WO2019095504A1 - 摇杆装置 - Google Patents

摇杆装置 Download PDF

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Publication number
WO2019095504A1
WO2019095504A1 PCT/CN2017/117731 CN2017117731W WO2019095504A1 WO 2019095504 A1 WO2019095504 A1 WO 2019095504A1 CN 2017117731 W CN2017117731 W CN 2017117731W WO 2019095504 A1 WO2019095504 A1 WO 2019095504A1
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WO
WIPO (PCT)
Prior art keywords
rocker
rotating
rotating shaft
rotating body
bushing
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/CN2017/117731
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English (en)
French (fr)
Inventor
张胜闯
姜广存
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.)
Goertek Techology Co Ltd
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Goertek Techology 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 Goertek Techology Co Ltd filed Critical Goertek Techology Co Ltd
Publication of WO2019095504A1 publication Critical patent/WO2019095504A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers

Definitions

  • the present invention relates to the field of unmanned aerial vehicles, and more particularly to a rocker apparatus.
  • UAVs such as fixed-wing UAVs, multi-rotor UAVs
  • remote controls are operated by remote controls.
  • the remote control controls the motion control of the three dimensions of flight (ie, front, back, left and right, and up and down) through two sets of joysticks.
  • the rocker is reset by a pressure plate and a spring. This way of implementing the reset is complicated in structure and the position at the time of reset is unstable.
  • a rocker device includes:
  • the first direction bushing has a first inclined surface, and the frame forms a stop for the rotation of the first direction bushing
  • a rotating body including a rotating body, a first engaging portion and a first rotating shaft, the first engaging portion and the first rotating shaft being disposed on the rotating body, the first rotating shaft and The frame is pivotally connected, the first mating portion includes a second inclined surface disposed around the first rotating shaft, the first direction sleeve is sleeved on the first rotating shaft, and the first inclined surface is The second inclined surface is fitted, and the first direction sleeve can slide along the first rotating shaft;
  • the second bomb Providing a second elastic element and a second direction bushing in the rotating body, the second bomb
  • the sexual element cooperates with the second direction bushing such that the second direction bushing forms a pre-elastic force, the second direction bushing has a third inclined surface, and the rotating body has a second direction bushing Rotation to form a stop;
  • a rocker assembly including a rocker body, a second mating portion and a second rotating shaft, the second mating portion, the rocker body and the second rotating shaft being coupled, the second rotation
  • the shaft is pivotally coupled to the rotating body
  • the second mating portion includes a fourth inclined surface disposed around the second rotating shaft, and the second direction sleeve is sleeved on the second rotating shaft, the first The four inclined surfaces are fitted to the third inclined surface, and the second direction sleeve is slidable along the second rotating shaft.
  • the rotating body includes a curved surface
  • the frame includes a curved edge that matches an arc of the curved surface, and the curved surface slides along the curved edge.
  • the rotating body includes a limiting slot formed by the inner surface of the arc, wherein the rocker body passes through the limiting slot, and the limiting slot is configured to define the The angle at which the rocker body rotates.
  • a stop is provided on the frame, the stop being configured to form a stop on the rotating body to define an angle at which the rotating body rotates.
  • a first guiding slot extending in the first direction is disposed on the frame, the first direction sleeve has a rib, the rib sliding along the first guiding slot;
  • a second guide groove extending in the second direction is disposed on the rotating body, and the second direction bushing has a rib, and the rib slides along the second guiding groove.
  • the frame includes a first bracket and a second bracket, the first bracket and the second bracket being fixedly coupled to form a rotating space, and the rotating body is located in the rotating space.
  • the rotating body comprises an upper cover and a lower cover connected together, a rotating cavity is formed between the upper cover and the lower cover, the second elastic element, the second matching part and the The second direction bushing is located in the rotating cavity.
  • the curved surface is located on the upper cover.
  • the first rotating shaft, the first mating portion and the upper cover are integrally formed.
  • the rocker body, the second mating portion and the second rotating shaft are integrally formed.
  • the first elastic member when the user's hand releases the rocker body, the first elastic member rebounds, thereby driving the first direction sleeve to slide backward.
  • the first bevel of the first direction sleeve presses the second bevel such that the second bevel forms a torque.
  • This torque causes the rotating body to reset to the initial position.
  • the first bevel and the second bevel are reattached together, and the rotating body returns to the initial position.
  • the second resilient member rebounds to drive the second direction sleeve to slide in the opposite direction.
  • the third bevel of the second direction bushing presses the fourth bevel so that the fourth bevel forms a torque. This torque causes the rocker body to reset to the initial position.
