CN219105405U - A pneumatic damping feedback handle - Google Patents

Abstract

The utility model relates to an air pressure damping feedback handle, which comprises an operating box, an operating rod, a plurality of sealing piston units and a pressing plate, wherein one end of the operating rod is movably connected with the operating box, the operating rod can rotate towards any direction relative to the operating box, the sealing piston units are uniformly distributed along the circumferential direction of the operating rod, the sealing piston units are fixedly connected with the operating box, the sealing piston units are respectively provided with an output end, the pressing plate is sleeved at the bottom of the operating rod, and the pressing plate is abutted with the output ends of the sealing piston units; the damping device solves the problems that mechanical abrasion exists in a mode of acquiring damping sense through friction force between friction plates, the service life of the device is short, and damping adjustment sensitivity is reduced after abrasion.

Description

Translated fromChinese

一种气压阻尼反馈手柄A pneumatic damping feedback handle

技术领域technical field

本实用新型涉及操纵杆技术领域，尤其涉及一种气压阻尼反馈手柄。The utility model relates to the technical field of joysticks, in particular to an air pressure damping feedback handle.

背景技术Background technique

操纵杆为汽车、船舶等交通工具用以控制行进方向或行进速度的结构，为了提高操作手感，通常会为操纵杆配备一阻尼装置，当操纵杆转动偏离中心位置越远时，阻尼装置给操纵杆施加的阻尼越大。The joystick is a structure used by automobiles, ships and other vehicles to control the direction or speed of travel. In order to improve the operating feel, the joystick is usually equipped with a damping device. The more damping the rod exerts.

例如，申请号为CN202121679236.4的一种司控器操作手柄阻尼装置，其中，通过转动操纵杆来带动转动杆转动，转动杆转动通过调节螺母带动第二摩擦板相对于第一摩擦板转动，并产生摩擦力，获得阻尼感。For example, the application number is CN202121679236.4, a controller operating handle damping device, in which, the rotation rod is driven to rotate by rotating the joystick, and the rotation of the rotation rod drives the second friction plate to rotate relative to the first friction plate through the adjustment nut. And generate friction to get a sense of damping.

然而，上述通过摩擦板之间的摩擦力来获取阻尼感的方式，存在机械磨损，装置使用寿命短，且磨损后阻尼调节灵敏度降低。However, the above method of obtaining damping feeling through the friction force between the friction plates has mechanical wear, the service life of the device is short, and the damping adjustment sensitivity decreases after wear.

实用新型内容Utility model content

有鉴于此，有必要提供一种气压阻尼反馈手柄，用以解决通过摩擦板之间的摩擦力来获取阻尼感的方式，存在机械磨损，装置使用寿命短，且磨损后阻尼调节灵敏度降低的问题。In view of this, it is necessary to provide an air pressure damping feedback handle, which is used to solve the problem of obtaining the damping feeling through the friction between the friction plates, which has mechanical wear, short service life of the device, and reduced damping adjustment sensitivity after wear. .

本实用新型提供一种气压阻尼反馈手柄，包括操纵箱、操纵杆、多个密封活塞单元以及压板，所述操纵杆的一端与所述操纵箱活动连接，所述操纵杆可相对于所述操纵箱朝任意方向转动，多个所述密封活塞单元沿所述操作杆周向均匀布置，多个所述密封活塞单元与所述操纵箱固定连接，多个所述密封活塞单元均具有一输出端，所述压板套设于所述操纵杆底部，所述压板与多个所述密封活塞单元的输出端抵接。The utility model provides an air pressure damping feedback handle, which comprises a control box, a control rod, a plurality of sealed piston units and a pressure plate, one end of the control rod is movably connected with the control box, and the control rod can be The box rotates in any direction, a plurality of sealed piston units are uniformly arranged along the circumference of the operating rod, and a plurality of sealed piston units are fixedly connected to the control box, and each of the plurality of sealed piston units has an output end , the pressing plate is sheathed on the bottom of the joystick, and the pressing plate abuts against the output ends of the plurality of sealing piston units.

