Integrated pedal force sensing balancing device with automatic landing locking function

Abstract

The invention provides an integrated pedal force sensing balancing device with an automatic landing locking function, and relates to the technical field of aircraft course manipulation.The pedal force sensing balancing device comprises a torsional spring force sensing assembly, an electromagnetic lock assembly, an output rocker arm, an instruction sensor, a balancing speed reducer assembly, a balancing sensor, a main shell assembly and an electric connector; according to the pedal force sensing balancing device, the load mechanism, the instruction sensor, the balancing sensor and the rod force balancing mechanism are integrated into a whole, mechanical gaps caused by assembly errors among parts are eliminated, the system weight is greatly reduced, the transmission precision of the sensors is improved, the safety, reliability and maintainability of a cockpit control system are improved, and the service life of the cockpit control system is prolonged. The development cost of the cockpit control system is reduced, and the control quality of the cockpit control system is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of cockpit control, and in particular provides an integrated pedal force-sensing balancing device with automatic landing locking. Background Art

[0002] The cockpit control system is the control equipment of the fly-by-wire flight control, including pitch control, roll control and heading control devices. The pilot's control instructions are converted into electrical signals through the command sensors in the cockpit. After being processed by the flight control computer, the flight control instructions are sent to the aircraft control surface actuators. The actuators drive the control surfaces to achieve aircraft attitude control. At the same time, since the aerodynamic load of the aircraft control surfaces will not be transmitted back to the cockpit control device, functional components such as load mechanisms, dampers, rod force balancing mechanisms, and command sensors must be set in the cockpit control system to provide pilots with a sense of control force that meets the aircraft control quality requirements.

[0003] At present, the heading channel load mechanism and the stick force balancing mechanism in the cockpit control system are arranged as two separate components. The stick force balancing provides an anchoring fulcrum for the load mechanism, and there is a certain assembly error when installing the two. Therefore, the control clearance and control force feel under this configuration have a certain deviation from the ideal control stick force, which reduces the aircraft's control quality and reliability. At the same time, under this configuration, when the aircraft automatically flies and lands and returns to drive, it is impossible to arrange an electromagnetic locking device that the pilot can override, which reduces the safety of the aircraft. Summary of the invention

[0004] The purpose of the present application is to provide an integrated pedal force balancing device with automatic flight landing lock to solve the control problem of the cockpit control system, eliminate the mechanical gap caused by assembly errors between components, greatly reduce the system weight, improve the safety, reliability and maintainability of the cockpit control system, reduce the development cost of the cockpit control system, and improve the control quality of the cockpit control system.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an integrated pedal force-sensing balancing device with automatic landing lock, the device comprising: a torsion spring force-sensing component for providing a sense of control force, an electromagnetic lock component connected to the torsion spring force-sensing component for automatic landing lock, an output rocker arm for outputting the sense of control force of the torsion spring force-sensing component, a command sensor connected to the torsion spring force-sensing component for collecting the motion angle of the output rocker arm and converting it into an electrical signal for transmission to a flight control computer, a balancing reducer component connected to the torsion spring force-sensing component for providing a sense of force anchoring and balancing function, a balancing sensor connected to the torsion spring force-sensing component for collecting the balancing angle of the balancing reducer component, a main housing component for fixing and assembling the torsion spring force-sensing component, the electromagnetic lock component, the output rocker arm, the command sensor, the balancing reducer component and the balancing sensor, and an electrical connector fixed on the main housing component for outputting electrical signals of the command sensor and the balancing sensor and for power supply.

[0006] The integrated pedal force balancing device with automatic landing lock provided by the present invention also has the following technical features: the torsion spring force sensing assembly includes a torsion spring, an upper disc and a lower disc installed on the two end faces of the torsion spring, a main shaft passing through the torsion spring, the upper disc and the lower disc, a bearing for supporting the upper disc and the lower disc, a sector cam installed on the main shaft through a conical bolt, and a balancing gear installed on the main shaft through a bearing; a convex block is provided on the inner end face of the sector cam, and the convex block cooperates with the upper disc and the lower disc to form a torsion spring preload torque; a boss is provided on the end face of the balancing gear, and the boss cooperates with the upper disc and the lower disc to be anchored.

[0007] The integrated pedal force balancing device with automatic landing lock provided by the present invention also has the following technical features: the electromagnetic lock assembly includes an electromagnet mounting bracket connected to the torsion spring force sensing assembly, an electromagnet mounted on the electromagnet mounting bracket, a neutral lock rotating shaft mounted on the electromagnet mounting bracket, a stop bracket serially connected to the neutral lock rotating shaft, a stop connecting rod, a torsion double spring, a right preload adjustment support and a left preload adjustment support, a roller connected to the stop connecting rod by bolts, an adjustment screw mounted on the stop connecting rod for adjusting the installation angle of the stop connecting rod, and a preload adjustment screw mounted on the stop bracket for adjusting the preload torque of the torsion double spring by adjusting the right preload adjustment support and the left preload adjustment support.