  • the third bevel and the fourth bevel are reattached together, and the rocker body returns to the initial position.
  • FIG. 1 is a schematic structural view of a rocker apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of another angle of a rocker apparatus according to an embodiment of the present invention.
  • 3-4 are exploded views of a rocker assembly in accordance with an embodiment of the present invention.
  • Figure 5 is an assembled view of the upper cover and rocker body in accordance with one embodiment of the present invention.
  • Figure 6 is a side elevational view of a first direction sleeve or a second direction sleeve, in accordance with one embodiment of the present invention.
  • Figure 7 is a cross-sectional view of the rocker device along the first axis of rotation, in accordance with an embodiment of the present invention.
  • Figure 8 is a cross-sectional view of the vertical plane of the rocker device along the second axis of rotation, in accordance with one embodiment of the present invention.
  • a rocker device is provided.
  • a rocker device is used for a remote control of an unmanned aerial vehicle.
  • the rocker assembly includes a frame, a rotating body, and a rocker assembly.
  • a first resilient member and a first directional bushing 15 are disposed on the frame.
  • the frame forms a support for the rotating body.
  • the first resilient member cooperates with the first directional bushing 15 to cause the first directional bushing 15 to form a pre-elastic force.
  • the first direction bushing 15 has a first bevel 25 .
  • the frame forms a stop for the rotation of the first direction bushing 15.
  • the first elastic element is a spring, a spring piece or an elastic rubber piece.
  • the first resilient element is the first compression spring 16.
  • the first compression spring 16 abuts the first direction guide groove to generate a pre-elastic force.
  • a rib 30 is provided on the first direction bushing 15. The extending direction of the rib 30 is parallel to the first direction.
  • a first guide groove 19 is provided on the frame. The extending direction of the first guiding groove 19 is parallel to the first direction. The rib 30 is inserted into the first guiding groove 19 such that the first direction bushing 15 is along the first The guide groove 19 slides, and the first guide groove 19 prevents the first direction sleeve 15 from rotating.
  • the rib 30 and the first guiding groove are respectively a plurality of ones, and the two are in one-to-one correspondence.
  • the arrangement of the plurality of first guiding grooves and ribs 30 can more effectively prevent the first direction bushing 15 from rotating.
  • the ribs 30 are located on the frame and the first guide slots are located on the first direction bushing 15. This configuration also prevents the first direction sleeve 15 from rotating.
  • the first elastic element can also be a tension spring. The tension spring pulls the first direction bushing 15 to form a pre-elastic force.
  • the rotating body includes a rotating body, a first engaging portion, and a first rotating shaft 31.
  • the first fitting portion and the first rotating shaft 31 are disposed on the rotating body.
  • the first mating portion and the first rotating shaft 31 are located on the outer surface of the rotating body.
  • the first mating portion is configured to cooperate with the first direction bushing to achieve resetting of the rotating body.
  • the first rotating shaft 31 is pivotally coupled to the frame.
  • the first mating portion includes a second bevel 26 disposed about the first axis of rotation 31.
  • the first direction bushing 15 is sleeved on the first rotating shaft 31. In the initial position, the first slope 25 is in contact with the second slope 26.
  • the angles of the first bevel 25 and the second bevel 26 are complementary with respect to the first axis of rotation 31 such that the two bevels can be brought together.
  • the first direction bushing 15 is slidable along the first rotation axis 31.
  • the pre-elastic force of the first compression spring 16 against the first direction sleeve 15 is such that the second slope 26 forms a pressure on the first slope 25.
  • the angle of the first slope 25 and the second slope 26 with respect to the first rotation shaft 31 is 30°-45°. This range of angles results in a better damping effect of the first direction bushing 15 on the rotating body.
  • a second elastic member and a second direction bushing 18 are disposed within the rotating body.
  • the second resilient member cooperates with the second directional bushing 18 to cause the second directional bushing 18 to form a pre-elastic force.
  • the second direction bushing 18 has a third bevel 27.
  • the rotating body forms a stop for the rotation of the second direction bushing 18.
  • the second elastic element is a spring, a spring piece or an elastic rubber piece.
  • the second elastic element is the second compression spring 21.
  • the first compression spring 16 abuts the first direction guide groove to generate a pre-elastic force.
  • a rib 30 is provided on the second direction bushing 18. The extending direction of the rib 30 is parallel to the second direction.
  • a second guide groove 20 is provided in the rotating body. The extending direction of the second guiding groove 20 is parallel to the second direction.
  • the rib 30 is inserted into the second guide groove 20 to slide the second direction bushing 18 along the second guide groove 20, and the second guide groove 20 prevents the second direction bushing 18 from rotating.