进一步的，所述操纵杆包括杆体和弹性件，所述杆体的一端经由所述弹性件与所述操纵箱连接。Further, the joystick includes a rod body and an elastic member, and one end of the rod body is connected to the control box via the elastic member.

进一步的，所述弹性件为一弹簧，所述弹簧内置于所述操纵箱中，所述杆体的一端延伸至所述操纵箱中。Further, the elastic member is a spring, the spring is built in the control box, and one end of the rod body extends into the control box.

进一步的，所述杆体的另一端固定连接有手柄。Further, the other end of the rod body is fixedly connected with a handle.

进一步的，所述密封活塞单元的内部外接气泵，所述气泵用以调节所述密封活塞单元内部的气压值。Further, an air pump is externally connected to the sealed piston unit, and the air pump is used to adjust the air pressure inside the sealed piston unit.

进一步的，所述气泵经由一连接管与所述密封活塞单元的内部相连通，所述连接管上设置有压力传感器。Further, the air pump communicates with the inside of the sealed piston unit through a connecting pipe, and a pressure sensor is arranged on the connecting pipe.

进一步的，所述连接管上安装有阀门。Further, a valve is installed on the connecting pipe.

进一步的，多个所述密封活塞单元的输出端均固定连接有一垫片，所述压板的底部设置有与多个所述垫片一一对应且抵接的触点。Further, a gasket is fixedly connected to the output ends of the plurality of sealing piston units, and the bottom of the pressing plate is provided with contacts corresponding to and abutting against the plurality of gaskets one by one.

进一步的，还包括一安装于操纵杆下部中心的霍尔元件，所述霍尔元件用以读取所述操纵杆的姿态信息。Further, it also includes a Hall element installed at the center of the lower part of the joystick, and the Hall element is used to read the attitude information of the joystick.

进一步的，所述密封活塞单元包括筒体、活塞杆以及活塞，所述筒体与所述操纵箱固定连接，所述活塞杆的一端延伸至所述筒体中、并与所述活塞固定连接，所述活塞杆的另一端为所述密封活塞单元的输出端，所述活塞与所述筒体之间滑动且密封连接，所述活塞远离所述活塞杆的一侧与所述筒体的内部形成一密封腔体。Further, the sealed piston unit includes a cylinder, a piston rod and a piston, the cylinder is fixedly connected to the control box, and one end of the piston rod extends into the cylinder and is fixedly connected to the piston , the other end of the piston rod is the output end of the sealed piston unit, the piston is in sliding and sealed connection with the cylinder, the side of the piston away from the piston rod is connected to the cylinder A sealed cavity is formed inside.

与现有技术相比，操纵杆的一端与操纵箱活动连接，操纵杆可相对于操纵箱朝任意方向转动，通过操纵杆与汽车、船舶等交通工具的操控端相连接，可控制汽车、船舶等交通工具用以控制行进方向或行进速度，在操控的过程中，通过设置多个密封活塞单元沿操作杆周向均匀布置，多个密封活塞单元与操纵箱固定连接，多个密封活塞单元均具有一输出端，压板套设于操纵杆底部，压板与多个密封活塞单元的输出端抵接，通过密封活塞单元内预设的气压施加给压板一相对作用力，使操纵杆可获得不同方向的阻尼感，机械磨损可忽略不计，使用寿命长，有效的保证了阻尼调节的灵敏度。Compared with the prior art, one end of the joystick is movably connected with the control box, and the joystick can be rotated in any direction relative to the control box. The joystick is connected with the control end of vehicles, ships, etc., and can control cars, ships, etc. Vehicles such as vehicles are used to control the direction or speed of travel. During the control process, multiple sealed piston units are evenly arranged along the circumference of the operating rod, and the multiple sealed piston units are fixedly connected to the control box. The multiple sealed piston units are It has an output end, the pressure plate is sleeved on the bottom of the joystick, and the pressure plate is in contact with the output ends of multiple sealed piston units, and a relative force is applied to the pressure plate by the preset air pressure in the sealed piston unit, so that the joystick can obtain different directions Excellent damping feeling, negligible mechanical wear, long service life, effectively ensuring the sensitivity of damping adjustment.

