A new feedback device for adjustable angle tandem propellers

Abstract

The present invention discloses a novel feedback device for an adjustable-angle tandem propeller. The feedback device includes a feedback sleeve, a rotating rod, a connecting rod mechanism, and a feedback sensor. The feedback sleeve is configured to be mounted on an outer propeller shaft and movable relative to the outer propeller shaft in the axial direction of the propeller shaft. The feedback sleeve is provided with an output portion. The rotating rod is configured to pass through the outer propeller shaft in a radial direction of the propeller shaft and connect to the inner propeller shaft. The rotating rod is rotatable relative to the outer propeller shaft about the axial centerline of the propeller shaft. The connecting rod mechanism connects the output portion and the rotating rod. The feedback sensor is contactable with the output portion to move in conjunction with the axial movement of the output portion. The feedback device of the present invention can prevent the feedback sensor from rotating with the inner and outer propeller shafts, thereby improving the safety and reliability of the device and ensuring that the device can achieve better dynamic balance. No electric slip ring is required, which can effectively reduce costs and improve maintainability.

Description

Technical Field

[0001] The present invention relates to the field of feedback technology, and in particular to a novel feedback device for an angle-adjustable tandem propeller. Background Art

[0002] An adjustable angle tandem propeller usually includes two propellers, namely a front propeller and a rear propeller, and the two propellers can be connected to two propeller shafts, namely an outer shaft and an inner shaft, respectively. The front propeller can be connected to the outer shaft, and the rear propeller can be connected to the inner shaft. The outer shaft is a hollow shaft, and the inner shaft passes through the hole of the outer shaft. The driving mechanism is connected to the above-mentioned two propeller shafts. Under the action of the driving mechanism, the angle formed by the cross-section perpendicular to the axial direction in the front propeller and the rear propeller (that is, the plane formed by the center line of the hub and the center line of the blade) is controllable and adjustable. In order to achieve controllable and adjustable angles between the front propeller and the rear propeller, that is, to achieve closed-loop control of the angle, an angle feedback device needs to be provided. The angle feedback device converts the mechanical rotation angles of the front propeller and the rear propeller into electrical signals and feeds them back to the control system. The control system controls the action of the angle drive mechanism by comparing the command angle signal with the measured angle signal to achieve closed-loop control.

[0003] In existing angle feedback devices, the feedback sensor is usually installed directly between the inner and outer shafts and rotates with the inner and outer shafts, which is detrimental to safety, reliability, and dynamic balance. In addition, an electric slip ring is required to transmit the angle feedback signal to the control system. However, electric slip rings are expensive and have low reliability.

[0004] Therefore, a feedback device for an angle-adjustable tandem propeller is needed to at least partially solve the above problems. Summary of the Invention

[0005] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] To at least partially address the above-mentioned problems, the present invention provides a novel feedback device for an adjustable-angle tandem propeller, wherein the propeller is connected to a propeller shaft, wherein the propeller shaft includes an inner propeller shaft and an outer propeller shaft sleeved onto the inner propeller shaft. The feedback device includes:

[0007] a feedback sleeve, the feedback sleeve being used to be sleeved on the outer propeller shaft and movable relative to the outer propeller shaft along the axial direction of the propeller shaft, the feedback sleeve being provided with an output portion;

[0008] a rotating rod, the rotating rod being used to pass through the outer propeller shaft in a radial direction of the propeller shaft and connected to the inner propeller shaft, the rotating rod being rotatable relative to the outer propeller shaft around an axial centerline of the propeller shaft;

[0009] a connecting rod mechanism connecting the output portion and the rotating rod to drive the output portion to move along the axial direction when the rotating rod rotates; and

[0010] A feedback sensor is contactable with the output portion so as to move along with the movement of the output portion along the axial direction.

[0011] Optionally, the connecting rod mechanism includes:

[0012] a push-pull rod, one end of which is hinged to the output portion;

[0013] A linkage bent rod, one end of which is hinged to the other end of the push-pull rod;

[0014] An articulated assembly is connected to the other end of the linkage bent rod and the rotating rod, and the articulated assembly has at least two articulated degrees of freedom so that the plane defined by the linkage bent rod remains unchanged.

[0015] Optionally, the hinge assembly includes at least three hinge blocks connected in sequence, and two adjacent hinge blocks are hinged via a hinge shaft.

