Operating device for an aircraft cockpit

Abstract

The utility model relates to an operating device for aircraft cockpit, include: articulated arm, articulated arm includes a plurality of arm sections that are hingedly attached together, and end effector, end effector is attached to articulated arm, and end effector includes: vision sensor, vision sensor is used to gather image data, claw operating mechanism, claw operating mechanism can cooperate with the side pole in aircraft cockpit to operate side pole, and holder, holder includes first clamping part and opposite second clamping part, first clamping part and second clamping part can move relative to each other to operate the knob and / or switch in aircraft cockpit. This operating device can perform a variety of operating tasks in the cockpit, can accurately reach various components in the cockpit that need to be operated, meet the diversified operation demand under different scenes, significantly improve the efficiency and precision of automatic operation.

Description

Technical Field

[0001] This utility model belongs to the field of aircraft testing facilities and relates to an operating device for an aircraft cockpit, which can be used to realize fully automated testing of cockpits based on robot platforms or robotic arm platforms. Background Technology

[0002] In the field of aircraft systems testing, existing automated testing methods mainly employ semi-automatic testing approaches based on human-in-the-loop operation, while current technologies have not yet achieved fully automated testing based on robotic platforms. To realize fully automated testing, there is an urgent need to design an operating device, such as a robotic arm system, that can simulate the operation of avionics equipment by researchers in the cockpit, to replace the traditional manual operation mode.

[0003] Existing operating devices have limitations in terms of modular design, adaptability to complex spatial layouts, and the ability to sense and control the pressure required for precision. There is no suitable operating device that can meet the above requirements, so it is necessary to design an operating device that can achieve the above functions.

[0004] For example, existing technologies widely use manipulators such as robotic arms to assist in operations. However, the mechanical end effectors (such as grippers or actuators) of most robotic arms have relatively simple structures, typically integrating only a single, simple function, such as pressing, grasping, or clicking. They lack multi-functional integrated designs and cannot meet the flexibility requirements of various operational needs in complex scenarios. Furthermore, in existing robotic arm systems, the installation positions of sensors such as cameras are usually fixed far from the end effector, making it impossible to obtain high-precision visual feedback information on the end effector's operation in real time, hindering accurate monitoring and control of the robotic arm's operation. More importantly, traditional robotic arm systems still rely on manual operation. Operators must manually input commands and confirm their accuracy, resulting in low operational efficiency and susceptibility to human error, making it difficult to meet the requirements of automated and precise testing.

[0005] Therefore, it is still necessary to optimize the structure of existing operating devices for aircraft cockpits in order to provide an improved operating device that can overcome one or more of the disadvantages of the prior art. Utility Model Content

[0006] The purpose of this invention is to provide an operating device for an aircraft cockpit. This operating device can be a mechanical gripper and can meet the needs of efficient, precise, and autonomous operation in the aircraft cockpit environment.

[0007] According to one aspect of the present invention, an operating device for an aircraft cockpit is provided, the operating device comprising: an articulated arm, the articulated arm comprising a plurality of arm segments articulated together; and an end effector, the end effector being attached to the articulated arm, and the end effector comprising: a vision sensor for acquiring image data; a claw-shaped operating mechanism capable of cooperating with a side stick within the aircraft cockpit to operate the side stick; and a gripper comprising a first gripping portion and an opposing second gripping portion, the first gripping portion and the second gripping portion being movable relative to each other to operate knobs and / or switches within the aircraft cockpit.

[0008] This operating device has multi-functional capabilities, capable of performing various operational tasks within the cockpit, including but not limited to complex actions such as pushing, pulling, and rotating. Through this articulated arm (or articulated robotic arm) structure, the operating device possesses high flexibility and adaptability, enabling precise access to various operable components within the cockpit, meeting diverse operational needs in different scenarios, and significantly improving the efficiency and precision of automated operations.

[0009] In addition, by integrating visual sensors into the end effector, it is possible to identify and locate function buttons, instrument panel images and related avionics in the cockpit, formulate path planning and operation strategies, and capture images that are obstructed by the robotic arm when the static camera image is blocked.