附图说明Description of drawings

图1为本实用新型实施例提供的气压阻尼反馈手柄中整体的结构示意图；Fig. 1 is a schematic diagram of the overall structure of the air pressure damping feedback handle provided by the embodiment of the present invention;

图2为本实用新型实施例提供的气压阻尼反馈手柄中密封活塞单元的控制原理图。Fig. 2 is a control schematic diagram of the sealing piston unit in the air pressure damping feedback handle provided by the embodiment of the utility model.

具体实施方式Detailed ways

下面结合附图来具体描述本实用新型的优选实施例，其中，附图构成本申请一部分，并与本实用新型的实施例一起用于阐释本实用新型的原理，并非用于限定本实用新型的范围。The preferred embodiments of the utility model are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the utility model to explain the principle of the utility model and are not used to limit the scope of the utility model scope.

如图1所示，本实用新型提供的一种气压阻尼反馈手柄，包括操纵箱100、操纵杆200、多个密封活塞单元300以及压板400，操纵杆200的一端与操纵箱100活动连接，操纵杆200可相对于操纵箱100朝任意方向转动，多个密封活塞单元300沿操作杆周向均匀布置，多个密封活塞单元300与操纵箱100固定连接，多个密封活塞单元300均具有一输出端，压板400套设于操纵杆200底部，压板400与多个密封活塞单元300的输出端抵接。As shown in Figure 1, a kind of air pressure damping feedback handle provided by the utility model includes amanipulation box 100, ajoystick 200, a plurality of sealedpiston units 300 and apressure plate 400, and one end of thejoystick 200 is movably connected with themanipulation box 100 to operate Therod 200 can rotate in any direction relative to thecontrol box 100. A plurality of sealedpiston units 300 are evenly arranged along the circumference of the control rod. The plurality of sealedpiston units 300 are fixedly connected with thecontrol box 100. Each of the plurality of sealedpiston units 300 has an output end, thepressure plate 400 is sheathed on the bottom of thejoystick 200 , and thepressure plate 400 abuts against the output ends of the plurality of sealedpiston units 300 .

实施时，操纵杆200的一端与操纵箱100活动连接，操纵杆200可相对于操纵箱100朝任意方向转动，通过操纵杆200与汽车、船舶等交通工具的操控端相连接，可控制汽车、船舶等交通工具用以控制行进方向或行进速度，在操控的过程中，通过设置多个密封活塞单元300沿操作杆周向均匀布置，多个密封活塞单元300与操纵箱100固定连接，多个密封活塞单元300均具有一输出端，压板400套设于操纵杆200底部，压板400与多个密封活塞单元300的输出端抵接，通过密封活塞单元300内预设的气压施加给压板400一相对作用力，使操纵杆200可获得不同方向的阻尼感，机械磨损可忽略不计，使用寿命长，有效的保证了阻尼调节的灵敏度。During implementation, one end of thejoystick 200 is movably connected with thecontrol box 100, and thejoystick 200 can rotate in any direction relative to thecontrol box 100. Vehicles such as ships are used to control the direction or speed of travel. During the control process, a plurality of sealedpiston units 300 are arranged uniformly along the circumference of the operating rod, and the plurality of sealedpiston units 300 are fixedly connected with thecontrol box 100. The sealedpiston units 300 each have an output end, and thepressure plate 400 is sleeved on the bottom of thejoystick 200. Thepressure plate 400 abuts against the output ends of a plurality of sealedpiston units 300, and thepressure plate 400 is applied to thepressure plate 400 by the preset air pressure in the sealedpiston unit 300. The relative force enables thejoystick 200 to obtain damping sensations in different directions, negligible mechanical wear, long service life, and effectively ensures the sensitivity of damping adjustment.

