CN108109470B - Servo control rocker operating device for simulating small aircraft - Google Patents
Servo control rocker operating device for simulating small aircraft Download PDFInfo
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- CN108109470B CN108109470B CN201810126775.1A CN201810126775A CN108109470B CN 108109470 B CN108109470 B CN 108109470B CN 201810126775 A CN201810126775 A CN 201810126775A CN 108109470 B CN108109470 B CN 108109470B
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- 238000005096 rolling process Methods 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000012546 transfer Methods 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000003756 stirring Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 abstract description 10
- 238000012549 training Methods 0.000 abstract description 5
- 230000001133 acceleration Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 4
- 239000000758 substrate Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/12—Motion systems for aircraft simulators
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
- G09B9/28—Simulation of stick forces or the like
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
The invention provides a servo control rocker operating device for simulating a small aircraft, which comprises a supporting frame, a left operating rod, a right operating rod, a pitching linkage mechanism, a pitching servo motor, a rolling linkage mechanism and a rolling servo motor, wherein the supporting frame is formed by encircling a base plate, a front panel and two supporting plates, the left operating rod and the right operating rod are symmetrically arranged on the supporting frame, the left operating rod and the right operating rod sequentially penetrate through the front panel and the base plate, the pitching linkage mechanism and the rolling linkage mechanism are arranged between the left operating rod and the right operating rod, and the pitching servo motor and the rolling servo motor are fixedly arranged on the base plate. The servo control rocker control device for simulating the small aircraft has different changes in control force during take-off and landing, acceleration and deceleration and aerial steering, brings an immersive sense to people, is more close to reality, enables a simulation cabin to be truly a sharp tool for training talents of flying drivers, and has higher use value and foresight.
Description
Technical Field
The invention belongs to the technical field of airplane simulator training and simulation, and particularly relates to a servo control rocker operating device for simulating a small airplane.
Background
At present, in the field of simulated aircrafts, in particular to the field of small aircraft simulated aircrafts, most of the simulated aircrafts stay at a game type control level. Since small aircraft are mostly operated by mechanical transmission (large aircraft are typically operated by electric or electrohydraulic control transmission). The force sense of the control is continuously changed in the taking-off and landing of the airplane, the acceleration and deceleration in the air, the turning in the air and the like. In order to smoothly and rapidly reach the driving level of a real machine, the real situation is required to be more close to the real situation in the air in the ground simulation training process. The control mechanism design of the simulator provides a new subject, and the control mechanism is one of the mechanisms to be improved firstly as a main control mechanism of the flight simulation cabin, namely a rocker control mechanism, and the servo rocker control device has been tried in a great deal in view of the aim.
Disclosure of Invention
In view of the above, the invention aims to provide a servo control rocker control device for simulating a small aircraft, which has different changes in control force during take-off and landing, acceleration and deceleration and aerial steering, brings a sense of realism to people, is more close to reality, and enables a simulation cabin to be really a sharp tool for training talents of flying drivers, thereby having higher use value and prospective.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a servo control rocker controlling means of simulation miniplane, includes braced frame, left control pole, right control pole, every single move link gear, every single move servo motor, roll link gear and the roll servo motor that are enclosed by base plate, front panel and two braced plates, left control pole and right control pole symmetry set up on braced frame, left control pole and right control pole all pass front panel and base plate in proper order, every single move link gear and roll link gear all set up between left control pole and right control pole, every single move servo motor and roll servo motor all fixed the setting on the base plate.
Further, every single move link gear include left power transmission board and right power transmission board that set up respectively in left control lever tip and right control lever tip, the free end of left power transmission board and right power transmission board all be connected with every single move rack mechanism through a sliding seat, every single move rack mechanism including setting up the fixed cover of both ends open-ended in base plate bottom and setting up the dabber that has the rack in the fixed cover, the dabber run through the base plate setting, the sliding seat pass the spacing groove of fixed cover upper surface and dabber fixed connection, fixed cover lower surface be equipped with rack and pinion meshing opening, the epaxial rack of dabber and every single move servo motor gear meshing, every single move servo motor gear set up on every single move servo motor's output shaft, every single move motor gear and every single move encoder gear meshing, every single move encoder gear coaxial rotation set up in every single move servo motor frame fixed on the base plate.
Further, the roll linkage mechanism comprises a roll driving side rotating body, a roll encoder side rotating body and a synchronous belt, wherein the roll driving side rotating body and the roll encoder side rotating body are respectively driven by a left operating rod and a right operating rod, the synchronous belt is used for connecting the roll driving side rotating body and the roll encoder side rotating body, gears are arranged on the two rotating bodies, the gears on the roll encoder side rotating body are meshed with the gears of the roll encoder, the gears of the roll encoder and the roll encoder are coaxially arranged on a substrate in a rotating mode, the gears on the roll driving side rotating body are meshed with the gears of the roll servo motor, and the gears of the roll servo motor are arranged on an output shaft of the roll servo motor.