[0010] According to the above aspects of the present invention, preferably, the end effector includes a mountable member, wherein a vision sensor and a gripper can be disposed on a first side of the mountable member, and a claw-shaped operating mechanism can be disposed on a second side of the mountable member opposite to the first side.

[0011] This arrangement allows for more precise control of the gripper's operation of knobs and switches using visual sensors, while facilitating the arrangement of the corresponding drive devices for the gripper and claw-shaped operating mechanism, and avoiding motion interference between the gripper and the claw-shaped operating mechanism.

[0012] According to the above aspects of the present invention, preferably, the end effector may further include a touch component for operating a touch screen in the aircraft cockpit.

[0013] In this way, the operating device can integrate click operations on top of complex actions such as pushing, pulling, and rotating, further improving the degree of automation of the operation.

[0014] According to the above aspects of the present invention, preferably, the touch component may include: a pen-shaped member supported by a mounting member and capable of reciprocating along the longitudinal axis of the mounting member; a touch cap disposed at the end of the pen-shaped member; and an elastic member attached to the pen-shaped member and biasing the pen-shaped member toward an initial position.

[0015] This arrangement enables high-precision operation, allowing for touch operation of the capacitive screen and pressing of function buttons. The elastic component reduces the force required for touch, preventing damage to the capacitive screen.

[0016] According to the above aspects of the present invention, preferably, the operating device may further include a multi-degree-of-freedom force sensor, which is disposed at at least one of the claw-shaped operating mechanism, the gripper and the touch component, for sensing the applied force.

[0017] This multi-degree-of-freedom force sensor can be used to provide feedback on pressure sensing data when the operating device is operating avionics equipment, thereby improving operating accuracy and preventing equipment damage.

[0018] According to the above aspects of the present invention, preferably, in order to further improve the degree of automation of operation, the operating device may also include a control system, which can control the operation of the articulated arm and the end effector based on image data from a vision sensor and force data from a multi-degree-of-freedom force sensor.

[0019] According to the above aspects of this utility model, in order to collect depth or distance information and further improve operational accuracy, preferably, the end effector may also include a depth sensor disposed close to the vision sensor.

[0020] In accordance with the above aspects of this utility model, in order to further improve positioning and operation accuracy, preferably, the vision sensor can be a binocular sensor.

[0021] According to the above aspects of the present invention, preferably, the claw-shaped operating mechanism may be provided with a support seat, the support seat being arc-shaped; and / or the first clamping part and the second clamping part each have a semi-circular structure, and the semi-circular structures are arranged opposite to each other.

[0022] This arrangement allows the shape and function of the operating devices to match the specific operational needs within the cockpit. The end effector can conform to various complex operated components (such as throttle levers, keyboard buttons, flap slat levers, and steering handwheels) through special movements and shapes, and combined with high-precision feedback functions, ensures the accuracy of operation (such as button pressing depth, lever push-pull distance, and switch toggle angle), thereby achieving precise operation of various specially shaped components.

[0023] In accordance with the above aspects of this utility model, in order to further improve the operating accuracy and ensure the safety of the equipment, preferably, the claw-shaped operating mechanism and the gripper can each be provided with shock-absorbing components.

[0024] Therefore, the operating device for aircraft cockpit of this utility model can meet the usage requirements, overcome the shortcomings of the prior art, and achieve the intended purpose. Attached Figure Description

[0025] To further describe clearly the operating device for an aircraft cockpit according to the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. In the accompanying drawings:

[0026] Figure 1 A schematic perspective view of an operating device for an aircraft cockpit according to a non-limiting embodiment of the present invention is shown;

[0027] Figure 2 yes Figure 1 Side view of the operating device shown;

[0028] Figure 3 yes Figure 1 Rear view of the operating device shown;

[0029] Figure 4 yes Figure 1 Front view of the operating device shown;

[0030] Figure 5 yes Figure 1 Top view of the operating device shown;

[0031] Figure 6 yes Figure 1 An enlarged view of the end effector of the operating device shown;

[0032] Figure 7 This is a schematic diagram of the connecting plate of the connecting device according to a non-limiting embodiment of the present invention;

[0033] Figure 8 It's viewed from one perspective. Figure 1 An enlarged view of a portion of the end effector of the operating device shown;

[0034] Figure 9 yes Figure 1 An enlarged view of the claw-shaped operating mechanism of the operating device shown; and

[0035] Figure 10 An example operating procedure of the operating device according to the present invention is shown.

