第一方向或第二方向复位，使得所述第一磁性元件(23)复位至其初始位置。
  8. 根据权利要求7所述的遥控器(400)，其特征在于，所述第一复位组件(22)包括固定架(220)，摆动块(222)和弹性元件(224)；
    所述固定架(220)包括第一限位柱(2204)，并开设有第一导向槽(2205)；
    所述摆动块(222)的数量为两个，每个摆动块(222)的一端与另一个摆动块(222)的一端共同铰接于所述固定架(220)；
    所述弹性元件(224)的两端分别连接每个所述摆动块(222)的另一端；
    所述第二杆体(212)固定安装于所述固定架(220)；
    所述销轴(214)穿过所述第一导向槽(2205)，并可在所述第一导向槽(2205)内沿所述第一方向或第二方向移动，所述销轴(214)和所述第一限位柱(2204)位于两个所述摆动块(222)之间。
  9. 根据权利要求8所述的遥控器(400)，其特征在于，每个所述摆动块(222)包括铰接端(2220)，抵持部(2222)以及自由端(2224)，所述抵持部(2222)位于所述铰接端(2220)与所述自由端(2224)之间；
    两个所述摆动块(222)的两个铰接端(2220)共同铰接于所述固定架(220)；
    所述弹性元件(224)的两端分别连接两个所述摆动块(222)的两个自由端(2224)；
    所述销轴(214)与所述第一限位柱(2204)并排设于两个所述摆动块(222)的两个抵持部(2222)之间。
  10. 根据权利要求8所述的遥控器(400)，其特征在于，所述第一电路板(24)固定安装于所述固定架(220)；
    所述固定架(220)开设有杆通道(2203)，所述第一杆体(210)和所述第二杆体(212)部分收容于所述杆通道(2203)；
    所述第二杆体(212)连接所述第二复位组件(25)和所述第二磁性元件(26)，所述第二磁性元件(26)可从其初始位置被所述第二杆体(212)带动沿所述第三转动方向或第四转动方向相对于所述第二磁传感器(272)转动；所述第二复位组件(25)用于将所述第二杆体(212)沿第四转动方向或第三转动方向复位，使得所述第二磁性元件(26)复位至其初始位置。
  11. 根据权利要求10所述的遥控器(400)，其特征在于，所述第二复位组件(25)包括连接架(250)，转动件(251)以及扭簧(252)；
    所述连接架(250)包括底部(2501)，第二限位柱(2504)和弧形内侧壁(2505)，所述弧形内侧壁(2505)连接所述底部(2501)，所述第二限位柱(2504)的一端连接所述底部(2501)；
    所述转动件(251)包括底板(2511)和弧形外侧壁(2512)，所述弧形外侧壁(2512)连接所述底板(2511)；所述底板(2511)开设有弧形的第二导引槽(2514)，所述弧形侧壁2512的两端之间形成缺口(2515)；
    所述第二限位柱(2504)穿过所述第二导引槽(2514)；
    所述扭簧(252)部分收容于所述弧形外侧壁(2512)所限定的空间，所述扭簧(252)包括两个扭簧支臂(2521)，所述两个扭簧支臂(2521)穿过所述缺口(2515)，并分别抵持所述弧形外侧壁(2512)的两端；
    所述第二杆体(212)穿过所述连接架(250)和所述转动件(251)，所述第二杆体(212)可带动所述转动件(251)沿所述第三方向或第四方向相对于所述连接架(250)转动。
  12. 根据权利要求11所述的遥控器(400)，其特征在于，所述第二杆体(212)包括连接端(2126)，所述连接端(2126)与所述第二磁性元件(26)固定连接。
  13. 根据权利要求12所述的遥控器(400)，其特征在于，所述第二复位组件(25)包括固定件(253)，所述第二磁性元件(26)安装于所述固定件(253)，所述连接端(2126)固定连接所述固定件(253)。
  14. 根据权利要求11至13任一项所述的遥控器(400)，其特征在于，所述第二电路板(27)固定安装于所述连接架(250)。
  15. 根据权利要求3至14任一项所述的遥控器(400)，其特征在于，所述第一磁传感器(242)和所述第二磁传感器(272)皆为霍尔元件。
  16. 根据权利要求1至15任一项所述的遥控器(400)，其特征在于，所述第二摇杆装置(200)的杆体用于移动，从而触发所述遥控器(400)产生平移遥控指令，所述平移遥控指令用于控制所述机动装置在一水平面内移动。
  17. 一种机动装置，包括机身，其特征在于，还包括权利要求1～16所述的遥控器(400)，所述遥控器(400)与所述机身通信连接，用于根据所述第一摇杆装置和第二摇杆装置产生的遥控指令控制所述机身飞行状态；
    其中，所述第一遥控指令用于控制所述机动装置沿第一方向做直线运动，所述第二遥控指令用于控制所述机动装置沿第二方向做直线运动，所述第三遥控指令用于控制所述机动装置沿第三转动方向自转，所述第四遥控指令用于控制所述机动装置沿第四转动方向自转。
  18. 根据权利要求17所述的机动装置，其特征在于，所述遥控器(400)的第二摇杆装置的杆体用于移动，从而触发所述遥控器(400)产生平移遥控指令；其中，所述平移遥控指令用于控制所述机动装置在一水平面内移动。
  19. 根据权利要求17或18所述的机动装置，其特征在于，所述机动装置为无人机。
PCT/CN2017/115057 2017-08-25 2017-12-07 遥控器及机动装置 Ceased WO2019037332A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/800,965 US11531332B2 (en) 2017-08-25 2020-02-25 Remote control and motorized device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710742670.4A CN109427502B (zh) 2017-08-25 2017-08-25 遥控器
CN201710742670.4 2017-08-25

