Self-balancing helicopter simulator accelerator ring linkage mechanism and debugging and mounting method

Abstract

The invention provides a self-balancing helicopter simulator accelerator ring linkage mechanism and a debugging and mounting method. The mechanism comprises a total pitch torsion tube (1), an accelerator ring (2), a linkage pull rod (5), an extension spring (6), an adjusting stud (7), a limiting fork arm (8) and a nut. Wherein the accelerator rings (2) are arranged at the two ends of the collective pitch torsion tube (1) respectively, the two ends of the linkage pull rod (5) are connected with the two accelerator rings (2) respectively, and the linkage pull rod (5) moves along with any accelerator ring (2); an adjusting stud (7) is connected between the two extension springs (6), and two ends of the two extension springs (6) are respectively connected to the linkage pull rod (5); a limiting fork arm (8) is further fixedly arranged on the total pitch torsion tube (1), and an adjusting stud (7) penetrates through the limiting fork arm (8); the adjusting stud (7) is sleeved with two nuts which are located on the two sides of the limiting fork arm (8) respectively so that the limiting fork arm (8) and the adjusting stud (7) can be fixedly connected. And when the two extension springs (6) are balanced, the two accelerator rings (2) are in neutral positions. And the functions of linkage, starting force simulation and automatic centering are realized.

Description

Technical Field

[0001] The invention belongs to the field of flight simulation and relates to a throttle ring linkage mechanism of a self-balancing helicopter simulator and a debugging and installation method. Background Art

[0002] A throttle ring mechanism is designed for the head of the helicopter's collective pitch lever to control the engine output power. The real aircraft control mechanism realizes the linkage of the left and right collective pitch lever throttles through a cable pulley mechanism; a cam roller combination is set in the real aircraft control mechanism to achieve a certain amount of starting force required to operate the throttle ring; a linear motor (serial servo) is set in the real aircraft control mechanism rod system to realize the automatic return function of the throttle ring.

[0003] The cable pulley mechanism has many parts and components, which are relatively complex, with high processing costs and complicated assembly processes. Compared with the real aircraft, a helicopter flight simulator generally only simulates the cockpit part of the real aircraft, while the cam roller mechanism and tandem servos are both located in the fuselage of the real aircraft. Therefore, the real aircraft's collective pitch joystick structure cannot be used directly, and the mechanism needs to be redesigned to achieve linkage, starting force simulation and automatic return to center functions. Summary of the invention

[0004] The invention provides a throttle ring linkage mechanism of a self-balancing helicopter simulator and a debugging and installation method, which realizes linkage, starting force simulation and automatic return to center functions.

[0005] The first aspect of the present invention provides a self-balancing helicopter simulator throttle ring linkage mechanism, comprising: a collective torque tube 1, a throttle ring 2, a linkage pull rod 5, a tension spring 6, an adjustment stud 7, a limit fork arm 8 and a nut;

[0006] Wherein, a throttle ring 2 is respectively arranged at both ends of the collective torque tube 1, and the two ends of the linkage tie rod 5 are respectively connected to the two throttle rings 2, and move with any throttle ring 2;

[0007] The two tension springs 6 are connected in the middle with an adjusting stud 7, and both ends are connected to the linkage rod 5 respectively;

[0008] A limit fork arm 8 is also fixedly provided on the collective torque tube 1, and the adjusting stud 7 passes through the limit fork arm 8; two nuts are sleeved on the adjusting stud 7, which are respectively located on both sides of the limit fork arm 8, so as to fix the limit fork arm 8 and the adjusting stud 7;

[0009] When the two extension springs 6 are balanced, the two throttle rings 2 are in a neutral position.

[0010] Optionally, a plurality of spring mounting holes are respectively provided at both ends of the linkage pull rod 5;

[0011] The two ends of the two tension springs 6 are respectively inserted into the spring mounting holes on the linkage pull rod 5;

[0012] The two tension springs 6 are provided with an initial tension.

[0013] Optionally, a U-shaped groove is further provided on the limiting fork arm 8;

[0014] The linkage pull rod 5 moves in the U-shaped groove.

[0015] Optionally, the limiting fork arm 8 is located in the middle of the collective torque tube 1 .

[0016] Optionally, it also includes: an angular displacement sensor 11 and a sensor bracket 12;

[0017] A sensor bracket 12 is also fixedly provided at the end of the collective torque tube 1;

[0018] The angular displacement sensor 11 is mounted on the sensor bracket 12 and is used to collect the angular displacement signal of the throttle ring 2 .