[0036] The above figures are merely schematic and not drawn to scale. The reference numerals in the figures are listed in the figures and embodiments: 100 – Operating device, including:

[0037] 10 - Articulated arm, including:

[0038] 10A - Arm section;

[0039] 20 - End effector, comprising:

[0040] 20A – Mounting components, including:

[0041] 201 - First side;

[0042] 202 – Second side;

[0043] 203 – Third side;

[0044] 204 – Fourth side;

[0045] 21 - Visual sensor;

[0046] 22 - Claw-shaped operating mechanism, including:

[0047] 22A - First gripper;

[0048] 22B – Second gripper;

[0049] 221 - Support seat;

[0050] 222 - Buffer component;

[0051] 23 - Clamp: Includes:

[0052] 23A – First clamping part;

[0053] 23B – Second clamping part;

[0054] 24 - Touch components, including:

[0055] 241 – Pen-shaped component;

[0056] 242 - Touch Cap;

[0057] 243 – Elastic component;

[0058] 244 – Adjustment component;

[0059] 25 - Depth sensor;

[0060] 30 - Base;

[0061] 40 - Connecting device, comprising:

[0062] 41 - Installation pin;

[0063] 42 - Connecting plate;

[0064] A – Longitudinal axis. Detailed Implementation

[0065] It should be understood that, unless explicitly stated otherwise, the present invention may employ various alternative orientations and sequences of steps. It should also be understood that the specific devices shown in the drawings and described in the specification are merely exemplary embodiments of the inventive concept disclosed and defined herein. Therefore, unless expressly stated otherwise, the specific orientations, directions, or other features involved in the various disclosed embodiments should not be considered limiting.

[0066] Operating avionics equipment within an aircraft cockpit involves various types of interactions (such as buttons, knobs, push-pull mechanisms, etc.). However, the mechanical grippers of existing robotic arm structures have limited functionality and cannot meet diverse operational needs. This leads to frequent gripper replacements or the use of multiple robotic arms working in coordination, resulting in low operational efficiency. Therefore, these operating devices, such as robotic arms, are insufficient to meet the complex operational requirements within an aircraft cockpit.

[0067] Furthermore, existing operating devices may integrate cameras; however, these cameras are typically fixed in place, located far from the outer end of the robotic arm. In the confined space of an aircraft cockpit with its numerous function buttons, this fixed camera design has the following drawbacks: it prevents the camera from getting close enough to the operated location for precise data acquisition, affecting operational accuracy; and when the robotic arm performs complex movements, the camera's field of view is easily obstructed, preventing subsequent operations from proceeding normally.

[0068] Traditional robotic arm structures require manual control of the arm's movements. Operators must manually verify the accuracy of the action commands, and the robotic arm itself lacks real-time perception of the working environment, failing to provide timely and effective feedback to changes in the working environment. This manual operation method is inefficient and prone to inaccuracies due to human error, making it difficult to meet the demands for efficient, precise, and autonomous operation in the environment of an aircraft cockpit.

[0069] In order to overcome one or more of the above-mentioned defects in the prior art, the present invention proposes an operating device 100 for an aircraft cockpit.

[0070] Figure 1 A schematic perspective view shows an operating device 100 for an aircraft cockpit according to a non-limiting embodiment of the present invention, while Figure 2-5 It is observed from different angles. Figure 1 Different views of the operating device 100 shown.

[0071] As shown in the figure and as a non-limiting example, the operating device 100 may mainly include components such as an articulated arm 10 and an end effector 20.

[0072] The articulated arm 10 may include multiple arm segments 10A articulated together. For example, these arm segments 10A may be connected together using multiple hinges or pivot joints. Such an articulated arm 10 may also be referred to as a robotic arm.

[0073] The articulated arm 10 can be supported or fixed to a corresponding support structure via the base 30, such as the floor of an aircraft cockpit or simulator cockpit or a similar support.

[0074] Preferably, the articulated arm 10 is equipped with an encoder on each degree of freedom formed by each arm segment 10A to calculate the real-time position of the articulated arm 10 during its movement, thereby ensuring the precise positioning of the articulated arm 10.