Further, a rolling travel switch bracket is arranged on the substrate between the rolling driving side rotating body and the rolling encoder side rotating body, rolling limit switches are arranged at two ends of the rolling travel switch bracket, and a bump block matched with the rolling limit switches is arranged on the synchronous belt.
Furthermore, both ends of the limiting groove are provided with pitching limiting switches.
Furthermore, the left force transfer plate and the right force transfer plate are connected with the corresponding operating rod through a fixing seat with a bearing.
Furthermore, each control rod is provided with a stirring pin at the joint with the corresponding rotating body, and the stirring pins are matched with holes in the rotating body.
Further, the base plate is also provided with a belt tightener of the synchronous belt.
Further, a support sleeve is arranged on the outer surfaces of the left control rod and the right control rod between the base plate and the front panel.
Further, the pitch encoder and the roll encoder are electrically connected with a computer terminal, and the computer terminal is electrically connected with the pitch servo motor controller and the roll servo motor controller.
Compared with the prior art, the servo control rocker operating device for simulating the small aircraft has the following advantages:
the servo feedback system composed of the pitching servo motor, the pitching encoder, the rolling servo motor, the rolling encoder and the like can simulate the dynamics of continuous variable control such as taking off and landing of an airplane, accelerating and decelerating in the air, turning in the air and the like, has good simulation effect, and enables trained personnel to simulate the operation of a real machine to a greater extent during ground practice; the arrangement of the pitching linkage mechanism and the rolling linkage mechanism ensures the synchronism of the main and auxiliary drivers during driving by trained personnel, effectively makes up the defect of misoperation of the other side between the main and auxiliary drivers, and is particularly convenient for training and teaching; and for the pitching and rolling actions, the limiting mechanisms are arranged, so that the accuracy and the safety of the operation of the whole operating system are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is an exploded view of a servo-controlled rocker manipulator for a simulated small aircraft according to an embodiment of the present invention;
FIG. 2 is a schematic view of a servo control rocker manipulator for simulating a small aircraft according to an embodiment of the present invention;
FIG. 3 is a schematic view of a pitch rack mechanism in a servo-controlled rocker handling apparatus for a simulated small aircraft according to an embodiment of the invention
Fig. 4 is a D-view of fig. 3.
Reference numerals illustrate:
the device comprises a left control rod, a right control rod, a 3-roll servo motor, a 4-front panel, a 5-fixed seat, a 6-supporting sleeve, a 7-roll servo motor gear, an 8-roll driving side rotator and a 9-belt tightener, wherein the left control rod is connected with the right control rod; 10-bump; 11-a substrate; 12-supporting plates; 13-a roll travel switch bracket; 14-a roll encoder; 15-a roll encoder side rotator; 16-a roll limit switch; 17-pitch limit switch; 18-a synchronous belt; 19-right force transfer plate; 20-pitch rack mechanism; 2001-fixing sleeve; 2002-rack; 2003-mandrel; 21-left force transfer plate; 22-pitch encoder; 23-pitching servo motor; 24-sliding seat; 25-limit grooves; 26-pitch servo motor gear; 27-pitch encoder gear; 28-roll encoder gear.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1-4, a servo control rocker operating device for simulating a small aircraft comprises a supporting frame, a left operating rod 1, a right operating rod 2, a pitching linkage mechanism, a pitching servo motor 23, a rolling linkage mechanism and a rolling servo motor 3, wherein the supporting frame is surrounded by a base plate 11, a front panel 4 and two supporting plates 12, the left operating rod 1 and the right operating rod 2 are symmetrically arranged on the supporting frame, the left operating rod 1 and the right operating rod 2 sequentially penetrate through the front panel 4 and the base plate 11, the pitching linkage mechanism and the rolling linkage mechanism are arranged between the left operating rod 1 and the right operating rod 2, and the pitching servo motor 23 and the rolling servo motor 3 are fixedly arranged on the base plate 11.