[0008] The integrated pedal force sensing trim device with automatic landing lock provided by the present invention also has the following technical features: the trim reducer assembly includes a trim housing, a trim lower cover plate and a trim side cover plate, and two single-degree trim motors, a trim anchor gear, a trim transmission gear, a worm and a turbine installed in the trim housing; the trim transmission gear is meshed with the two single-degree trim motors and the worm, the worm is meshed with the turbine, the trim anchor gear is meshed with the turbine, and the trim anchor gear is connected to the torsion spring force sensing assembly.

[0009] The integrated pedal force balancing device with automatic landing lock provided by the present invention also has the following technical features: the main shell assembly includes a main shell, a side cover plate, a rear cover plate, and two two-force rods connected to the main shell.

[0010] The integrated pedal force balancing device with automatic landing lock provided by the present invention also has the following technical feature: a self-lubricating spherical bearing for eliminating internal stress during installation is also installed on the main housing assembly.

[0011] Beneficial Effects

[0012] The integrated pedal force trim device with automatic landing lock proposed in the present invention integrates a load mechanism, a command sensor, a trim sensor, and a rod force trim mechanism into one, thereby eliminating mechanical clearance caused by assembly errors between components, greatly reducing system weight, improving sensor transmission accuracy, improving the safety, reliability, and maintainability of the cockpit control system, reducing the development cost of the cockpit control system, and improving the control quality of the cockpit control system.

[0013] The integrated pedal force trim device with automatic landing lock proposed in the present invention is provided with a follow-up electromagnetic lock. When the pedal force trim unit is back-driven during the automatic flight landing stage of the aircraft, the heading control channel is locked in the back-driven position. However, the pilot can achieve override through forced operation, disconnect the automatic driving, and perform manual operation, thereby improving the safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 The schematic diagram of the device provided by the present invention;

[0016] Figure 2 It is a structural schematic diagram of the device provided by the present invention;

[0017] Figure 3 A schematic diagram of the structure of the main housing provided by an embodiment of the present invention;

[0018] Figure 4 A schematic diagram of the structure of a torsion spring force sensing component provided by an embodiment of the present invention;

[0019] Figure 5 A schematic diagram of the structure of an electromagnetic lock assembly provided by an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of the installation of an electromagnetic lock provided by an embodiment of the present invention;

[0021] Figure 7 This is a schematic diagram of the structure of a balancing reducer provided by an embodiment of the present invention.

[0022] Among them, 1: torsion spring force sensing assembly; 1-1: sector cam; 1-2: main shaft; 1-3: conical bolt; 1-4: bearing; 1-5: upper disc; 1-6: torsion spring; 1-7: lower disc; 1-8: balancing gear; 2: electromagnetic lock assembly; 2-1: screw; 2-2: electromagnet mounting bracket; 2-3: neutral lock shaft; 2-4: right preload adjustment support; 2-5: stop link; 2-6: torsion double spring; 2-7: adjustment screw; 2-8: left preload adjustment support; 2-9: preload adjustment screw; 2-10: stop bracket; 2-11: electromagnet; 2-12: roller; 2-13: Bolt; 2-14: locating pin; 2-15: second screw; 3: output rocker arm; 4: command sensor; 5: trim reducer assembly; 5-1: trim housing; 5-2: turbine; 5-3: trim anchor gear; 5-4: trim lower cover; 5-5: worm; 5-6: trim side cover; 5-7: trim transmission gear; 5-8: single redundant trim motor; 6: trim sensor; 7: main housing assembly; 7-1: main housing; 7-2: rear cover; 7-3: two-force rod; 7-4: side cover; 7-5: self-lubricating spherical bearing; 8: electrical connector; 9: front cover; 10: trim control circuit board. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings and examples, but it should be noted that these implementation methods are not limitations of the present application, and equivalent changes or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these implementation methods are all within the scope of protection of the present application.

[0024] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the creation of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the creation of the present application.

[0025] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0026] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention of this application can be understood by specific circumstances.