[0016] Optionally, the hinge assembly includes:

[0017] a first hinge block, the first hinge block being movably sleeved on the rotating rod;

[0018] a second hinge block, the second hinge block being hingedly connected to the first hinge block via the axially arranged first hinge shaft; and

[0019] The third hinge block is movably mounted on the other end of the linkage bending rod, and the second hinge block is hinged to the third hinge block through a second hinge axis arranged in a direction perpendicular to a plane parallel to the axial direction.

[0020] Optionally, the axis of the second hinge shaft is spaced apart from a projection of the axis of the first hinge shaft on a plane perpendicular to the axial direction.

[0021] Optionally, the first hinge block and the second hinge block are arranged side by side along the axial direction, and the second hinge block and the third hinge block are arranged side by side along a direction perpendicular to the plane.

[0022] Optionally, the feedback device further includes a base, the base being used to be connected to the outer propeller shaft, and the curved portion of the linkage curved rod is hinged to the base.

[0023] Optionally, the linkage bent rod includes a first rod portion and a second rod portion arranged perpendicular to each other, the first rod portion is hinged to the other end of the push-pull rod, and the second rod portion is hinged to the hinge assembly.

[0024] Optionally, the feedback device further comprises a feedback link connected to the telescopic end of the feedback sensor, the feedback link being provided with a coupling portion having a slot for accommodating a peripheral side portion of the output portion.

[0025] Optionally, the feedback device further includes a guide portion, which is used to be connected to the outer propeller shaft. The inner side of the feedback sleeve is provided with an axially arranged guide groove, and the guide portion is accommodated in the guide groove and can slide relatively.

[0026] Optionally, two feedback devices are included, and the two feedback devices are symmetrically arranged relative to the axial center line.

[0027] According to the novel feedback device of the adjustable-angle tandem propeller of the present invention, the angular motion generated by the relative rotation of the outer propeller shaft and the inner propeller shaft can be converted into axial movement of the feedback sleeve via the rotating rod and the connecting rod mechanism with the aid of a connecting rod mechanism. Furthermore, the mechanical transmission method constituted by this embodiment can convert the rotation perpendicular to the axial centerline of the inner and outer propeller shafts into linear movement of the feedback sleeve parallel to the axial centerline; and the axial movement (i.e., linear movement) of the feedback sleeve is fed back to the feedback sensor through the output portion. The feedback sensor is contact-connected to the output portion, so that the feedback sensor can be installed in a stationary position, thereby preventing the feedback sensor from rotating with the inner and outer propeller shafts, which improves the safety and reliability of the device and ensures that the device can achieve better dynamic balance.

[0028] The feedback device provided in this embodiment does not require an electrical slip ring, effectively reducing costs and improving maintainability. Furthermore, the gap generated during the transition between forward and reverse rotation can be minimized, improving the feedback accuracy of the feedback device. The feedback device provided by this invention is not limited to propellers; it can be used in any mechanism with two rotating shafts nested within each other, thus having a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The following drawings of the present invention are incorporated herein as part of the present invention for understanding the present invention. The drawings show embodiments of the present invention and the description thereof is used to explain the principle of the present invention.

[0030] In the attached figure:

[0031] Figure 1 A schematic cross-sectional view of a novel feedback device for an adjustable-angle tandem propeller according to a preferred embodiment of the present invention;

[0032] Figure 2 for Figure 1 An external schematic diagram of the feedback device shown in , wherein the feedback link is shown;

[0033] Figure 3 For the Figure 1 Schematic diagram of the cross section taken along line AA;

[0034] Figure 4 For the Figure 1 Schematic diagram of the cross section taken along line BB;

[0035] Figure 5 for Figure 1 Enlarged schematic diagram of part A.

[0036] Description of reference numerals:

[0037] 10: Inner propeller shaft 20: Outer propeller shaft

[0038] 21: Guide hole 100: Feedback device

[0039] 110: Feedback sleeve 111: Output part

[0040] 112: protrusion 120: rotating rod

[0041] 121: Guide block 130: Push-pull rod

[0042] 131: First hinge pin 140: Linkage bent rod

[0043] 141: First rod portion 142: Second rod portion

[0044] 143: Second hinge pin 144: Third hinge pin

[0045] 150: hinge assembly 151: first hinge block

[0046] 152: Second hinge block 153: Third hinge block

[0047] 154: First hinge axis 155: Second hinge axis

[0048] 161: Base 162: Guide

[0049] 163: Guide groove 170: Feedback link

[0050] 171: Connecting portion 172: Card slot DETAILED DESCRIPTION

[0051] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with the present invention.