[0075] An end effector 20 may be provided at the free end or end of the articulated arm 10. For example, the end effector 20 may be attached to the articulated arm 10 via a corresponding connecting device 40.

[0076] In addition, although not shown in the accompanying drawings, it should be understood that the articulated arm 10 and the end effector 20 are provided with corresponding control lines, etc., for controlling the movement of each component via pneumatic / hydraulic or electric actuators, and may include various signal transmission lines to transmit signals from each sensor to the control system, and send control commands from the control system to each corresponding actuator to control the operation of the articulated arm and the end effector.

[0077] Figure 6 yes Figure 1 An enlarged view of the end effector 20 of the operating device 100 shown, and Figure 7 This is a schematic diagram of the connecting plate 42 of the connecting device 40 according to a non-limiting embodiment of the present invention.

[0078] like Figure 6 and Figure 7 As shown, the connecting device 40 may include a mounting pin 41 and a connecting plate 42. The end effector 20 can be connected to the columnar structure of the articulated arm 10 via the mounting pin 41. The columnar structure can achieve multi-degree-of-freedom movement and / or 360-degree rotation through arm segments 10A connected by multiple hinges or pivot joints. This modular design structure ensures that the operating device 100 has greater independence, flexibility, and adaptability.

[0079] Figure 8 It's viewed from one perspective. Figure 1 An enlarged view of a portion of the end effector 20 of the operating device 100 shown.

[0080] like Figure 6 and 8 More detailed and combined Figure 1-5 As can be seen, the end effector 20 may mainly include: mounting component 20A, vision sensor 21, claw-shaped operating mechanism 22, gripper 23, touch component 24 and depth sensor 25, etc., as well as sensing and operating structures.

[0081] Mounting component 20A can be directly mounted to connecting plate 42 and can have a generally rectangular column structure, and can include a first side 201, a second side 202 opposite to the first side 201, and a third side 203 and a fourth side 204 disposed therebetween, such as Figure 4 and Figure 6 As shown.

[0082] The first side 201 can be Figure 4 The right side is shown, while the second side 202 can be... Figure 4 The left side is shown.

[0083] The vision sensor 21 and the gripper 23 can be disposed on the first side 201 of the mounting member 20A, while the claw-shaped operating mechanism 22 can be disposed on the second side 202 of the mounting member 20A.

[0084] The vision sensor 21 can be used to acquire image data. As an example, the vision sensor 21 can be a monocular sensor with a single camera or a binocular sensor with two cameras, such as... Figure 8 As shown.

[0085] In the middle of the binocular sensors, the end effector 20 may also include a depth sensor 25. As an example, the depth sensor 25 may be a depth TOF camera, which can be used to measure and calculate the depth of the relevant environmental space within the cockpit.

[0086] In performing certain operations, the conditional logic is often driven by visual data, such as reading the flight management system interface to infer the system's status. These instrument interfaces contain small text. For cameras in fixed positions, it is impossible to accurately identify the text content and color. If images are only acquired from a static camera installed in a fixed or remote location, the flight management system interface may be obstructed when the articulated arm 10 or the robotic arm moves. The vision sensor 21 integrated on the end effector 20 greatly improves the flexibility and accuracy of observation, and can easily acquire different display states of the instrument interface, providing a significant advantage, especially for the operation of complex interfaces in automated flight systems.

[0087] In addition, during the capture process of the vision sensor 21, due to the movement of the articulated arm 10 or the robotic arm, the camera usually deflects at an angle relative to the instrument display screen. In order to ensure that the captured image can be automatically adjusted to the correct direction, in a preferred embodiment, a positioning mark can be made in the upper left corner of the instrument display screen to mark the standard direction.

[0088] In this way, the articulated arm 10 can observe instrument displays and various instruments from different positions and angles within the cockpit. When the articulated arm 10 obstructs the static camera's view in order to complete a certain action, the vision sensor 21 integrated on the end effector 20 can capture the display images of the instruments or meters obstructed by the articulated arm 10, while also avoiding obstructing the pilot's view during flight.

[0089] Figure 9 yes Figure 1 An enlarged view of the claw-shaped operating mechanism 22 of the operating device 100 shown.