[0027] like Figure 1-7 As shown, an embodiment of the present application provides an integrated pedal force trimming device with automatic landing lock, the device comprising: a torsion spring force sensing component 1 for providing a sense of control force, an electromagnetic lock component 2 connected to the torsion spring force sensing component 1 for automatic landing lock, an output rocker arm 3 for outputting the sense of control force of the torsion spring force sensing component 1, a command sensor 4 connected to the torsion spring force sensing component 1 for collecting the movement angle of the output rocker arm 3 and converting it into an electrical signal and transmitting it to the flight control computer, a trim reducer component 5 connected to the torsion spring force sensing component 1 for providing force anchoring and trimming functions, a trim sensor 6 connected to the torsion spring force sensing component 1 for collecting the trim angle of the trim reducer component 5, a main housing component 7 for fixing and assembling the torsion spring force sensing component 1, the electromagnetic lock component 2, the output rocker arm 3, the command sensor 4, the trim reducer component 5 and the trim sensor 6, and an electrical connector 8 fixed on the main housing component 7 for outputting electrical signals of the command sensor 4 and the trim sensor 6 and for powering.

[0028] In some embodiments, the torsion spring force sensing assembly 1 includes a torsion spring 1-6, an upper disc 1-5 and a lower disc 1-7 installed on the two end faces of the torsion spring 1-6, a main shaft 1-2 passing through the torsion spring 1-6, the upper disc 1-5 and the lower disc 1-7, a bearing 1-4 for supporting the upper disc 1-5 and the lower disc 1-7, a sector cam 1-1 installed on the main shaft 1-2 through a conical bolt 1-3, and a balancing gear 1-8 installed on the main shaft 1-2 through a bearing 1-4, the inner end face of the sector cam 1-1 is provided with a protrusion, and the protrusion cooperates with the upper disc 1-5 and the lower disc 1-7 to form a torsion spring preload torque, and the end face of the balancing gear 1-8 is provided with a boss, and the boss cooperates with the upper disc 1-5 and the lower disc 1-7 to be anchored.

[0029] In some embodiments, the electromagnetic lock assembly 2 includes an electromagnet mounting bracket 2-2 connected to the torsion spring force sensing assembly 1, an electromagnet 2-11 mounted on the electromagnet mounting bracket 2-2, a neutral lock shaft 2-3 mounted on the electromagnet mounting bracket 2-2, a stop bracket 2-10 connected in series to the neutral lock shaft 2-3, a stop link 2-5, a torsion double spring 2-6, a right preload adjustment support 2-4 and a left preload adjustment support 2-8, a roller 2-12 connected to the stop link 2-5 by a bolt 2-13, an adjustment screw 2-7 mounted on the stop link 2-5 for adjusting the installation angle of the stop link 2-5, and a preload adjustment screw 2-9 mounted on the stop bracket 2-10 for adjusting the preload torque of the torsion double spring 2-6 by adjusting the right preload adjustment support 2-4 and the left preload adjustment support 2-8. The electromagnet 2-11 is mounted on the electromagnet mounting bracket 2-2 by a screw 2-1.

[0030] In some embodiments, the trim reducer assembly 5 includes a trim housing 5-1, a trim lower cover plate 5-4 and a trim side cover plate 5-6, and two single-redundant trim motors 5-8, a trim anchor gear 5-3, a trim transmission gear 5-7, a worm 5-5 and a turbine 5-2 installed in the trim housing 5-1, the trim transmission gear 5-7 is meshed with the two single-redundant trim motors 5-8 and the worm 5-5, the worm 5-5 is meshed with the turbine 5-2, the trim anchor gear 5-3 is meshed with the turbine 5-2, and the trim anchor gear 5-3 is connected to the torsion spring force sensing assembly 1.

[0031] In some embodiments, the main housing assembly 7 includes a main housing 7-1, a side cover plate 7-4, a rear cover plate 7-2, and two dual-force rods 7-3 connected to the main housing 7-1.

[0032] In some embodiments, the main housing assembly 7 is also equipped with a self-lubricating spherical bearing 7-5 for eliminating internal stress during installation.

[0033] The installation process provided in any of the above embodiments is as follows:

[0034] First, install the torsion spring force sensing assembly 1: 1) install the upper disc 1-5 and the lower disc 1-7 on the upper and lower end surfaces of the torsion spring 1-6 through the main shaft 1-2 and the bearing 1-4 to form a torsion spring assembly; 2) install the fan cam 1-1 on the main shaft 1-2 through the conical bolt 1-3, and the convex block on the inner end surface of the fan cam 1-1 cooperates with the upper disc 1-5 and the lower disc 1-7 in the torsion spring assembly to form a torsion spring preload torque; 3) install the balancing gear 1-8 on the main shaft 1-2 through the bearing 1-4, and the balancing gear The two sides of the convex block on the end face of 1-8 are tightly fitted with the sides of the upper disc 1-5 and the lower disc 1-7 respectively. When the balancing gear 1-8 is anchored, an operating load is applied to the main shaft 1-2, and the main shaft 1-2 drives the fan cam 1-1, and the fan cam 1-1 drives the upper disc 1-5 or the lower disc 1-7 (the upper disc 1-5 rotates clockwise, and the lower disc 1-7 rotates counterclockwise) to rotate. The upper disc 1-5 or the lower disc 1-7 drives one end of the torsion spring 1-6 to rotate, and the other end is fixed. The torsion spring 1-6 is in a winding mode.