  • the rib 30 and the second guiding groove are respectively a plurality of ones, and the two are in one-to-one correspondence.
  • the arrangement of the plurality of second guiding grooves and ribs 30 can more effectively prevent the second direction sleeve 18 from rotating.
  • the rib 30 is located on the rotating body and the second guiding slot is located on the second direction bushing 18. This configuration also prevents the second direction sleeve 18 from rotating.
  • the second elastic element can also be a tension spring. The tension spring pulls the second direction bushing 18 to form a pre-elastic force.
  • the rocker assembly includes a rocker body 12, a second mating portion, and a second pivot shaft 32.
  • the second mating portion, the rocker body 12 and the second rotating shaft 32 are connected.
  • the second rotating shaft 32 is pivotally coupled to the rotating body.
  • the second mating portion includes a fourth bevel 28 disposed about the second axis of rotation 32.
  • the second direction bushing 18 is sleeved on the second rotating shaft 32. In the initial position, the fourth slope 28 is attached to the third slope 27.
  • the angles of the third bevel 27 and the fourth bevel 28 are complementary with respect to the second axis of rotation 32 so that the two bevels can be brought together.
  • the second mating portion is configured to cooperate with the second direction bushing to achieve reset centering of the rocker body.
  • the second direction sleeve 18 is slidable along the second axis of rotation 32. The pre-elastic force of the second compression spring 21 against the second direction bushing 18 causes the fourth slope 28 to exert pressure on the
  • angles of the third slope 27 and the fourth slope 28 with respect to the second rotation shaft 32 are 30°-45°. This range of angles results in a better damping effect of the second direction bushing 18 on the rocker body 12.
  • the user manually drives the rocker body 12 to move in any direction.
  • the movement causes the rotating body to rotate about a set axis (for example, the Y axis) and causes the rocker body 12 to swing about a set axis (for example, an X axis) to deviate the rotating body and the rocker body from the initial position.
  • the rotation of the rotating body drives the first engaging portion to rotate, and the second inclined surface 26 also rotates.
  • the first inclined surface 25 forms an interference with the second inclined surface 26 such that the first inclined surface 25 and the second inclined surface 26 are no longer fitted.
  • the second inclined surface 26 pushes the first inclined surface 25 away from the second inclined surface 26, thereby pushing the first direction bushing 15 to slide along the first rotating shaft 31 in a direction away from the rotating body.
  • the first direction bushing 15 compresses the first elastic element (eg, the first compression spring 16). And the pressure of the first compression spring 16 provides a damping effect of the rotating body rotating about the Y axis.
  • the rocker body 12 swings to drive the second mating portion to rotate, and the fourth slope 28 also rotates.
  • the third inclined surface 27 forms an interference with the fourth inclined surface 28 such that the third inclined surface 27 and the fourth inclined surface 28 are no longer fitted.
  • the fourth slope 28 pushes the third slope 27 away from the fourth slope 28, thereby urging the second direction sleeve 18 to slide along the second rotation axis 32 in a direction away from the rocker body 12.
  • the second direction sleeve 18 compresses the second resilient element (eg, the second compression spring 21). And the pressure of the second compression spring 21 provides a damping effect of the rocker body 12 rotating about the X axis.
  • the first elastic member for example, the first compression spring 16
  • the first direction bushing 15 presses the second ramp surface 26 such that the second ramp surface 26 forms a torque.
  • This torque causes the rotating body to reset to the initial position.
  • the first bevel 25 and the second bevel 26 are reattached together, and the rotating body returns to the initial position.
  • the second elastic member for example, the second compression spring 21
  • the second elastic member rebounds, thereby driving the second direction sleeve 18 to slide in the opposite direction.
  • the third bevel 27 of the second direction bushing 18 presses the fourth bevel 28 to cause the fourth bevel 28 to form a torque. This torque causes the rocker body 12 to reset to the initial position.
  • the third bevel 27 and the fourth bevel 28 are reattached together, and the rocker body 12 is returned to the initial position.
  • the structure of the rocker device is simple, and the automatic reset of the rocker body 12 can be achieved.
  • the rotating body includes a curved surface 29.
  • the frame includes curved edges that match the curvature of the curved surface 29, and the curved surface 29 slides along the curved edges. In this way, the curved edge forms a support for the curved surface 29, which makes the rotation of the rotating body smoother, and the rotating body is less prone to vibration and displacement, improving the reliability of the rocker device.
  • the curved surface 29 is an ellipsoid or a spherical surface. These two curved faces 29 are smoother and have less resistance to rotation.