本实施方案中的操纵箱100为操纵杆200、多个密封活塞单元300以及压板400提供承载。Thecontrol box 100 in this embodiment provides load for thecontrol rod 200 , the plurality of sealedpiston units 300 and thepressure plate 400 .

本实施方案中的操纵杆200用于与汽车、船舶等交通工具的操控端相连接，可控制汽车、船舶等交通工具用以控制行进方向或行进速度。具体的，操纵杆200的一端与操纵箱100活动连接，操纵杆200可相对于操纵箱100朝任意方向转动，通过控制操纵杆200偏移的方向，可控制汽车、船舶等交通工具的行进方向，通过控制操纵杆200偏移的程度，可控制汽车、船舶等交通工具的行驶速度。Thejoystick 200 in this embodiment is used to connect with the control end of vehicles such as automobiles and ships, and can control vehicles such as automobiles and ships to control the direction or speed of travel. Specifically, one end of thejoystick 200 is movably connected with thecontrol box 100, and thejoystick 200 can rotate in any direction relative to thecontrol box 100. By controlling the direction in which thejoystick 200 deviates, the traveling direction of vehicles such as automobiles and ships can be controlled. , by controlling the excursion degree of thejoystick 200, the driving speed of vehicles, ships and other vehicles can be controlled.

在一个实施例中，操纵杆200包括杆体210和弹性件220，杆体210的一端经由弹性件220与操纵箱100连接。其中，弹性件220为一弹簧，弹簧内置于操纵箱100中，杆体210的一端延伸至操纵箱100中。In one embodiment, thejoystick 200 includes arod body 210 and anelastic member 220 , and one end of therod body 210 is connected to thecontrol box 100 via theelastic member 220 . Wherein, theelastic member 220 is a spring, and the spring is built in thecontrol box 100 , and one end of therod body 210 extends into thecontrol box 100 .

在另一个实施例中，杆体210的一端可固定连接有球形块，球形块可与操纵箱100上开设的球形槽配合连接。In another embodiment, one end of therod body 210 can be fixedly connected with a spherical block, and the spherical block can be mated with the spherical groove opened on thecontrol box 100 .

为了便于控制杆体210转动，在一个实施例中，杆体210的另一端固定连接有手柄230。In order to facilitate the rotation of therod body 210 , in one embodiment, the other end of therod body 210 is fixedly connected with ahandle 230 .

本实施方案中的多个密封活塞单元300内预设有一定的气压，通过密封活塞单元300为操纵杆200提供阻尼感。具体的，多个密封活塞单元300沿操作杆周向均匀布置，多个密封活塞单元300与操纵箱100固定连接，多个密封活塞单元300均具有一输出端。A certain air pressure is preset in the plurality of sealedpiston units 300 in this embodiment, and the damping feeling is provided for thejoystick 200 through the sealedpiston units 300 . Specifically, a plurality ofsealing piston units 300 are evenly arranged along the circumference of the operating rod, and the plurality ofsealing piston units 300 are fixedly connected to thecontrol box 100 , and each of the plurality ofsealing piston units 300 has an output end.

在一个实施例中，密封活塞单元300包括筒体、活塞杆以及活塞，筒体与操纵箱100固定连接，活塞杆的一端延伸至筒体中、并与活塞固定连接，活塞杆的另一端为密封活塞单元300的输出端，活塞与筒体之间滑动且密封连接，活塞远离活塞杆的一侧与筒体的内部形成一密封腔体。In one embodiment, thesealing piston unit 300 includes a cylinder body, a piston rod and a piston, the cylinder body is fixedly connected with thecontrol box 100, one end of the piston rod extends into the cylinder body and is fixedly connected with the piston, and the other end of the piston rod is The output end of the sealedpiston unit 300 is slidably and sealedly connected with the cylinder, and the side of the piston away from the piston rod forms a sealed cavity with the inside of the cylinder.

在一个实施例中，密封活塞单元300的内部(即密封腔体)外接气泵，气泵用以调节密封活塞单元300内部的气压值。In one embodiment, an air pump is connected to the inside of the sealed piston unit 300 (ie, the sealed cavity), and the air pump is used to adjust the air pressure inside the sealedpiston unit 300 .