[0035] Secondly, install the electromagnetic lock assembly 2: 1) install the electromagnet 2-11 to the electromagnet mounting bracket 2-2 through the screw 2-1; 2) install the stop bracket 2-10, the stop link 2-5, the torsion double spring 2-6, the right preload adjustment support 2-4, and the left preload adjustment support 2-8 to the electromagnet mounting bracket 2-2 through the neutral lock shaft 2-3 to form the electromagnetic lock assembly 2; 3) install the roller 2-12 to the stop link 2-5 through the bolt 2-13; 4) install the electromagnetic lock assembly 2 through the positioning The pin 2-14 and the second screw 2-15 are connected to the balancing gear 1-8 in the torsion spring force sensing assembly 1 to form a main shaft assembly; 4) The installation angle of the stop link 2-5 is adjusted by the adjusting screw 2-7 to ensure that the roller 2-12 is tightly pressed in the groove of the fan cam 1-1 to eliminate the transmission gap; 5) The preload torque of the torsion double spring 2-6 is adjusted by the preload adjusting screw 2-9, the right preload adjusting support 2-4, and the left preload adjusting support 2-8 to finally complete the adjustment of the overall overcontrol force of the electromagnetic lock assembly 2.

[0036] Again, install the 5 trim reducer assembly: 1) install the two single redundant trim motors 5-8 to the trim housing 5-1; 2) install the trim transmission gear 5-7, worm 5-5, worm wheel 5-2, and trim anchor gear 5-3 to the trim housing 5-1; 3) install the trim lower cover plate 5-4 and the trim side cover plate 5-6 to the trim housing 5-1.

[0037] Next, install the main housing assembly 7, and install the rear cover plate 7-2, the two-force rod 7-3, the side cover plate 7-4, and the self-lubricating spherical bearing 7-5 to the main housing 7-1.

[0038] Then, install the command sensor 4 and the balancing sensor 6: 1) install the main shaft assembly and the balancing reducer assembly 5 to the main housing assembly 7; 2) install the front cover plate 9 to the main housing assembly 7; 2) install the command sensor 4 to the main housing assembly 7, so that the command sensor 4 is engaged with the main shaft 1-2; 3) install the balancing sensor 6 to the main housing assembly 7, so that the balancing sensor 6 is engaged with the small modulus gear on the balancing gear 1-8; 4) install the output rocker arm 3 to the main shaft 1-2 to ensure that it is in a neutral position.

[0039] Finally, install the trim control circuit board 10 and the electrical connector 8: 1) install the trim control circuit board 10 to the main housing assembly 7 and connect the cables; 2) install the electrical connector 8 to the main housing assembly 7 and connect the cables; 3) install the front cover plate 9 to the main housing assembly 7; now the pedal force trim device is assembled.

[0040] The workflow provided by any of the above embodiments is as follows:

[0041] First, 1) when the pilot operates the pedal, the operating force is transmitted to the output rocker arm 3 of the pedal force balancing device through the connecting rod; 2) an anchor fulcrum is provided for the torsion spring force sensing component 1; 3) the output rocker arm 3 drives one end of the torsion spring 1-6 to rotate through the main shaft 1-2, and the other end is anchored through the worm gear 5-2 and the worm 5-5; 4) the torsion spring 1-6 provides the pilot with a sense of operating force with a certain stiffness proportional to the operating stroke; 5) the command sensor 4 collects the angles of the output rocker arm 3 and the main shaft 1-2 in real time, and converts them into electrical signals and sends them to the flight control computer.

[0042] Secondly, when the pilot maintains a certain aircraft attitude for a long time, the trim control circuit 10 board receives the trim command from the flight control computer, drives the trim reducer assembly 5 to move, changes the anchor point of the worm gear 5-2 and the worm 5-5, releases the joystick force, reduces the pilot's operating burden, and the trim sensor 6 collects the trim position in real time and converts it into an electrical signal to be sent to the flight control computer.

[0043] Again, when the aircraft is in automatic flight state, the trim control circuit board 10 receives the return drive instruction from the flight control computer, drives the trim reducer assembly 5 to move, drives the heading control channel to move, and keeps consistent with the movement state of the aircraft control surface.