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/800,965 Continuation US11531332B2 (en) 2017-08-25 2020-02-25 Remote control and motorized device

Publications (1)

Publication Number Publication Date
WO2019037332A1 true WO2019037332A1 (zh) 2019-02-28

Family

ID=65438403

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/115057 Ceased WO2019037332A1 (zh) 2017-08-25 2017-12-07 遥控器及机动装置

Country Status (3)

Country Link
US (1) US11531332B2 (zh)
CN (1) CN109427502B (zh)
WO (1) WO2019037332A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU223862U1 (ru) * 2024-01-13 2024-03-05 Общество с ограниченной ответственностью "ПЛАЗ" Модуль управления пульта дистанционного управления

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107481498A (zh) * 2017-09-05 2017-12-15 深圳市道通智能航空技术有限公司 一种遥控器
CN110595039A (zh) * 2019-08-21 2019-12-20 青岛海尔空调器有限总公司 空调器的导风板控制装置
CN111603320B (zh) * 2020-06-29 2025-01-07 福建施可瑞医疗科技股份有限公司 一种双轴霍尔杠杆操控器及其工作方法
WO2022183385A1 (zh) * 2021-03-02 2022-09-09 深圳市大疆创新科技有限公司 摇杆机构及遥控器
USD1031864S1 (en) * 2021-07-06 2024-06-18 Autel Robotics Co., Ltd. Remote control
CN117282092B (zh) * 2023-09-20 2025-01-10 深圳市达实智控科技股份有限公司 一种可拆卸式摇杆