[0052] To provide a thorough understanding of the present invention, a detailed description will be provided in the following description. It should be understood that the embodiments of the present invention are not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0053] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0054] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component".

[0055] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this document are for illustrative purposes only and are not limiting.

[0056] Exemplary embodiments of the present invention will now be described in greater detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0057] like Figure 1As shown, the present invention provides a novel feedback device 100 for an adjustable angle tandem propeller. For the sake of brevity, the feedback device 100 is used to replace the novel feedback device 100 for an adjustable angle tandem propeller. The feedback device 100 can be used for an adjustable angle tandem propeller (not shown). The propeller may include a front propeller and a rear propeller, the front propeller being connectable to an outer propeller shaft 20, and the rear propeller being connectable to an inner propeller shaft 10. Specifically, the outer propeller shaft 20 is a hollow shaft, and the inner propeller shaft 10 is able to pass through the inner hole of the outer propeller shaft 20. The axial centerline of the inner propeller shaft 10 is collinear with the axial centerline of the outer propeller shaft 20.

[0058] When adjusting the angle between the front and rear propellers, the inner propeller shaft 10 and the outer propeller shaft 20 rotate relative to each other in the circumferential direction of the propeller shaft. The angle between the front and rear propellers corresponds to the circumferential rotation angle between the inner propeller shaft 10 and the outer propeller shaft 20. Therefore, by detecting the circumferential rotation angle between the inner propeller shaft 10 and the outer propeller shaft 20, the circumferential rotation angle can be converted into an electrical signal through the feedback device 100. The control system adjusts the angle between the front and rear propellers based on the feedback electrical signal.

[0059] The feedback device 100 of the present invention can include a rotating portion and a fixed portion. The rotating portion can be mounted to the inner propeller shaft 10 and the outer propeller shaft 20, rotating with them. The fixed portion can be mounted in a stationary position. It should be understood that the term "stationary position" herein refers to a position that does not rotate with the propeller shafts. For example, the propeller can be a marine propeller, and the fixed portion of the feedback device 100 can be mounted in a stationary position in the cabin, such as on a cabin frame.

[0060] The following combination Figures 1 to 5 , the feedback device 100 according to this embodiment is described in detail.

[0061] like Figures 1 to 3 As shown, the feedback device 100 may include a feedback sleeve 110, a rotating rod 120, a connecting rod mechanism and a feedback sensor (not shown). The feedback sleeve 110 can be mounted on the outer propeller shaft 20. The feedback sleeve 110 can rotate around the axial centerline of the propeller shaft together with the outer propeller shaft 20. The feedback sleeve 110 can also be movable in the axial direction of the propeller shaft relative to the outer propeller shaft 20. The rotating rod 120 can pass through the outer propeller shaft 20 in the radial direction of the propeller shaft and be connected to the inner propeller shaft 10. The rotating rod 120 can rotate around the axial centerline of the propeller shaft together with the inner propeller shaft 10. The rotating rod 120 can also be rotatable around the axial centerline of the propeller shaft relative to the outer propeller shaft 20. When the inner propeller shaft 10 and the outer propeller shaft 20 rotate relative to each other in the circumferential direction, the rotating rod 120 can rotate relative to the outer propeller shaft 20.

[0062] The feedback sleeve 110 can be provided with an output portion 111. The output portion 111 protrudes radially from the feedback sleeve 110. A linkage mechanism can connect the output portion 111 and the rotating rod 120, thereby driving the output portion 111 to move axially when the rotating rod 120 rotates. The feedback sensor can be in contact with the output portion 111, moving in conjunction with the axial movement of the output portion 111. The feedback sensor does not rotate about its own centerline in conjunction with the rotation of the output portion 111. In other words, the feedback sensor can move axially but does not rotate.