为了便于知晓密封活塞单元300内的气压值，在一个实施例中，气泵经由一连接管与密封活塞单元300的内部相连通，连接管上设置有压力传感器。In order to know the air pressure inside the sealingpiston unit 300 , in one embodiment, the air pump communicates with the inside of the sealingpiston unit 300 through a connecting pipe, and a pressure sensor is arranged on the connecting pipe.

为了便于控制连接管的通断，在一个实施例中，连接管上安装有阀门。In order to facilitate the on-off control of the connecting pipe, in one embodiment, a valve is installed on the connecting pipe.

在一个实施例中，密封活塞单元300的数量为十二个。当然，在其它实施例中，密封活塞单元300的数量还可以采用六个、八个等，本实用新型实施例对此不做限定。In one embodiment, the number of sealingpiston units 300 is twelve. Certainly, in other embodiments, the number ofsealing piston units 300 may also be six, eight, etc., which is not limited in this embodiment of the present utility model.

本实施方案中的压板400为操纵杆200与多个密封活塞单元300的输出端抵接的承接结构。具体的，压板400套设于操纵杆200底部，压板400与多个密封活塞单元300的输出端抵接。Thepressing plate 400 in this embodiment is a receiving structure where theoperating rod 200 abuts against the output ends of the plurality ofsealing piston units 300 . Specifically, thepressing plate 400 is sheathed on the bottom of thejoystick 200 , and thepressing plate 400 abuts against the output ends of the plurality ofsealing piston units 300 .

在一个实施例中，多个密封活塞单元300的输出端均固定连接有一垫片310，压板400的底部设置有与多个垫片310一一对应且抵接的触点。In one embodiment, the output ends of the plurality ofsealing piston units 300 are fixedly connected with agasket 310 , and the bottom of thepressing plate 400 is provided with contacts corresponding to and abutting against the plurality ofgaskets 310 .

为了便于知晓操纵杆200的姿态，在一个实施例中，还包括一安装于操纵杆200下部中心的霍尔元件500，霍尔元件500用以读取操纵杆200的姿态信息。通过霍尔元件500可读取出操纵杆200的偏移角度以及偏移方向。In order to know the attitude of thejoystick 200 , in one embodiment, aHall element 500 installed at the center of the lower part of thejoystick 200 is also included, and theHall element 500 is used to read the attitude information of thejoystick 200 . The deflection angle and deflection direction of thejoystick 200 can be read out through theHall element 500 .

如图2所示，为了实现智能化的控制过程，本实施方案中还包括单片机700，霍尔元件500与单片机700连接，用以将操纵杆200的姿态信息传递给单片机700，单片机700根据操纵杆200的姿态与当前行驶速度对比，若行驶速度过快，则给密封活塞单元300增压，加大阻尼，反之，若行驶速度过慢，则给密封活塞单元300减压，减小阻尼。As shown in Figure 2, in order to realize the intelligent control process, this embodiment also includes a single-chip microcomputer 700, theHall element 500 is connected with the single-chip microcomputer 700, in order to transmit the posture information of thejoystick 200 to the single-chip microcomputer 700, and the single-chip microcomputer 700 according to the operation The posture of therod 200 is compared with the current driving speed. If the driving speed is too fast, the sealedpiston unit 300 is pressurized to increase the damping. On the contrary, if the driving speed is too slow, the sealedpiston unit 300 is depressurized to reduce the damping.

为了实现智能化的控制过程，本实施方案中还包括安装于手柄230上的模式切换开关600，模式切换开关600与单片机700连接，通过按下模式切换开关600使汽车或船舶具备正常工作模式以及加速模式。In order to realize the intelligent control process, the present embodiment also includes amode switching switch 600 installed on thehandle 230. Themode switching switch 600 is connected with the single-chip microcomputer 700. By pressing themode switching switch 600, the car or ship has a normal working mode and acceleration mode.