  • the rotating body includes a limiting groove 13 formed by the inward depression of the curved surface 29.
  • the rocker body 12 passes through the limiting slot 13.
  • the limit groove 13 is configured to define an angle at which the rocker body 12 rotates. As shown in FIG. 3, both ends of the limiting slot 13 form a stop for the rocker body 12, thereby defining the angle at which the rocker body 12 swings.
  • the angle of the rocker swing is 60°, which can meet the handling requirements of the unmanned aerial vehicle.
  • a stop 24 is provided on the frame.
  • the stop portion 24 is for forming a stop for the rotating body to define an angle at which the rotating body rotates.
  • the frame includes a first bracket 11 and a second bracket 17.
  • the first bracket 11 and the second bracket 17 are fixedly coupled to form a rotating space.
  • the connection is fixed by bolts.
  • the rotating body is located in the rotating space.
  • This arrangement makes it easy to install the rotating body.
  • the first bracket 11 has a curved edge.
  • the curved edge surrounds the rotating space.
  • the rotating space is a hollow space.
  • the rotating body can rotate in the rotating space.
  • the first direction bushing 15 has two ribs 30, And the two ribs 30 are oppositely disposed.
  • the guide grooves are respectively located on the first bracket 11 and the second bracket 17 to define the sliding direction of the two ribs 30.
  • a stopper portion 24 is provided on the first bracket 11.
  • the stop portion 24 forms a stop for the lower portion of the rotating body to define an angle at which the rotating body rotates.
  • the activity of the rotating body can be limited and it is easy to handle.
  • the rotating body has a rotation angle of 60°, which can meet the handling requirements of the unmanned aerial vehicle.
  • the stopper portion 24 and the lower cover 23 are integrally molded by injection molding. This makes the manufacture of the frame easy, and the connection strength of the stopper portion 24 and the lower cover 23 is high.
  • the stop surface of the stop portion 24 matches the structure of the portion of the lower portion of the rotating body that is stopped.