[0063] In this embodiment, the angular movement generated by the relative rotation of the outer propeller shaft 20 and the inner propeller shaft 10 can be converted into axial movement of the feedback sleeve 110 via the rotating rod 120 and the connecting rod mechanism with the aid of the connecting rod mechanism. Furthermore, the mechanical transmission method constituted by this embodiment can convert the rotation perpendicular to the axial center line of the inner propeller shaft 10 and the outer propeller shaft 20 into a linear movement of the feedback sleeve 110 parallel to the axial center line; and through the output part 111, the axial movement (i.e., linear movement) of the feedback sleeve 110 is fed back to the feedback sensor.

[0064] The contact-type connection between the feedback sensor and output portion 111 allows the feedback sensor to be installed in a stationary position. This prevents the feedback sensor from rotating with the inner propeller shaft 10 and the outer propeller shaft 20. This improves the safety and reliability of the device and ensures that the device can achieve better dynamic balance. The feedback device 100 provided in this embodiment does not require an electric slip ring, which can effectively reduce costs and improve maintainability.

[0065] like Figure 2 As shown, the linkage mechanism may include a push-pull rod 130, a linkage curved rod 140, and a hinge assembly 150. One end of the push-pull rod 130 can be hingedly connected to the output portion 111. Specifically, the output portion 111 is provided with a protrusion 112, and one end of the push-pull rod 130 is hingedly connected to the protrusion 112 via a first hinge pin 131. The first hinge pin 131 can be arranged perpendicular to a base plane parallel to the axial direction, allowing the push-pull rod 130 to rotate about the first hinge pin 131 on the base plane. One end of the linkage curved rod 140 is hingedly connected to the other end of the push-pull rod 130 via a second hinge pin 143. The hinge assembly 150 can be connected to both the other end of the linkage curved rod 140 and the rotating rod 120. The second hinge pin 143 can be arranged perpendicular to the base plane, allowing the push-pull rod 130 to maintain rotation on the base plane and the linkage curved rod 140 to rotate about the second hinge pin 143 on the base plane.

[0066] The angular rotation between the inner propeller shaft 10 and the outer propeller shaft 20 can include forward rotation and reverse rotation. The hinge assembly 150 can have at least two degrees of freedom to maintain the plane defined by the linkage bent rod 140. Specifically, this allows the linkage bent rod 140 to maintain rotation on the base plane. In the illustrated embodiment, the hinge assembly 150 has two degrees of freedom. This minimizes the backlash generated during forward and reverse rotation, thereby improving the feedback accuracy of the feedback device 100.

[0067] The hinge assembly 150 may include at least three hinge blocks connected in sequence, and two adjacent hinge blocks are hinged via a hinge axis to achieve the rotation of the hinge assembly 150 based on at least two hinge degrees of freedom. Figure 4 and Figure 5 As shown, in the illustrated embodiment, the hinge assembly 150 may include three hinged blocks, namely a first hinge block 151, a second hinge block 152, and a third hinge block 153, which are hingedly connected to each other. The first hinge block 151 can be movably mounted on the rotating rod 120, so that the first hinge block 151 can move linearly along the rotating rod 120. In other words, the first hinge block 151 can slide linearly on the rotating rod 120 but cannot rotate about the rotating rod 120. The second hinge block 152 can be hingedly connected to the first hinge block 151 via a first hinge axis 154 arranged parallel to the axial direction, so that the second hinge block 152 can rotate about the axially extending first hinge axis 154. The third hinge block 153 can be movably mounted on the other end of the linkage curved rod 140, so that the third hinge block 153 can move linearly along the linkage curved rod 140. In other words, the third hinge block 153 can slide linearly on the linkage curved rod 140 but cannot rotate about the linkage curved rod 140. The second hinge block 152 can be hinged to the third hinge block 153 via a second hinge shaft 155 arranged perpendicular to a plane parallel to the axial direction. It can be understood that the "plane parallel to the axial direction" here can be a base plane or a plane parallel to the base plane mentioned above.