在正常工作模式下，驾驶员推动手柄230设置航速，在手柄230向前推时，前向密封活塞单元300在气泵的作用下充气达到设定值，气压压力施加在密封活塞单元300的底部，阻碍密封活塞单元300的输出端向下运动，此时由于压板400的前端触点作用在密封活塞单元300的输出端的上部，密封活塞单元300的输出端受到阻力，反馈给触点的支持力阻碍手柄230向前推动，此时给驾驶员一个阻力的阻尼作用。随着航速的上升，系统不断调节前向和后向密封活塞单元300的压力设定值，后向密封活塞单元300的压力设定值升高，密封活塞单元300内气体推动密封活塞单元300的活塞(即密封活塞单元300的输出端)上移，前向密封活塞单元300压力值下降，使得驾驶员收到的反馈值不断减小。当航速达到设定值时，前向密封活塞单元300和后向密封活塞单元300气压保持不变，密封活塞单元300活塞位置保持不变可保证手柄230位置不变，此时驾驶员脱离控制，手柄230依然在密封活塞单元300活塞作用下保持驾驶员脱离控制时的状态。在该工作模式下，驾驶员再次调节航速航向设定只需要将手柄230推动或拉动到设定位置，等待阻尼消失，定位完成即可脱离控制。In the normal working mode, the driver pushes thehandle 230 to set the speed. When thehandle 230 is pushed forward, the forwardsealing piston unit 300 is inflated to the set value under the action of the air pump, and the air pressure is applied to the bottom of thesealing piston unit 300. The output end of thesealing piston unit 300 is hindered from moving downward. At this time, because the front contact of thepressure plate 400 acts on the upper part of the output end of thesealing piston unit 300, the output end of thesealing piston unit 300 is resisted, and the support force fed back to the contact is hindered. Thehandle 230 is pushed forward, which gives the driver a damping effect of resistance. As the speed increases, the system continuously adjusts the pressure setting value of the forward and backward sealingpiston unit 300, the pressure setting value of the backwardsealing piston unit 300 increases, and the gas in thesealing piston unit 300 pushes the pressure setting value of thesealing piston unit 300. The piston (that is, the output end of the sealing piston unit 300 ) moves upward, and the pressure value of the forwardsealing piston unit 300 decreases, so that the feedback value received by the driver is continuously reduced. When the speed of the ship reaches the set value, the air pressure of the forwardsealing piston unit 300 and the backwardsealing piston unit 300 remains constant, and the position of the piston of thesealing piston unit 300 remains unchanged to ensure that the position of thehandle 230 remains unchanged. Thehandle 230 still maintains the state when the driver is out of control under the action of the piston of thesealing piston unit 300 . In this working mode, the driver only needs to push or pull thehandle 230 to the set position to adjust the speed and course setting again, wait for the damping to disappear, and then leave the control after the positioning is completed.

在加速模式下，驾驶员控制手柄230转过角度和推动角度的输入均为增量，此时阻尼大小根据设定增量值大小来确定，转过的回转角度和前后角度越大，所转向的方向上压力设定值越高，随着反馈的航速和航向变化量越接近增量设定值，前向的密封活塞单元300内气压设定值变低，当设定值达到时，各个密封活塞单元300压力值相同，驾驶员松开手柄230，手柄230会回到初始位置。In the acceleration mode, the input of the angle of rotation and the angle of push of the driver control handle 230 is incremental, and the damping value is determined according to the set incremental value at this time. The higher the pressure setting value in the direction, the closer the feedback speed and course change are to the incremental setting value, the lower the air pressure setting value in the forwardsealing piston unit 300, when the setting value is reached, each The pressure values of thesealing piston units 300 are the same, if the driver releases thehandle 230, thehandle 230 will return to the initial position.