[0019] Optionally, it also includes: a connecting shaft 3 and a rocker arm;

[0020] Both ends of the collective torque tube 1 are connected to a connecting shaft 3 through bearings;

[0021] The first end of the connecting shaft 3 is connected to the throttle ring 2, and the second end is connected to the first end of the rocker arm; the second end of the rocker arm is connected to the end of the linkage rod 5; when the throttle ring 2 rotates, the rocker arm is driven to rotate through the connecting shaft 3, and then the linkage rod 5 is driven to move.

[0022] Optionally, both ends of the connecting shaft 3 are square shafts, and the sides of the square shafts are parallel;

[0023] The test end of the angular displacement sensor 11 is inserted into the connecting shaft 3 .

[0024] Optionally, hooks are provided at both ends of the adjusting stud 7 , and the tension spring 6 is connected to the hooks of the adjusting stud 7 .

[0025] The second aspect of the present invention provides a debugging and installation method for a throttle ring linkage mechanism of a self-balancing helicopter simulator as described in any one of the first aspects, comprising:

[0026] S1. During commissioning and installation, tighten the two nuts to a preset length from the limit fork arm 8;

[0027] S2, set the two throttle rings 2 to the neutral position;

[0028] S3. When the two tension springs 6 are balanced, the nut is screwed until it fits the limit fork arm 8 to fix the adjustment stud 7.

[0029] Optionally, the method further includes:

[0030] S4, turning the throttle ring 2;

[0031] S5, if it is detected that the throttle ring 2 cannot automatically return to the center;

[0032] S6, insert the two ends of the two tension springs 6 into the spring mounting holes with a larger spacing on the linkage pull rod 5 respectively, and execute S3 again.

[0033] The present invention provides a self-balancing helicopter simulator throttle ring linkage mechanism and debugging and installation method. The invention can not only realize the linkage of the left and right collective pitch levers, but also collect throttle control signals, simulate the throttle ring control force sense, and realize the throttle ring automatic return to the center. The invention has a compact structure, convenient installation, stability and reliability, and can be applied to other helicopter simulators with throttle rings, which can shorten the design cycle and reduce processing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the structure of the throttle ring linkage mechanism of the self-balancing helicopter simulator provided by the embodiment of the present invention Figure 1 ;

[0035] Figure 2 A schematic diagram of the structure of the throttle ring linkage mechanism of the self-balancing helicopter simulator provided by the embodiment of the present invention Figure 2 ;

[0036] Among them, 1-total torque tube, 2-throttle ring, 3-connecting shaft, 4-left linkage rocker arm, 5-linkage pull rod, 6-tension spring, 7-adjusting stud, 8-limit fork arm, 9-hexagonal thin nut, 10-right linkage rocker arm, 11-angular displacement sensor, 12-sensor bracket. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] like Figure 1-2 As shown, the present invention provides a self-balancing helicopter simulator throttle ring linkage mechanism, comprising: a collective torque tube 1, a throttle ring 2, a linkage pull rod 5, a tension spring 6, an adjustment stud 7, a limit fork arm 8 and a nut;

[0039] Wherein, a throttle ring 2 is respectively arranged at both ends of the collective torque tube 1, and the two ends of the linkage tie rod 5 are respectively connected to the two throttle rings 2, and move with any throttle ring 2;

[0040] The two tension springs 6 are connected in the middle with an adjusting stud 7, and both ends are connected to the linkage rod 5 respectively;

[0041] A limit fork arm 8 is also fixedly provided on the collective torque tube 1, and the adjusting stud 7 passes through the limit fork arm 8; two nuts are sleeved on the adjusting stud 7, which are respectively located on both sides of the limit fork arm 8, so as to fix the limit fork arm 8 and the adjusting stud 7;

[0042] When the two extension springs 6 are balanced, the two throttle rings 2 are in a neutral position.

[0043] Optionally, a plurality of spring mounting holes are respectively provided at both ends of the linkage pull rod 5;

[0044] The two ends of the two tension springs 6 are respectively inserted into the spring mounting holes on the linkage pull rod 5;

[0045] The two tension springs 6 are provided with an initial tension.

[0046] Optionally, a U-shaped groove is further provided on the limiting fork arm 8;

[0047] The linkage pull rod 5 moves in the U-shaped groove.

[0048] Optionally, the limiting fork arm 8 is located in the middle of the collective torque tube 1 .