  • the stop surface is in face-to-face contact with the stopped portion, so that stress concentration of the stopper portion 24 can be avoided.
  • the portion to be stopped is a flat surface, and the stop surface is a slope.
  • the rotating body includes a lower cover 23 and an upper cover 14 that are coupled together. For example, by bolting.
  • a rotary cavity is formed between the upper cover 14 and the lower cover 23.
  • the second resilient element, the second mating portion and the second direction bushing 18 are located in the rotating cavity.
  • the ribs 30 of the second direction bushing 18 are two, and the two ribs 30 are oppositely disposed.
  • the guide grooves are respectively located on the upper cover 14 and the lower cover 23 to define the sliding direction of the two ribs 30.
  • the curved surface 29 is located on the upper cover 14.
  • the first rotating shaft 31, the first mating portion and the upper cover 14 are integrally formed.
  • the first rotating shaft 31, the first fitting portion, and the upper cover 14 are integrally formed by injection molding. This makes the processing and manufacture of the rocker device easy, and the structural strength is high.
  • the rocker body 12, the second mating portion, and the second pivot shaft 32 are integrally formed.
  • the rocker body 12, the second fitting portion, and the second rotating shaft 32 are integrally formed by injection molding. This makes the processing and manufacture of the rocker device easy, and the structural strength is high.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transmission Devices (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

一种摇杆装置，该装置包括：框架，在框架上设置有第一弹性元件和第一方向轴套(15)，第一弹性元件与第一方向轴套(15)相配合，以使第一方向轴套(15)形成预弹力；转动体，该转动体包括转动主体、第一配合部和第一转动轴(31)；摇杆组件，该摇杆组件包括摇杆本体(12)、第二配合部和第二转动轴(32)，第二配合部、摇杆本体(12)和第二转动轴(32)连接，第二转动轴(32)与转动主体枢转连接。该摇杆装置的结构简单，能够实现摇杆本体的自动复位归中。

Description

摇杆装置 技术领域
本发明涉及无人飞行器技术领域，更具体地，涉及一种摇杆装置。
背景技术
随着无人飞行器技术的快速发展，人们对于无人飞行器各方面的要求也逐渐提高。一些无人飞行器(例如固定翼无人机、多旋翼无人机)其操纵都是通过遥控器来实现。
通常情形下，遥控器通过两组摇杆来控制飞行的三个维度(即前后、左右和上下)的运动控制。在现有技术中，摇杆是通过压板和弹簧来实现复位归中的。这种实现复位的方式结构复杂，并且在复位时归中的位置不稳定。
发明内容
本发明的一个目的是提供一种摇杆装置的新技术方案。
根据本发明的第一方面，提供了一种摇杆装置。该装置包括：
框架，在所述框架上设置有第一弹性元件和第一方向轴套，所述第一弹性元件与所述第一方向轴套相配合，以使所述第一方向轴套形成预弹力，所述第一方向轴套具有第一斜面，所述框架对所述第一方向轴套的转动形成止挡；