[0090] Combination Figure 6 and Figure 9 It can be seen that the claw-shaped operating mechanism 22 may mainly include a first gripper 22A and a second gripper 22B arranged opposite to each other, thereby forming an opening (e.g. Figure 9 The claw-shaped operating mechanism 22 has a generally circular internal clamping portion (with an opening on the right side). This claw-shaped operating mechanism 22 can cooperate with a side stick in the aircraft cockpit, for example, allowing the side stick to enter the internal clamping portion through the opening to clamp and operate the side stick.

[0091] As an example, the first gripper 22A and the second gripper 22B can be moved relative to each other by a stepper motor, thereby realizing the opening and closing of the claw-shaped operating mechanism 22.

[0092] In addition, the claw-shaped operating mechanism 22 also includes a support 221 disposed at a position opposite to the opening. The support 221 may be designed with an arc-shaped structure to help fix and limit the aircraft control stick, preventing the aircraft control stick from loosening and wobbling during operation. In addition, a pressure-sensing diaphragm may be provided at the bottom of the support 221 to sense the magnitude of the pressure or clamping force on the control stick.

[0093] Specifically, buffer members 222 may be provided on the inner sides of the first gripper 22A and the second gripper 22B, as well as on the bottom of the support 221. For example, the buffer member 222 may be a flexible rubber part for shock absorption.

[0094] As an example, after the end effector 20 is moved to the position of the control side lever via the articulated arm 10, the control system can adjust the position and angle of the first jaw 22A and the second jaw 22B of the claw-shaped operating mechanism 22 according to visual information, depth data and pressure feedback on the support 221. After the support 221 fixes and limits the side lever, the first jaw 22A and the second jaw 22B can close via the corresponding actuation mechanism (not shown in detail) to clamp the arm part of the control side lever, and apply force to the control side lever via the claw-shaped operating mechanism 22 to realize the forward, backward, left and right push and pull operations of the side lever.

[0095] In this way, the claw-shaped operating mechanism 22 can be used to control the aircraft's control stick to complete the aircraft's pitch, roll and other actions, and can also be used to control the switch, throttle and other actions.

[0096] exist Figure 1 , Figure 5 and Figure 6 An example structure of the gripper 23 can be seen in the figure. As shown, the gripper 23 may include a first gripping part 23A and an opposing second gripping part 23B. The first gripping part 23A and the second gripping part 23B are movable relative to each other along the longitudinal axis A to operate knobs and / or switches in the aircraft cockpit.

[0097] As an example, the first clamping part 23A and the second clamping part 23B of the gripper 23 can be respectively mounted on the slider, and the corresponding slider can cooperate with the slide rail fixed to the mounting member 20A to realize the relative movement of the two via an actuator (e.g. via a stepper motor, etc.), thereby realizing the opening and closing of the gripper 23.

[0098] Preferably, the first clamping part 23A and the second clamping part 23B can each have an L-shaped structure, such as... Figure 1 As shown. The first clamping part 23A and the second clamping part 23B may each have a semi-circular structure at the free end of the L-shaped structure, and the semi-circular structures may be arranged opposite to each other to form an approximately circular internal clamping part.

[0099] The two semi-circular structures at the ends can clamp the knobs and switches, enabling operations such as clamping switches, rotating knobs, and pushing and pulling throttle levers.

[0100] Specifically, the first clamping part 23A and the second clamping part 23B of the gripper 23 can be connected to the mounting member 20A of the end effector 20 via a mechanical transmission mechanism, and the relative movement of the first clamping part 23A and the second clamping part 23B can be driven by a motor (e.g., a stepper motor) that communicates with the control system, so as to realize the opening and closing of the gripper 23, thereby enabling it to firmly grasp function knobs of different sizes.

[0101] Preferably, the inner side of the semi-circular structure of the first clamping part 23A and the second clamping part 23B may also be provided with a flexible rubber part for shock absorption and cushioning.

[0102] exist Figure 4 and Figure 6 The example structure of the touch component 24 can be seen more clearly in the image.

[0103] The touch component 24 can be mounted on the third side 203 of the mounting component 20A and used to operate structures such as touch screens in the aircraft cockpit.