[0044] Then, 1) when the aircraft is in the automatic flight landing stage, the electromagnetic lock assembly 2 receives the locking command of the flight control computer, the electromagnetic lock assembly 2 is powered on, and the heading control channel is locked in the return drive position to prevent the pilot from misoperating; 2) at this time, the electromagnetic lock assembly 2 is in a follow-up state, and the movement angle is consistent with the return drive angle;

[0045] Finally, 1) the heading control channel is in a locked state during the automatic flight landing phase, and the pilot can achieve override through forced control at any return drive position; 2) when the pilot overrides, the control load is transmitted to the output rocker arm 3 through the connecting rod, and the output rocker arm 3 drives the fan cam 1-1 to rotate through the main shaft 1-2, and the fan cam 1-1 drives the roller 2-12 and the stop link 2-5 to rotate to overcome the spring force of the torsion double spring 2-6; 3) when the rotation angle is greater than or equal to 6 degrees, the flight control computer receives the position signal of the balancing sensor 6, disconnects the automatic flight, and the electromagnetic lock assembly 2 is powered off. The heading channel restores normal rod force to complete the override.

[0046] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present application, and these improvements and variations should also be regarded as the protection scope of the present application.

Claims

1. An integrated pedal force trimming device with automatic landing lock, characterized in that: The device comprises: a torsion spring force sensing component for providing a sense of control force, an electromagnetic lock component connected to the torsion spring force sensing component for automatic landing locking, an output rocker arm for outputting the sense of control force of the torsion spring force sensing component, a command sensor connected to the torsion spring force sensing component for collecting the motion angle of the output rocker arm and converting it into an electrical signal for transmitting to a flight control computer, a trim reducer component connected to the torsion spring force sensing component for providing a force sense anchoring and trimming function, a trim sensor connected to the torsion spring force sensing component for collecting the trim angle of the trim reducer component, a main housing component for fixing and assembling the torsion spring force sensing component, the electromagnetic lock component, the output rocker arm, the command sensor, the trim reducer component and the trim sensor, and an electrical connector fixed on the main housing component for outputting electrical signals of the command sensor and the trim sensor and for powering.

2. The integrated pedal force trimming device with automatic landing lock according to claim 1 is characterized in that: The torsion spring force sensing assembly includes a torsion spring, an upper disc and a lower disc installed on two end surfaces of the torsion spring, a main shaft passing through the torsion spring, the upper disc and the lower disc, a bearing for supporting the upper disc and the lower disc, a sector cam installed on the main shaft through a conical bolt, and a balancing gear installed on the main shaft through a bearing. The inner end surface of the sector cam is provided with a convex block, and the convex block cooperates with the upper disc and the lower disc to form a torsion spring preload torque. The end surface of the trim gear is provided with a boss, and the boss is matched and anchored with the upper disc and the lower disc.

3. The integrated pedal force trimming device with automatic landing lock according to claim 1, characterized in that: The electromagnetic lock assembly includes an electromagnet mounting bracket connected to the torsion spring force sensing assembly, an electromagnet mounted on the electromagnet mounting bracket, a neutral lock rotating shaft mounted on the electromagnet mounting bracket, a stop bracket connected in series to the neutral lock rotating shaft, a stop connecting rod, a torsion double spring, a right preload adjustment support and a left preload adjustment support, a roller connected to the stop connecting rod by bolts, an adjustment screw mounted on the stop connecting rod for adjusting the installation angle of the stop connecting rod, and a preload adjustment screw mounted on the stop bracket for adjusting the preload torque of the torsion double spring by adjusting the right preload adjustment support and the left preload adjustment support.

4. The integrated pedal force trimming device with automatic landing lock according to claim 1, characterized in that: The trim reducer assembly includes a trim housing, a trim lower cover plate, a trim side cover plate, two single redundant trim motors installed in the trim housing, a trim anchor gear, a trim transmission gear, a worm and a turbine. The trim transmission gear is meshed with two single redundant trim motors and a worm gear. The worm is meshed with the turbine. The trim anchor gear is meshed with the turbine. The balancing anchor gear is connected to the torsion spring force sensing component.

5. The integrated pedal force trimming device with automatic landing lock according to claim 1, characterized in that: The main housing assembly comprises a main housing, a side cover plate, a rear cover plate, and two two-force rods connected to the main housing.

6. The integrated pedal force trimming device with automatic landing lock according to claim 5, characterized in that: The main housing assembly is also provided with a self-lubricating spherical bearing for eliminating internal stress during installation.

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