转动体，所述转动体包括转动主体、第一配合部和第一转动轴，所述第一配合部和所述第一转动轴被设置在所述转动主体上，所述第一转动轴与所述框架枢转连接，所述第一配合部包括围绕所述第一转动轴设置的第二斜面，所述第一方向轴套套设在所述第一转动轴上，所述第一斜面与所述第二斜面贴合，所述第一方向轴套能沿所述第一转动轴滑动；
在所述转动主体内设置有第二弹性元件和第二方向轴套，所述第二弹 性元件与所述第二方向轴套相配合，以使所述第二方向轴套形成预弹力，所述第二方向轴套具有第三斜面，所述转动主体对所述第二方向轴套的转动形成止挡；以及
摇杆组件，所述摇杆组件包括摇杆本体、第二配合部和第二转动轴，所述第二配合部、所述摇杆本体和所述第二转动轴连接，所述第二转动轴与所述转动主体枢转连接，所述第二配合部包括围绕所述第二转动轴设置的第四斜面，所述第二方向轴套套设在所述第二转动轴上，所述第四斜面与所述第三斜面贴合，所述第二方向轴套能沿所述第二转动轴滑动。
可选地，所述转动主体包括弧面，所述框架包括与所述弧面的弧度相匹配的弧形边缘，并且所述弧面沿所述弧形边缘滑动。
可选地，所述转动主体包括由所述弧面向内凹陷形成的限位槽，所述摇杆本体从所述限位槽中穿出，所述限位槽被构造为用于限定所述摇杆本体转动的角度。
可选地，在所述框架上设置有止挡部，所述止挡部用于对所述转动主体形成止挡，以限定所述转动主体转动的角度。
可选地，在所述框架上设置有沿第一方向延伸的第一导向槽，所述第一方向轴套具有肋部，所述肋部沿所述第一导向槽滑动；和/或
在所述转动主体上设置有沿第二方向延伸的第二导向槽，所述第二方向轴套具有肋部，所述肋部沿所述第二导向槽滑动。
可选地，所述框架包括第一支架和第二支架，所述第一支架和所述第二支架固定连接，以形成转动空间，所述转动主体位于所述转动空间中。
可选地，所述转动主体包括连接在一起的上盖和下盖，在所述上盖和所述下盖之间形成转动腔，所述第二弹性元件、所述第二配合部和所述第二方向轴套位于所述转动腔中。
可选地，所述弧面位于所述上盖。
可选地，所述第一转动轴、所述第一配合部和所述上盖是一体成型的。
可选地，所述摇杆本体、所述第二配合部和所述第二转动轴是一体成型的。
根据本公开的一个实施例，当用户手部释放摇杆本体时，第一弹性元件回弹，从而驱动第一方向轴套反向滑动。第一方向轴套的第一斜面挤压第二斜面，以使第二斜面形成扭矩。该扭矩使得转动主体朝初始位置复位归中。最终，第一斜面和第二斜面重新贴合在一起，转动主体回复至初始位置。
同样地，第二弹性元件回弹，从而驱动第二方向轴套反向滑动。第二方向轴套的第三斜面挤压第四斜面，以使第四斜面形成扭矩。该扭矩使得摇杆本体朝初始位置复位归中。最终，第三斜面和第四斜面重新贴合在一起，摇杆本体回复至初始位置。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1是根据本发明的一个实施例的摇杆装置的结构示意图。
图2是根据本发明的一个实施例的摇杆装置另一个角度的结构示意图。
图3-4是根据本发明的一个实施例的摇杆装置的分解图。
图5是根据本发明的一个实施例的上盖和摇杆本体的装配图。
图6是根据本发明的一个实施例的第一方向轴套或第二方向轴套的侧视图。
图7是根据本发明的一个实施例的摇杆装置的沿第一转动轴的铅垂面的剖视图。
图8是根据本发明的一个实施例的摇杆装置的沿第二转动轴的铅垂面的剖视图
附图标记说明：
11：第一支架；12：摇杆本体；13：限位槽；14：上盖；15：第一方向轴套；16：第一压簧；17：第二支架；18：第二方向轴套；19：第一导向槽；20：第二导向槽；21：第二压簧；23：下盖；24：止挡部；25：第 一斜面；26：第二斜面；27：第三斜面；28：第四斜面；29：弧面；30：肋部；31：第一转动轴；32：第二转动轴。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
根据本发明的一个实施例，提供了一种摇杆装置。例如，摇杆装置用于无人飞行器的遥控装置。如图1-4所示，该摇杆装置包括框架、转动体和摇杆组件。
如图3-4所示，在框架上设置有第一弹性元件和第一方向轴套15。框架对转动体形成支撑。第一弹性元件与第一方向轴套15相配合，以使第一方向轴套15形成预弹力。第一方向轴套15具有第一斜面25。框架对第一方向轴套15的转动形成止挡。
例如，第一弹性元件为弹簧、弹片或者弹性橡胶件。在该例子中，第一弹性元件为第一压簧16。第一压簧16与第一方向导槽相抵，以产生预弹力。在第一方向轴套15上设置有肋部30。肋部30的延伸方向平行于第一方向。在框架上设置有第一导向槽19。第一导向槽19的延伸方向平行于第一方向。肋部30插入第一导向槽19中，以使第一方向轴套15沿第一 导向槽19滑动，并且第一导向槽19阻止第一方向轴套15转动。
优选地，肋部30和第一导向槽分别为多个，并且二者一一对应。多个第一导向槽和肋部30的设置能更有效地阻止第一方向轴套15转动。
在其他示例中，肋部30位于框架上，第一导向槽位于第一方向轴套15上。这种结构同样能够阻止第一方向轴套15转动。第一弹性元件还可以是拉簧。拉簧拉动第一方向轴套15，以形成预弹力。
转动体包括转动主体、第一配合部和第一转动轴31。第一配合部和第一转动轴31被设置在转动主体上。例如，第一配合部和第一转动轴31位于转动主体的外表面上。第一配合部用于与第一方向轴套配合，以实现转动体的复位归中。