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6340800B1 (en) * 2000-05-27 2002-01-22 International Business Machines Corporation Multiplexing control device and method for electronic systems
CN203400505U (zh) * 2013-07-29 2014-01-22 杜超 一种航模飞机遥控器
US20170092446A1 (en) * 2015-09-24 2017-03-30 Microsoft Technology Licensing, Llc Adjustable force tactile switch
CN206411626U (zh) * 2016-08-31 2017-08-15 深圳市道通智能航空技术有限公司 一种遥控器及其摇杆装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102743872B (zh) * 2012-06-08 2014-11-05 陈永刚 一种电动玩具陀螺
US8903568B1 (en) * 2013-07-31 2014-12-02 SZ DJI Technology Co., Ltd Remote control method and terminal
CN205211142U (zh) * 2015-11-27 2016-05-04 杨珊珊 无人飞行器的遥控装置
CN205609370U (zh) * 2016-04-26 2016-09-28 国网山东省电力公司即墨市供电公司 一种控制器操作杆
US20180204331A1 (en) * 2016-07-21 2018-07-19 Gopro, Inc. Subject tracking systems for a movable imaging system
CN106297247B (zh) * 2016-08-31 2020-05-12 深圳市道通智能航空技术有限公司 一种摇杆装置及遥控器
CN106730897A (zh) * 2016-12-16 2017-05-31 深圳市道通智能航空技术有限公司 摇杆机构及遥控器
EP3586506A4 (en) * 2017-02-27 2021-04-14 Isolynx, LLC SYSTEMS AND METHODS FOR TRACKING AND CONTROLLING A MOBILE CAMERA FOR IMAGE OBJECTS OF INTEREST
CN207353145U (zh) * 2017-08-25 2018-05-11 深圳市道通智能航空技术有限公司 遥控器
US10890921B2 (en) * 2018-05-31 2021-01-12 Carla R. Gillett Robot and drone array

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6340800B1 (en) * 2000-05-27 2002-01-22 International Business Machines Corporation Multiplexing control device and method for electronic systems
CN203400505U (zh) * 2013-07-29 2014-01-22 杜超 一种航模飞机遥控器
US20170092446A1 (en) * 2015-09-24 2017-03-30 Microsoft Technology Licensing, Llc Adjustable force tactile switch
CN206411626U (zh) * 2016-08-31 2017-08-15 深圳市道通智能航空技术有限公司 一种遥控器及其摇杆装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU223862U1 (ru) * 2024-01-13 2024-03-05 Общество с ограниченной ответственностью "ПЛАЗ" Модуль управления пульта дистанционного управления

Also Published As

Publication number Publication date
CN109427502B (zh) 2024-09-13
US20200192346A1 (en) 2020-06-18
CN109427502A (zh) 2019-03-05
US11531332B2 (en) 2022-12-20

Similar Documents

Publication Publication Date Title
WO2019037453A1 (zh) 摇杆装置及具有此摇杆装置的遥控器
WO2019037332A1 (zh) 遥控器及机动装置
WO2019047518A1 (zh) 一种遥控器
WO2019047532A1 (zh) 一种摇杆装置及具有此摇杆装置的遥控器
WO2019041837A1 (zh) 遥控器
CN107765756B (zh) 拨杆结构及采用该拨杆结构的遥控器、控制方法
CN107111330A (zh) 摇杆机构及使用该摇杆机构的控制装置
JP5930226B2 (ja) 多方向入力操作装置及び該多方向入力操作装置を用いた車両用シフト装置
CN105517656A (zh) 拨轮组件、遥控器以及无人机控制方法
EP3204577A1 (en) Door mount mechanism for a smart lock system
CN105161345A (zh) 一种3d旋转摇杆控制装置
CN111026103B (zh) 手柄组件及遥控器
CN110730294B (zh) 摄像头系统及移动终端
CN107160413B (zh) 一种仿人头颈部机器人
CN204256927U (zh) 拨杆结构及采用该拨杆结构的遥控器
CN115738234A (zh) 一种兼具旋钮、按钮功能的摇杆控制器
WO2016078510A1 (zh) 开关装置
CN207507013U (zh) 摇杆装置及具有此摇杆装置的遥控器
CN207353145U (zh) 遥控器
CN223205815U (zh) 一种按压式旋钮
CN112331500B (zh) 一种电气设备及其隐藏式急停开关组件
JP7342161B2 (ja) コントローラ構造
CN108595021A (zh) 动作感测结构及使用该动作感测结构的运动器件
KR20110125084A (ko) 선형 모터를 이용한 소형 팬 틸트 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17922717

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17922717

Country of ref document: EP

Kind code of ref document: A1