[0068] The first hinge shaft 154 and the second hinge shaft 155 enable the hinge assembly 150 to rotate in two degrees of freedom. Specifically, the first hinge shaft 154 enables the hinge assembly 150 to rotate on a first plane perpendicular to the axial direction, and the second hinge shaft 155 enables the hinge assembly 150 to rotate on a second plane parallel to the axial direction. Furthermore, during the angular rotation process, the position and spatial angle between the rotating rod 120 and the linkage bent rod 140 change. The setting of the hinge assembly 150 can divide the change in the spatial angle between the rotating rod 120 and the linkage bent rod 140 into two parts, namely, the rotation of the second hinge block 152 relative to the first hinge block 151 when the rotating rod 120 drives the first hinge block 151 to rotate circumferentially, and the rotation of the third hinge block 153 relative to the second hinge block 152 when the third hinge block 153 drives the linkage bent rod 140 to move horizontally. These two rotations occur on different planes defined by the second hinge block 152, namely the first plane perpendicular to the axial direction and the second plane parallel to the axial direction described above, so that the circumferential rotation of the first hinge block 151 driven by the rotating rod 120 and the movement of the linkage bending rod 140 parallel to the axial direction driven by the third hinge block 153 are independent of each other and no longer affect each other.

[0069] Furthermore, the gap between the first hinge block 151 and the second hinge block 152 can be adjusted by controlling the size of the first hinge shaft 154, and the gap between the second hinge block 152 and the third hinge block 153 can be adjusted by controlling the size of the second hinge shaft 155. Adjusting the gap between adjacent hinge blocks facilitates achieving rotation with different degrees of freedom without interfering with each other.

[0070] It can be understood that, if there are no other limitations, the axial, radial and circumferential directions herein are all defined by the propeller axis.

[0071] In the illustrated embodiment, the first hinge block 151 and the second hinge block 152 are both in the shape of a cuboid. The third hinge block 153 is shorter than the second hinge block 152. The axis of the second hinge shaft 155 can be spaced apart from the projection of the axis of the first hinge shaft 154 on a plane perpendicular to the axial direction. The first hinge block 151 can be arranged side by side with the second hinge block 152 in the axial direction, and the second hinge block 152 can be arranged side by side with the third hinge block 153 in a direction perpendicular to the plane parallel to the axial direction. This facilitates connection with a hinge shaft. Optionally, the hinge shaft can be formed by a pin. It can be understood that the "plane parallel to the axial direction" here can be a base plane or a plane parallel to the base plane above.

[0072] Return to see Figure 1The feedback device 100 may further include a base 161. The base 161 is arranged on the outside of the outer propeller shaft 20 and can be connected to the outer propeller shaft 20. The base 161 can be arranged radially, and of course can also be offset relative to the radial direction. The curved portion of the linkage bent rod 140 is hinged to the base 161 through the third hinge pin 144. The third hinge pin 144 can be arranged in a direction perpendicular to the base plane, so that the linkage bent rod 140 can maintain rotation on the base plane. Specifically, the linkage bent rod 140 may include a first rod portion 141 and a second rod portion 142 arranged perpendicular to each other. The first rod portion 141 can be hinged to the other end of the push-pull rod 130, and the second rod portion 142 can be movably connected to the hinge assembly 150. The curved portion formed between the first rod portion 141 and the second rod portion 142 is hinged to the base 161. Both ends of the linkage bent rod 140 are free ends and are not fixed.

[0073] The feedback device 100 may further include a guide portion 162. The guide portion 162 can be connected to the outer propeller shaft 20. The inner side of the feedback sleeve 110 is provided with a guide groove 163 arranged along the axial direction, and the guide portion 162 is accommodated in the guide groove 163 and can slide relatively. Through the cooperation between the guide portion 162 and the guide groove 163, the rotation of the feedback sleeve 110 relative to the outer propeller shaft 20 can be limited, so that the feedback sleeve 110 maintains linear movement along the axial direction. The guide portion 162 can be composed of a flat key. The guide groove 163 is a keyway that cooperates with the flat key.

[0074] like Figure 2 As shown, the feedback device 100 may further include a feedback link 170 connected to the telescopic end of the feedback sensor. The feedback link 170 may be provided with a coupling portion 171. The coupling portion 171 has a slot 172, which accommodates the circumferential side portion of the output portion 111. The circumferential side portion of the output portion 111 is in sliding contact with the groove wall of the slot 172, so that the feedback link 170 does not rotate around its own axial center line as the feedback sleeve 110 rotates. The feedback sensor may be, for example, a displacement sensor. It can be understood that the output portion 111 herein may be an annular component that is sleeved and connected to the outer surface of the feedback sleeve 110. In other words, the shape of the output portion 111 may be annular, such as a circular ring.