第一转动轴31与框架枢转连接。第一配合部包括围绕第一转动轴31设置的第二斜面26。第一方向轴套15套设在第一转动轴31上。在初始位置时，第一斜面25与第二斜面26贴合。例如，第一斜面25和第二斜面26相对于第一转动轴31的角度互补，以使两个斜面能够贴合在一起。第一方向轴套15能沿第一转动轴31滑动。第一压簧16对第一方向轴套15的预弹力，以使得第二斜面26对第一斜面25形成压力。
例如，第一斜面25和第二斜面26相对于第一转动轴31的角度为30°-45°。该角度范围使得第一方向轴套15对转动主体的阻尼效果更好。
在转动主体内设置有第二弹性元件和第二方向轴套18。第二弹性元件与第二方向轴套18相配合，以使第二方向轴套18形成预弹力。第二方向轴套18具有第三斜面27。转动主体对第二方向轴套18的转动形成止挡。
例如，第二弹性元件为弹簧、弹片或者弹性橡胶件。在该例子中，第二弹性元件为第二压簧21。第一压簧16与第一方向导槽相抵，以产生预弹力。在第二方向轴套18上设置有肋部30。肋部30的延伸方向平行于第二方向。在转动主体内设置有第二导向槽20。第二导向槽20的延伸方向平行于第二方向。肋部30插入第二导向槽20中，以使第二方向轴套18沿第二导向槽20滑动，并且第二导向槽20阻止第二方向轴套18转动。
优选地，肋部30和第二导向槽分别为多个，并且二者一一对应。多个第二导向槽和肋部30的设置能更有效地阻止第二方向轴套18转动。
在其他示例中，肋部30位于转动主体上，第二导向槽位于第二方向轴套18上。这种结构同样能够阻止第二方向轴套18转动。第二弹性元件还可以是拉簧。拉簧拉动第二方向轴套18，以形成预弹力。
摇杆组件包括摇杆本体12、第二配合部和第二转动轴32。第二配合部、摇杆本体12和第二转动轴32连接。第二转动轴32与转动主体枢转连接。第二配合部包括围绕第二转动轴32设置的第四斜面28。第二方向轴套18套设在第二转动轴32上。在初始位置时，第四斜面28与第三斜面27贴合。第三斜面27和第四斜面28相对于第二转动轴32的角度互补，以使两个斜面能够贴合在一起。第二配合部用于与第二方向轴套配合，以实现摇杆本体的复位归中。第二方向轴套18能沿第二转动轴32滑动。第二压簧21对第二方向轴套18的预弹力使得第四斜面28对第三斜面27形成压力。
例如，第三斜面27和第四斜面28相对于第二转动轴32的角度为30°-45°。该角度范围使得第二方向轴套18对摇杆本体12的阻尼效果更好。
在使用时，用户手动驱动摇杆本体12朝任意方向移动。该移动带动转动主体绕设定的轴(例如，Y轴)转动以及带动摇杆本体12绕设定轴(例如，X轴)摆动，以使转动主体和摇杆本体偏离初始位置。转动主体的转动带动第一配合部转动，第二斜面26同样发生转动。第一斜面25与第二斜面26形成干涉，使第一斜面25和第二斜面26不再贴合。第二斜面26推动第一斜面25远离第二斜面26，从而推动第一方向轴套15沿第一转动轴31向远离转动主体的方向滑动。第一方向轴套15压缩第一弹性元件(例如，第一压簧16)。并且第一压簧16的压力提供了转动主体绕Y轴转动的阻尼效果。
同样地，摇杆本体12摆动带动第二配合部转动，第四斜面28同样发生转动。第三斜面27与第四斜面28形成干涉，使第三斜面27和第四斜面28不再贴合。第四斜面28推动第三斜面27远离第四斜面28，从而推动第二方向轴套18沿第二转动轴32向远离摇杆本体12的方向滑动。第二方向轴套18压缩第二弹性元件(例如，第二压簧21)。并且第二压簧21的压力提供了摇杆本体12绕X轴转动的阻尼效果。
当用户手部释放摇杆本体12时，第一弹性元件(例如，第一压簧16)回弹，从而驱动第一方向轴套15反向滑动。第一方向轴套15的第一斜面25挤压第二斜面26，以使第二斜面26形成扭矩。该扭矩使得转动主体朝初始位置复位归中。最终，第一斜面25和第二斜面26重新贴合在一起，转动主体回复至初始位置。
同样地，第二弹性元件(例如，第二压簧21)回弹，从而驱动第二方向轴套18反向滑动。第二方向轴套18的第三斜面27挤压第四斜面28，以使第四斜面28形成扭矩。该扭矩使得摇杆本体12朝初始位置复位归中。最终，第三斜面27和第四斜面28重新贴合在一起，摇杆本体12回复至初始位置。
该摇杆装置的结构简单，能够实现摇杆本体12的自动复位归中。
在一个例子中，如图3-5所示，转动主体包括弧面29。框架包括与弧面29的弧度相匹配的弧形边缘，并且弧面29沿弧形边缘滑动。通过这种方式，弧形边缘对弧面29形成支撑，这使得转动主体的转动更平稳，并且转动主体不容易发生振动和偏移，提高了摇杆装置的可靠性。
可选地，弧面29为椭球面或者球面。这两种弧面29更加平滑，转动时的阻力小。
在一个例子中，转动主体包括由弧面29向内凹陷形成的限位槽13。摇杆本体12从限位槽13中穿出。限位槽13被构造为用于限定摇杆本体12转动的角度。如图3所示，限位槽13的两端对摇杆本体12形成止挡，从而限定了摇杆本体12摆动的角度。例如，摇杆摆动的角度为60°，该角度能满足无人飞行器的操控要求。
在一个例子中，在框架上设置有止挡部24。止挡部24用于对转动主体形成止挡，以限定转动主体转动的角度。
例如，框架包括第一支架11和第二支架17。第一支架11和第二支架17固定连接，以形成转动空间。例如，通过螺栓固定连接。转动主体位于转动空间中。这种设置方式使得转动主体的安装变得容易。例如，第一支架11具有弧形边缘。弧形边缘包围转动空间。转动空间为镂空的空间。转动主体能在转动空间中转动。例如，第一方向轴套15的肋部30为两个， 并且两个肋部30相对设置。导向槽分别位于第一支架11和第二支架17上，以限定两个肋部30的滑动方向。