[0104] As shown in the figure, the touch component 24 may mainly include: a pen-shaped component 241, a touch cap 242, an elastic component 243, and an adjustment component 244, etc.

[0105] The pen-shaped member 241 can be supported by the mounting member 20A and can reciprocate along the longitudinal axis A of the mounting member 20A. As an example, a guide portion with a guide channel (or guide opening) can be provided on the third side 203 of the mounting member 20A, and the pen-shaped member 241 can extend through the guide channel.

[0106] The touch cap 242 can be disposed at the end of the pen-shaped member 241 to enable touch operation of the capacitive screen and pressing operation of function buttons. For example, the touch cap 242 can be a rubber cap made of capacitive touch material, thus having capacitive screen touch function and pressing function, for completing button and capacitive instrument screen touch operation.

[0107] As a preferred embodiment, a pressure sensor, such as a pressure-sensing diaphragm, may be provided on the inner side of the touch cap 242 to sense and adjust the touch pressure in real time.

[0108] The elastic member 243 can be attached to the pen-shaped member 241 and bias the pen-shaped member 241 toward the initial position. The elastic member 243 can be, for example, a compression spring, and the spring force provided by the compression spring can be used to perform the button operation, while avoiding damage to the avionics equipment due to excessive pressing force.

[0109] The adjusting member 244 may be in the form of an end adjusting knob and is located at the end opposite to the touch cap 242. This adjusting member 244 can adjust the tension of the compression spring, that is, adjust the magnitude of the preload.

[0110] As a preferred embodiment, the operating device 100 according to the present invention may further include a multi-degree-of-freedom force sensor, which is disposed at at least one of the claw-shaped operating mechanism 22, the gripper 23 and the touch component 24, for sensing the applied force.

[0111] Advantageously, the control system can control the operation of the articulated arm 10 and the end effector 20 based on image data from the vision sensor 21 and force data from the multi-degree-of-freedom force sensor.

[0112] As an example, the control system (not shown in the attached figures) may include an unexpected operation braking system and multiple databases. These databases may include, for example, a status database, a program database, a standard parameter database, etc. When using a robot-based automated aircraft test control system to replace researchers in operations, these databases can be used as data drivers to collect, identify, and judge data from avionics equipment using computer vision, driving the operating device 100 to perform relevant operations on the avionics equipment. Multi-degree-of-freedom force sensors can be used to feed back pressure sensing data to the control system. The control system can adjust the robotic arm's operation using control algorithms based on the pressure feedback. If the robotic arm's operation exceeds the expected range, the unexpected operation braking system controls the operating device 100 to immediately stop. After the operating device 100 completes the correct operation, the collected visual and force data are compared and judged to verify whether the operation was performed as expected.

[0113] The following describes an example operation of the operating device 100 according to the present invention. For example, the distance and position of a function button located in a specific area of ​​the aircraft cockpit can be determined by the vision sensor 21 and the depth sensor 25.

[0114] Upon receiving a command to operate the function button, the control system can calculate the motion trajectory (e.g., the optimal motion trajectory) of the articulated arm 10 to move to the function button. The control system can further determine one or more signal parameters that interact with the function button (e.g., the expected change in button state, the magnitude of the force required to activate the function button, etc.), and can monitor information from sensors corresponding to these parameters.

[0115] Taking setting automatic flight speed as an example, the control process can be as follows: Figure 10 The schematic diagram shown illustrates the process. First, the operating device 100 can capture enough image data using the vision sensor 21 to identify the current preset flight speed on the autopilot instrument panel.

[0116] Based on the current preset flight speed and the required preset flight speed, the control system of the operating device 100 can calculate the required change (e.g., the difference between two speeds). Then, the articulated arm 10, using visual and depth information, formulates a path planning and operation strategy to move to the appropriate position to operate the knob (e.g., grasp, touch, etc.). Based on the measurement data from the force sensor and the database data stored in the control system, a critical force is determined to grasp and turn the specific knob.

[0117] The control system of the operating device 100 can acquire pressure feedback data and use a control algorithm to correct the gripping degree of the claw-shaped operating mechanism 22 and / or the gripper 23 of the end effector 20 in real time until an appropriate force is applied to the knob.