[0049] Optionally, it also includes: an angular displacement sensor 11 and a sensor bracket 12;

[0050] A sensor bracket 12 is also fixedly provided at the end of the collective torque tube 1;

[0051] The angular displacement sensor 11 is mounted on the sensor bracket 12 and is used to collect the angular displacement signal of the throttle ring 2 .

[0052] Optionally, it also includes: a connecting shaft 3 and a rocker arm;

[0053] Both ends of the collective torque tube 1 are connected to a connecting shaft 3 through bearings;

[0054] The first end of the connecting shaft 3 is connected to the throttle ring 2, and the second end is connected to the first end of the rocker arm; the second end of the rocker arm is connected to the end of the linkage rod 5; when the throttle ring 2 rotates, the rocker arm is driven to rotate through the connecting shaft 3, and then the linkage rod 5 is driven to move.

[0055] Optionally, both ends of the connecting shaft 3 are square shafts, and the sides of the square shafts are parallel;

[0056] The test end of the angular displacement sensor 11 is inserted into the connecting shaft 3 .

[0057] Optionally, hooks are provided at both ends of the adjusting stud 7 , and the tension spring 6 is connected to the hooks of the adjusting stud 7 .

[0058] The present invention also provides a debugging and installation method for a throttle ring linkage mechanism of a self-balancing helicopter simulator, comprising:

[0059] S1. During commissioning and installation, tighten the two nuts to a preset length from the limit fork arm 8;

[0060] S2, set the two throttle rings 2 to the neutral position;

[0061] S3. When the two tension springs 6 are balanced, the nut is screwed until it fits the limit fork arm 8 to fix the adjustment stud 7.

[0062] Optionally, the method further includes:

[0063] S4, turning the throttle ring 2;

[0064] S5, if it is detected that the throttle ring 2 cannot automatically return to the center;

[0065] S6, insert the two ends of the two tension springs 6 into the spring mounting holes with a larger spacing on the linkage pull rod 5 respectively, and execute S3 again.

[0066] For example, the throttle ring linkage mechanism of the self-balancing helicopter simulator provided by the present invention, the left throttle ring 2 drives the left linkage rocker 4 to rotate through the connecting shaft 3, and the left linkage rocker 4 drives the linkage rod 5 to transmit the movement to the right linkage rocker 10; the detection end of the angular displacement sensor 11 is inserted into the corresponding hole of the connecting shaft 3; the limit fork arm 8 is fixed on the collective pitch torque tube 1, the adjustment stud 7 passes through the through hole on the limit fork arm 8, and the hexagonal thin nut 9 tightens the adjustment stud 7 on the limit fork arm 8; one end of the tension spring 6 is fixed in the hole of the linkage rod 5, and the other end is connected to the adjustment stud 7. The present invention can be applied to a simulator simulation cockpit with a throttle ring structure.

[0067] The principle is as follows: when the pilot rotates the right throttle ring, the angular displacement sensor can collect the angular displacement signal, the right linkage rocker arm rotates and drives the left linkage rocker arm to rotate through the linkage rod, thereby transmitting the rotation to the left throttle ring; because the two tension springs act on the linkage rod at the same time to generate resistance, this resistance can simulate the starting force and operating force of the throttle ring, and when the pilot releases the throttle ring, due to the tension difference between the two tension springs, the linkage rod can be pulled back to the initial position, so that the left and right rocker arms and the left and right throttle rings return to their initial positions. This invention can not only collect throttle signals and simulate the starting force and operating force required for the throttle ring, but also simulate the automatic return to center function of the throttle ring, so that the control logic and the pilot's hand force are consistent with the corresponding helicopter, making the simulation effect more realistic.

[0068] The principle is as follows: when the pilot rotates the right throttle ring, the angular displacement sensor can collect the angular displacement signal, the right linkage rocker arm rotates and drives the left linkage rocker arm to rotate through the linkage rod, thereby transmitting the rotation to the left throttle ring; because the two tension springs act on the linkage rod at the same time to generate resistance, this resistance can simulate the starting force and operating force of the throttle ring, and when the pilot releases the throttle ring, due to the tension difference between the two tension springs, the linkage rod can be pulled back to the initial position, so that the left and right rocker arms and the left and right throttle rings return to their initial positions. This invention can not only collect throttle signals and simulate the starting force and operating force required for the throttle ring, but also simulate the automatic return to center function of the throttle ring, so that the control logic and the pilot's hand force are consistent with the corresponding helicopter, making the simulation effect more realistic.