The pitching linkage mechanism comprises a left force transfer plate 21 and a right force transfer plate 19 which are respectively arranged at the end part of a left control rod 1 and the end part of a right control rod 2, free ends of the left force transfer plate 21 and the right force transfer plate 19 are connected with a pitching rack mechanism 20 through a sliding seat 24, the pitching rack mechanism 20 comprises a fixed sleeve 2001 which is arranged at the bottom of a base plate 11 and is provided with racks 2002, a mandrel 2003 which is arranged in the fixed sleeve 2001 and penetrates through the base plate 11, the sliding seat 24 penetrates through a limiting groove 25 on the upper surface of the fixed sleeve 2201 and is fixedly connected with the mandrel 2003, a gear rack meshing opening is formed in the lower surface of the fixed sleeve 2001, the racks 2002 on the mandrel 2003 are meshed with pitching servo motor gears 26, the pitching servo motor gears 26 are arranged on an output shaft of a pitching servo motor 23, the pitching servo motor gears 26 are meshed with pitching encoder gears 27, and the pitching encoder gears 27 and the pitching encoder 22 are coaxially arranged on a pitching servo motor frame which is fixed on the base plate 11.
The roll linkage mechanism comprises a roll driving side rotating body 8, a roll encoder side rotating body 15 and a synchronous belt 18, wherein the roll driving side rotating body 8 and the roll encoder side rotating body 15 are respectively driven by a left operating rod 1 and a right operating rod 2, the synchronous belt 18 is connected with the roll driving side rotating body 8 and the roll encoder side rotating body 15, gears are arranged on the roll driving side rotating body 8 and the roll encoder side rotating body 15, the gears on the roll encoder side rotating body 8 are meshed with the roll encoder gears 28, the roll encoder gears 28 and the roll encoder 14 are coaxially arranged on a base plate 11, the gears on the roll driving side rotating body 8 are meshed with the roll servo motor gears 7, and the roll servo motor gears 7 are arranged on an output shaft of the roll servo motor 3.
A rolling travel switch bracket 13 is arranged on the base plate 11 between the rolling driving side rotating body 8 and the rolling encoder side rotating body 15, rolling limit switches 16 are arranged at two ends of the rolling travel switch bracket 13, and a bump block 10 matched with the rolling limit switches 16 is arranged on the synchronous belt 18.
Both ends of the limit groove 25 are provided with pitch limit switches 17.
The left force transfer plate 21 and the right force transfer plate 19 are connected with the corresponding control rods through a fixed seat 5 with a bearing, and pitching operation is not affected during rolling operation.
And a stirring pin is arranged at the joint of each control rod and the corresponding rotating body and is matched with the hole in the corresponding rotating body.
The base plate 11 is also provided with a belt tightener 9 of a synchronous belt 18.
The outer surfaces of the left control rod 1 and the right control rod 2 between the base plate 11 and the front panel 4 are respectively provided with a supporting sleeve 6, so that the deformation of a supporting frame is avoided, and the simulation operation is influenced.
The pitch encoder 22 and the roll encoder 14 are each electrically connected to a computer terminal that is electrically connected to a pitch servo motor controller and a roll servo motor controller.
The base plate 11, the front panel 4 and the two support plates 12 are provided with a plurality of lightening holes, so that the weight is reduced.
The working process of the device is as follows: pushing or pulling the control rod, the control rod drives two force transfer plates to move, the sliding seat 24 drives the mandrel 2003 to move, the rack 2002 on the mandrel 2003 is meshed with the pitching motor gear 26, the rack 2002 drives the pitching motor gear 26 to move, the pitching motor gear 26 drives the pitching encoder gear 27 to move, the pitching encoder 22 receives signals, the pitching encoder 22 inputs angle signals to a computer, at the moment, the computer gives a control signal to the servo controller, the pitching servo motor 23 executes a control command and outputs a certain torque, the pitching servo motor gear 26 acts on the control rod through the rack 2002 and the force transfer plate to manufacture corresponding resistance for the control rod, the simulation of airplane take-off and landing is completed, and the synchronous belt 18 is connected with two rotating bodies, so that the actions of the left control rod 1 and the right control rod 2 are synchronous;
the control rod is rotated left and right, the control rod drives a rotating body on the control rod to rotate, a gear on the rotating body drives a roll encoder 14 to rotate, the roll encoder 14 receives signals and transmits the signals to a computer, the computer gives out commands to control a roll servo motor 3 to output corresponding moment through the controller, the moment is fed back to the control rod through the transmission of a roll servo motor gear 7, the control rod obtains corresponding resistance, the simulation of airplane turning is completed, a left force transfer plate 21 and a right force transfer plate 19 are simultaneously connected with a sliding seat 24, and the synchronization of the actions of the two control rods is also realized;