[0118] Then, the claw-shaped operating mechanism 22 and / or the gripper 23 rotates the knob to change the preset flight speed. The degree of knob rotation is calculated and compared based on the preset flight speed. After the operation is completed, the set flight speed is acquired and identified by the vision sensor 21 to determine whether the change requirement has been fulfilled. If not, the control flow can return to the initial step or the first step to reassess the current preset flight speed, the required preset flight speed, and the amount of change needed, and re-implement the process.

[0119] The terms "longitudinal," "opposite," and "first," "second," etc., used herein to indicate orientation or direction are merely to enable those skilled in the art to better understand the concept of the present invention as shown in the preferred embodiments, and are not intended to limit the present invention. Unless otherwise stated, all orders, orientations, or directions are used only to distinguish one element / component / structure from another, and unless otherwise stated, do not indicate any particular order, sequence of operations, direction, or orientation. For example, in an alternative embodiment, a "first clamping part" may be a "second clamping part."

[0120] In summary, the operating device 100 for an aircraft cockpit according to the embodiments of the present invention overcomes the shortcomings of the prior art and achieves the intended purpose of the utility model.

[0121] While the operating device for an aircraft cockpit according to the present invention has been described above with reference to preferred embodiments, those skilled in the art should recognize that the above examples are merely illustrative and should not be construed as limiting the present invention. Therefore, various modifications and variations can be made to the present invention within the spirit and scope of the claims, and all such modifications and variations will fall within the scope claimed by the claims of the present invention.

Claims

1. An operating device (100) for an aircraft cockpit, characterized in that The operating device (100) includes: A hinged arm (10), the hinged arm comprising a plurality of arm segments (10A) hingedly attached together; and An end effector (20) is attached to the articulated arm (10), and the end effector (20) includes: A visual sensor (21) is used to acquire image data; A claw-shaped operating mechanism (22), which can cooperate with a side stick in the aircraft cockpit to operate the side stick; and The clamp (23) includes a first clamping part (23A) and an opposing second clamping part (23B), which are movable relative to each other to operate knobs and / or switches in the cockpit of the aircraft.

2. The operating device (100) according to claim 1, characterized in that The end effector (20) includes a mounting member (20A), wherein the vision sensor (21) and the gripper (23) are disposed on a first side (201) of the mounting member (20A), and the claw-shaped operating mechanism (22) is disposed on a second side (202) of the mounting member (20A) opposite to the first side.

3. Operating device (100) according to claim 2, characterized in that The end effector (20) also includes a touch component (24) for operating a touch screen in the cockpit of the aircraft.

4. The operating device (100) according to claim 3, characterized in that, The touch component (24) includes: A pen-shaped component (241) is supported by the mounting component (20A) and is capable of reciprocating along the longitudinal axis (A) of the mounting component (20A); A touch cap (242) is disposed at the end of the pen-shaped member (241); and An elastic member (243) is attached to a pen-shaped member (241) and biases the pen-shaped member (241) toward an initial position.

5. Operating device (100) according to claim 4, characterized in that It also includes a multi-degree-of-freedom force sensor, which is disposed at at least one of the claw-shaped operating mechanism (22), the gripper (23) and the touch component (24) for sensing the applied force.

6. The operating device (100) according to claim 5, characterized in that It also includes a control system that controls the operation of the articulated arm (10) and the end effector (20) based on image data from the vision sensor (21) and force data from the multi-degree-of-freedom force sensor.

7. Operating device (100) according to any one of claims 1 to 6, characterized in that The end effector (20) also includes a depth sensor (25) located close to the vision sensor (21).

8. Operating device (100) according to any one of claims 1 to 6, characterized in that The vision sensor (21) is a binocular sensor.

9. The operating device (100) according to any one of claims 1-6, characterized in that, The claw-shaped operating mechanism (22) is provided with a support base (221), which is arc-shaped; and / or The first clamping part (23A) and the second clamping part (23B) each have a semi-circular structure, and the semi-circular structures are arranged opposite to each other.

10. Operating device (100) according to any one of claims 1 to 6, characterized in that The claw-shaped operating mechanism (22) and the clamp (23) are each provided with shock-absorbing components.

Images