[0075] like Figure 3 As shown, the rotating rod 120 can be provided with a guide block 121. The outer propeller shaft 20 can be provided with a guide hole 21 extending in the circumferential direction. The guide block 121 is located in the guide hole 21 and can slide in the circumferential direction along the guide hole 21. This can make the circumferential rotation of the rotating rod 120 smoother.

[0076] The present invention may include two feedback devices 100. The two feedback devices 100 are symmetrically arranged with respect to the axial centerline. This ensures better dynamic balance, evenly distributes forces across the various components of the feedback device 100, and facilitates smoother mechanical transmission.

[0077] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein are merely for describing specific implementation purposes and are not intended to limit the present invention. Features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise indicated.

[0078] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A novel feedback device for an adjustable-angle tandem propeller, wherein the propeller is connected to a propeller shaft, the propeller shaft comprising an inner propeller shaft and an outer propeller shaft sleeved on the inner propeller shaft, characterized in that: The feedback device comprises: a feedback sleeve, the feedback sleeve being sleeved on the outer propeller shaft and movable relative to the outer propeller shaft along the axial direction of the propeller shaft, the feedback sleeve being provided with an output portion, the output portion radially protruding from the feedback sleeve; a rotating rod, the rotating rod being used to pass through the outer propeller shaft in a radial direction of the propeller shaft and connected to the inner propeller shaft, the rotating rod being rotatable relative to the outer propeller shaft around an axial centerline of the propeller shaft; a connecting rod mechanism connecting the output portion and the rotating rod to drive the output portion to move along the axial direction when the rotating rod rotates; and a feedback sensor, the feedback sensor being contactable with the output portion so as to move along with the movement of the output portion along the axial direction; Wherein, the connecting rod mechanism includes: a push-pull rod, one end of which is hinged to the output portion; a linkage curved rod, one end of which is hinged to the other end of the push-pull rod; and An articulated assembly is connected to the other end of the linkage bent rod and the rotating rod, and the articulated assembly has at least two articulated degrees of freedom so that the plane defined by the linkage bent rod remains unchanged.

2. The novel feedback device according to claim 1, characterized in that: The hinge assembly includes at least three hinge blocks connected in sequence, and two adjacent hinge blocks are hinged via a hinge shaft.

3. The novel feedback device according to claim 1, characterized in that: The hinge assembly comprises: a first hinge block, the first hinge block being movably sleeved on the rotating rod; a second hinge block, the second hinge block being hinged to the first hinge block via a first hinge shaft arranged along the axial direction; and The third hinge block is movably mounted on the other end of the linkage bending rod, and the second hinge block is hinged to the third hinge block through a second hinge axis arranged in a direction perpendicular to a plane parallel to the axial direction.

4. The novel feedback device according to claim 3 is characterized in that: The axis of the second hinge shaft is spaced apart from a projection of the axis of the first hinge shaft on a plane perpendicular to the axial direction.

5. The novel feedback device according to claim 3 is characterized in that: The first hinge block and the second hinge block are arranged side by side along the axial direction, and the second hinge block and the third hinge block are arranged side by side along a direction perpendicular to the plane.

6. The novel feedback device according to claim 1 is characterized in that: The feedback device further includes a base, which is used to be connected to the outer propeller shaft, and the curved portion of the linkage curved rod is hinged to the base.

7. The novel feedback device according to claim 1, characterized in that: The linkage bent rod includes a first rod portion and a second rod portion that are arranged perpendicular to each other. The first rod portion is hinged to the other end of the push-pull rod, and the second rod portion is hinged to the hinge assembly.

8. The novel feedback device according to any one of claims 1 to 7, characterized in that: The feedback device further includes a feedback link connected to the telescopic end of the feedback sensor, wherein the feedback link is provided with a coupling portion having a slot for accommodating a peripheral side portion of the output portion.

9. The novel feedback device according to any one of claims 1 to 7, characterized in that: The feedback device further includes a guide portion, which is used to be connected to the outer propeller shaft. A guide groove arranged along the axial direction is provided on the inner side of the feedback sleeve, and the guide portion is accommodated in the guide groove and can slide relatively.

10. The novel feedback device according to any one of claims 1 to 7, characterized in that: The two feedback devices are included and are symmetrically arranged relative to the axial center line.

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