如图3-4所示，在第一支架11上设置有止挡部24。止挡部24对转动主体的下部形成止挡，以限定转动主体转动的角度。通过这种方式能限制转动主体的活度，便于操控。例如，转动主体的转动角度为60°，该角度能满足无人飞行器的操控要求。优选地，止挡部24与下盖23通过注塑成型的方式一体成型。这使得框架的制作变得容易，并且止挡部24与下盖23的连接强度高。
优选地，止挡部24的止挡面与转动主体的下部被止档的部位的结构相匹配。例如，止挡面与被止档部位为面-面接触，这样能够避免止挡部24的应力集中。例如，被止档的部位为平面，止挡面为斜面。
在一个例子中，如图3所示，转动主体包括连接在一起的下盖23和上盖14。例如，通过螺栓连接。在上盖14和下盖23之间形成转动腔。第二弹性元件、第二配合部和第二方向轴套18位于转动腔中。通过这种方式，使得摇杆的安装变得容易。例如，第二方向轴套18的肋部30为两个，并且两个肋部30相对设置。导向槽分别位于上盖14和下盖23上，以限定两个肋部30的滑动方向。
在一个例子中，弧面29位于上盖14。优选地，第一转动轴31、第一配合部和上盖14是一体成型的。例如，采用注塑成型的方式一体形成第一转动轴31、第一配合部和上盖14。这使得摇杆装置的加工、制造变得容易，并且结构强度高。
在一个例子中，摇杆本体12、第二配合部和第二转动轴32是一体成型的。例如，采用注塑成型的方式一体形成摇杆本体12、第二配合部和第二转动轴32。这使得摇杆装置的加工、制造变得容易，并且结构强度高。
虽然已经通过例子对本发明的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本发明的范围。本领域的技术人员应该理解，可在不脱离本发明的范围和精神的情况下，对以上实施例进行修改。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种摇杆装置，其特征在于，包括：
    框架，在所述框架上设置有第一弹性元件和第一方向轴套，所述第一弹性元件与所述第一方向轴套相配合，以使所述第一方向轴套形成预弹力，所述第一方向轴套具有第一斜面，所述框架对所述第一方向轴套的转动形成止挡；
    转动体，所述转动体包括转动主体、第一配合部和第一转动轴，所述第一配合部和所述第一转动轴被设置在所述转动主体上，所述第一转动轴与所述框架枢转连接，所述第一配合部包括围绕所述第一转动轴设置的第二斜面，所述第一方向轴套套设在所述第一转动轴上，所述第一斜面与所述第二斜面贴合，所述第一方向轴套能沿所述第一转动轴滑动；
    在所述转动主体内设置有第二弹性元件和第二方向轴套，所述第二弹性元件与所述第二方向轴套相配合，以使所述第二方向轴套形成预弹力，所述第二方向轴套具有第三斜面，所述转动主体对所述第二方向轴套的转动形成止挡；以及
    摇杆组件，所述摇杆组件包括摇杆本体、第二配合部和第二转动轴，所述第二配合部、所述摇杆本体和所述第二转动轴连接，所述第二转动轴与所述转动主体枢转连接，所述第二配合部包括围绕所述第二转动轴设置的第四斜面，所述第二方向轴套套设在所述第二转动轴上，所述第四斜面与所述第三斜面贴合，所述第二方向轴套能沿所述第二转动轴滑动。
  2. 根据权利要求1所述的摇杆装置，其特征在于，所述转动主体包括弧面，所述框架包括与所述弧面的弧度相匹配的弧形边缘，并且所述弧面沿所述弧形边缘滑动。
  3. 根据权利要求1或2所述的摇杆装置，其特征在于，所述转动主体包括由所述弧面向内凹陷形成的限位槽，所述摇杆本体从所述限位槽中穿出，所述限位槽被构造为用于限定所述摇杆本体转动的角度。
  4. 根据权利要求1-3中的任意一项所述的摇杆装置，其特征在于，在所述框架上设置有止挡部，所述止挡部用于对所述转动主体形成止挡，以限定所述转动主体转动的角度。
  5. 根据权利要求1-4中的任意一项所述的摇杆装置，其特征在于，在所述框架上设置有沿第一方向延伸的第一导向槽，所述第一方向轴套具有肋部，所述肋部沿所述第一导向槽滑动；和/或
    在所述转动主体上设置有沿第二方向延伸的第二导向槽，所述第二方向轴套具有肋部，所述肋部沿所述第二导向槽滑动。
  6. 根据权利要求1-5中的任意一项所述的摇杆装置，其特征在于，所述框架包括第一支架和第二支架，所述第一支架和所述第二支架固定连接，以形成转动空间，所述转动主体位于所述转动空间中。
  7. 根据权利要求1-6中的任意一项所述的摇杆装置，其特征在于，所述转动主体包括连接在一起的上盖和下盖，在所述上盖和所述下盖之间形成转动腔，所述第二弹性元件、所述第二配合部和所述第二方向轴套位于所述转动腔中。
  8. 根据权利要求1-7中的任意一项所述的摇杆装置，其特征在于，所述弧面位于所述上盖。
  9. 根据权利要求1-8中的任意一项所述的摇杆装置，其特征在于，所述第一转动轴、所述第一配合部和所述上盖是一体成型的。
  10. 根据权利要求1-9中的任意一项所述的摇杆装置，其特征在于，所述摇杆本体、所述第二配合部和所述第二转动轴是一体成型的。
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