in order to fully play the role of the servo system, the controllable resources are utilized, the mechanical mechanism is simplified, the cost is reduced, and the zero position centering function and the limiting function are arranged in the servo system. Before the plane flies horizontally and the system is shut down, the rocker automatically returns to the middle; when the operation reaches the limit position, the travel switch can input a signal to the computer, and the servo motor outputs the maximum reactive torque, so that the action is prevented from continuing.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. A servo-controlled rocker operating device for simulating a small aircraft, characterized by: the device comprises a supporting frame, a left operating rod (1), a right operating rod (2), a pitching linkage mechanism, a pitching servo motor (23), a rolling linkage mechanism and a rolling servo motor (3), wherein the supporting frame is surrounded by a base plate (11), a front panel (4) and two supporting plates (12), the left operating rod (1) and the right operating rod (2) are symmetrically arranged on the supporting frame, the left operating rod (1) and the right operating rod (2) sequentially penetrate through the front panel (4) and the base plate (11), the pitching linkage mechanism and the rolling linkage mechanism are arranged between the left operating rod (1) and the right operating rod (2), and the pitching servo motor (23) and the rolling servo motor (3) are fixedly arranged on the base plate (11);
the pitching linkage mechanism comprises a left force transmission plate (21) and a right force transmission plate (19) which are respectively arranged at the end part of a left control rod (1) and the end part of a right control rod (2), the free ends of the left force transmission plate (21) and the right force transmission plate (19) are connected with a pitching rack mechanism (20) through a sliding seat (24), the pitching rack mechanism (20) comprises a fixed sleeve (2001) which is arranged at the bottom of a base plate (11) and is provided with racks (2002), a mandrel (2003) is arranged in the fixed sleeve (2001), the mandrel (2003) penetrates through the base plate (11), the sliding seat (24) is fixedly connected with the mandrel (2003) through a limiting groove (25) on the upper surface of the fixed sleeve (2001), the lower surface of the fixed sleeve (2001) is provided with a gear rack meshing opening, the racks (2002) on the mandrel (2003) are meshed with a pitching servo motor gear (26), the pitching servo motor gear (26) is arranged on an output shaft of the pitching servo motor (23), and the pitching servo motor (27) is coaxially meshed with the pitching servo encoder (27) on the pitching servo motor (11;
the utility model provides a roll link gear include roll drive side rotor (8) and roll encoder side rotor (15) and connect hold-in range (18) of roll drive side rotor (8) and roll encoder side rotor (15) that are driven by left control lever (1) and right control lever (2) respectively, roll drive side rotor (8) and roll encoder side rotor (15) on all have the gear, roll encoder side rotor (8) on the gear with roll encoder gear (28) meshing set up, roll encoder gear (28) and roll encoder (14) coaxial set up on base plate (11), roll drive side rotor (8) on the gear with roll servo motor gear (7) meshing, roll servo motor gear (7) set up on the output shaft of roll servo motor (3).
2. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 1, wherein: a rolling travel switch bracket (13) is arranged on a base plate (11) between the rolling driving side rotating body (8) and the rolling encoder side rotating body (15), rolling limit switches (16) are arranged at two ends of the rolling travel switch bracket (13), and a bump block (10) matched with the rolling limit switches (16) is arranged on the synchronous belt (18).
3. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 2, wherein: both ends of the limiting groove (25) are provided with pitching limiting switches (17).
4. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 3, wherein: the left force transfer plate (21) and the right force transfer plate (19) are connected with corresponding control rods through a fixing seat (5) with a bearing.
5. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 4, wherein: the base plate (11) is also provided with a belt tightener (9) of a synchronous belt (18).
6. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 5, wherein: and a stirring pin is arranged at the joint of each operating rod and the corresponding rotating body and is matched with the hole in the corresponding rotating body.
7. A servo-controlled rocker manipulator for simulating a small aircraft according to claim 6, wherein: the outer surfaces of the left control rod (1) and the right control rod (2) between the base plate (11) and the front panel (4) are respectively provided with a supporting sleeve (6).
8. A servo-controlled rocker manipulator for a simulated small aircraft as claimed in any of claims 1-7 wherein: the pitch encoder (22) and the roll encoder (14) are electrically connected with a computer terminal, and the computer terminal is electrically connected with a pitch servo motor controller and a roll servo motor controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810126775.1A CN108109470B (en) | 2018-02-08 | 2018-02-08 | Servo control rocker operating device for simulating small aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810126775.1A CN108109470B (en) | 2018-02-08 | 2018-02-08 | Servo control rocker operating device for simulating small aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108109470A CN108109470A (en) | 2018-06-01 |
| CN108109470B true CN108109470B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810126775.1A Active CN108109470B (en) | 2018-02-08 | 2018-02-08 | Servo control rocker operating device for simulating small aircraft |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144166A (en) * | 2018-10-10 | 2019-01-04 | 浙江省能源集团有限公司 | Control system for control stick in construction-vehicle cab |
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| CN108109470A (en) | 2018-06-01 |
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