[0069] The present invention designs a connecting shaft, and the cross-sections of both ends thereof are designed to be square, and a hole is drilled at one end for connecting a sensor; the present invention designs a linkage rocker, and one end thereof is a square hole, and the other end thereof is designed as a fork arm, which is adapted to the installation of a tie rod bearing; the present invention designs a linkage tie rod, and both ends thereof are equipped with tie rod bearings, and the middle is a welded rod body, and adjustment holes are drilled on the rod body, which are symmetrical on the left and right; the present invention designs a tension spring, and the size of the tension spring is designed according to the angular stroke of a helicopter throttle ring and the size of the throttle ring starting force; the design of an adjusting stud, and hooks are designed at both ends thereof, and the middle part of the stud is threaded; the present invention designs a limiting fork arm, and the size of the waist hole is designed according to the operating stroke, and a through hole is drilled on it, and the size of the through hole is adapted to the adjusting stud.

Claims

1. A self-balancing helicopter simulator throttle ring linkage mechanism, characterized in that: include: A collective torque tube (1), a throttle ring (2), a linkage pull rod (5), a tension spring (6), an adjustment stud (7), a limit fork arm (8) and a nut; Wherein, a throttle ring (2) is respectively arranged at both ends of the collective torque tube (1), and both ends of the linkage tie rod (5) are respectively connected to the two throttle rings (2) and move with any throttle ring (2); The two tension springs (6) are connected to an adjusting stud (7) in the middle, and both ends are connected to the linkage pull rod (5) respectively; A limit fork arm (8) is also fixedly arranged on the collective torque tube (1), and the adjusting stud (7) passes through the limit fork arm (8); two nuts are sleeved on the adjusting stud (7), and are respectively located on both sides of the limit fork arm (8) to fix the limit fork arm (8) and the adjusting stud (7); When the two extension springs (6) are balanced, the two throttle rings (2) are in a neutral position.

2. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 1 is characterized in that: A plurality of spring mounting holes are respectively arranged at both ends of the linkage pull rod (5); Two ends of the two tension springs (6) are respectively inserted into the spring mounting holes on the linkage pull rod (5); The two tension springs (6) are provided with an initial tension.

3. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 1, characterized in that: The limiting fork arm (8) is also provided with a U-shaped groove; The linkage pull rod (5) moves in the U-shaped groove.

4. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 1, characterized in that: The limiting fork arm (8) is located in the middle of the collective torque tube (1).

5. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 1, characterized in that: Also includes: Angular displacement sensor (11), sensor bracket (12); A sensor bracket (12) is also fixedly arranged at the end of the collective torque tube (1); The angular displacement sensor (11) is mounted on a sensor bracket (12) and is used to collect an angular displacement signal of a throttle ring (2).

6. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 4, characterized in that: Also includes: Connecting shaft (3), rocker arm; Both ends of the collective torque tube (1) are connected to a connecting shaft (3) via bearings respectively; The first end of the connecting shaft (3) is connected to the throttle ring (2), and the second end is connected to the first end of the rocker arm; the second end of the rocker arm is connected to the end of the linkage rod (5); when the throttle ring (2) rotates, the rocker arm is driven to rotate through the connecting shaft (3), thereby driving the linkage rod (5) to move.

7. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 6, characterized in that: Both ends of the connecting shaft (3) are square shafts, and the side surfaces of the square shafts are parallel; The test end of the angular displacement sensor (11) is inserted into the connecting shaft (3).

8. The throttle ring linkage mechanism of the self-balancing helicopter simulator according to claim 1, characterized in that: Hooks are arranged at both ends of the adjusting stud (7), and the tension spring (6) is connected to the hooks of the adjusting stud (7).

9. A method for debugging and installing a throttle ring linkage mechanism of a self-balancing helicopter simulator as claimed in any one of claims 2 to 8, characterized in that: include: S1. During commissioning and installation, tighten the two nuts to a preset length from the limit fork arm (8); S2, setting the two throttle rings (2) to the neutral position; S3. When the two tension springs (6) are balanced, the nut is screwed until it fits the limit fork arm (8) to fix the adjustment stud (7).

10. The debugging and installation method according to claim 9, characterized in that: The method further comprises: S4, turning the throttle ring (2); S5, if it is detected that the throttle ring (2) cannot automatically return to the center; S6. Insert the two ends of the two tension springs (6) into the spring mounting holes with a larger spacing on the linkage pull rod (5), and execute S3 again.

Images