与现有技术相比：操纵杆200的一端与操纵箱100活动连接，操纵杆200可相对于操纵箱100朝任意方向转动，通过操纵杆200与汽车、船舶等交通工具的操控端相连接，可控制汽车、船舶等交通工具用以控制行进方向或行进速度，在操控的过程中，通过设置多个密封活塞单元300沿操作杆周向均匀布置，多个密封活塞单元300与操纵箱100固定连接，多个密封活塞单元300均具有一输出端，压板400套设于操纵杆200底部，压板400与多个密封活塞单元300的输出端抵接，通过密封活塞单元300内预设的气压施加给压板400一相对作用力，使操纵杆200可获得不同方向的阻尼感，机械磨损可忽略不计，使用寿命长，有效的保证了阻尼调节的灵敏度。Compared with the prior art: one end of thejoystick 200 is flexibly connected with thecontrol box 100, thejoystick 200 can rotate in any direction relative to thecontrol box 100, and is connected with the control end of vehicles such as automobiles and ships through thejoystick 200, It can control vehicles such as automobiles and ships to control the direction or speed of travel. During the control process, a plurality of sealedpiston units 300 are evenly arranged along the circumference of the operating rod, and the plurality of sealedpiston units 300 are fixed to thecontrol box 100. connection, a plurality of sealedpiston units 300 each have an output end, apressure plate 400 is sleeved on the bottom of thejoystick 200, thepressure plate 400 abuts against the output ends of the plurality of sealedpiston units 300, and is applied by the preset air pressure in the sealed piston unit 300 A relative force is given to thepressure plate 400, so that thejoystick 200 can obtain damping sense in different directions, the mechanical wear is negligible, the service life is long, and the sensitivity of damping adjustment is effectively guaranteed.

以上所述，仅为本实用新型较佳的具体实施方式，但本实用新型的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本实用新型揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本实用新型的保护范围之内。The above is only a preferred embodiment of the utility model, but the scope of protection of the utility model is not limited thereto, and any person familiar with the technical field can easily think of All changes or replacements should fall within the protection scope of the present utility model.

Claims (10)

1. The pneumatic damping feedback handle is characterized by comprising an operating box, an operating rod, a plurality of sealing piston units and a pressing plate;

one end of the operating lever is movably connected with the operating box, and the operating lever can rotate in any direction relative to the operating box;

the sealing piston units are uniformly arranged along the circumferential direction of the operating rod, are fixedly connected with the operating box and are provided with an output end;

the pressure plate is sleeved at the bottom of the operating rod, and the pressure plate is abutted with the output ends of the sealing piston units.

2. The air pressure damping feedback handle of claim 1, wherein the joystick comprises a lever body and an elastic member, one end of the lever body being connected to the control box via the elastic member.

3. A pneumatic damping feedback handle as set forth in claim 2 wherein said resilient member is a spring, said spring being disposed within said control housing, one end of said lever extending into said control housing.

4. The pneumatic damping feedback handle of claim 2, wherein the other end of the rod is fixedly connected with a handle.

5. The air pressure damping feedback handle of claim 1, wherein the interior of the sealing piston unit is externally connected with an air pump, the air pump being used to adjust the air pressure value inside the sealing piston unit.

6. A pneumatic damping feedback handle according to claim 5, wherein the air pump communicates with the interior of the sealing piston unit via a connecting tube provided with a pressure sensor.

7. The air pressure damping feedback handle of claim 6, wherein a valve is mounted on the connecting tube.

8. The pneumatic damping feedback handle according to claim 1, wherein the output ends of the sealing piston units are fixedly connected with a gasket, and contacts which are in one-to-one correspondence with and are abutted against the gaskets are arranged at the bottom of the pressing plate.

9. The air pressure damping feedback handle according to claim 1, further comprising a hall element mounted in the center of the lower portion of the joystick, said hall element for reading the attitude information of said joystick.

10. The pneumatic damping feedback handle according to claim 1, wherein the sealing piston unit comprises a cylinder, a piston rod and a piston, the cylinder is fixedly connected with the control box, one end of the piston rod extends into the cylinder and is fixedly connected with the piston, the other end of the piston rod is an output end of the sealing piston unit, the piston is slidably and hermetically connected with the cylinder, and a sealing cavity is formed between one side of the piston, which is far away from the piston rod, and the inside of the cylinder.

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