Telex helicopter periodic pitch control device and method

Abstract

The invention belongs to the technical field of aviation, and relates to a telex helicopter periodic pitch control device and method. The operating device comprises a first operating handle; the first operating handle is connected with the first control rod; the first control rod is connected with the first rocker assembly; the first rocker assembly is hinged to the first universal joint; the first universal joint is hinged with the first rotating pull rod; the first rotating pull rod is hinged with the left transverse position sensor input rocker arm; the first rocker assembly is connected with the first box rotating assembly; the short rocker arm of the first box rotating assembly is connected with a left longitudinal position sensor output shaft through a left longitudinal position sensor connecting rod. The control device is compact in structural layout, high in integration level and light in weight, has a force sensing function, a force releasing function, a self-locking function, a parallel steering engine shearing function, a neutral position pinning function, a function of converting mechanical signals into electric signals, a damping function, a friction force adjusting function and a longitudinal and transverse control decoupling function, and is used for longitudinal and transverse attitude control of the helicopter.

Description

Technical Field

[0001] The present invention belongs to the field of aviation technology and relates to an electric control helicopter cyclic pitch control device and method. Background Art

[0002] The cyclic pitch control system of a helicopter is a key part for realizing flight attitude control, and its performance directly affects the handling quality and flight safety of the helicopter. The traditional cyclic pitch control system mainly adopts a mechanical transmission method, and transmits the pilot's control input to the rotor system through complex linkages, rocker arms and hybrid mechanisms. Although this mechanical control system is technically mature, it has many limitations in practical applications.

[0003] Firstly, the mechanical control system relies on a large number of transmission components, resulting in a complex structure and a large weight. This not only increases the empty weight of the helicopter, but also affects its payload and fuel economy. Secondly, due to the scattered arrangement of mechanical components, the installation and maintenance processes are cumbersome, and frequent adjustments are required to compensate for wear or deformation, increasing the use cost and maintenance difficulty. In addition, the reliability of the mechanical system is limited by component wear, clearance changes and environmental factors, and may cause a decrease in control accuracy or even a risk of failure after long-term use.

[0004] With the development of avionics technology, fly-by-wire control systems have gradually been applied to the helicopter field, significantly simplifying the system structure by replacing traditional mechanical transmissions with electrical signals. However, existing electric control cyclic pitch control devices still have deficiencies and are difficult to meet the requirements of modern helicopters for high-precision and high-reliability control. Especially in the case of actuator failures or abnormal operating conditions, the emergency handling ability of the system still needs to be improved. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems in the prior art and provide an electric control helicopter cyclic pitch control device and method to meet the requirements of modern helicopters for high-precision and high-reliability control.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an electric control helicopter cyclic pitch control device, including a first operation handle; the first operation handle is connected to a first control stick; the first control stick is connected to a first rocker assembly; the first rocker assembly is hinged to a first universal joint; the first universal joint is hinged to a first rotating pull rod; the first rotating pull rod is hinged to a left lateral position sensor input rocker; the first rocker assembly is connected to a first rotating box assembly; a short rocker of the first rotating box assembly is connected to a left longitudinal position sensor output shaft through a left longitudinal position sensor connecting rod.

[0007] Preferably, the first universal joint is connected to the second rotating pull rod; the second rotating pull rod is hinged to the left and right horizontal connecting rod; the left and right horizontal connecting rod is hinged to the input rocker arm of the horizontal friction device support assembly; the horizontal friction device mounting bracket is respectively connected to the horizontal friction device and the right horizontal position sensor.

[0008] Preferably, the first rotating pull rod is hinged to the left and right longitudinal connecting rod; the left and right longitudinal connecting rod is hinged to the input rocker arm of the longitudinal friction device support assembly; the longitudinal friction device support assembly is respectively connected to the longitudinal friction device and the right longitudinal position sensor.

[0009] Preferably, it further includes a second operating handle; the second operating handle is connected to the second control stick; the second control stick is connected to the second rocker assembly; the second rocker assembly is hinged to the second universal joint; the second universal joint is hinged to the fourth rotating pull rod; the fourth rotating pull rod is hinged to the input rocker arm of the right horizontal position sensor; the second rocker assembly is connected to the second rotating box assembly; the short rocker arm of the second rotating box assembly is connected to the output shaft of the right longitudinal position sensor through the right longitudinal position sensor connecting rod.

[0010] Preferably, the fourth rotating pull rod is hinged to the left and right longitudinal connecting rod; the second universal joint is connected to the third rotating pull rod; the third rotating pull rod is connected to the left and right horizontal connecting rod.

[0011] Preferably, the second rotating pull rod is hinged to the input rocker arm of the horizontal parallel servo.

[0012] Preferably, the fourth rotating pull rod is connected to the horizontal damper.

[0013] Preferably, the long rocker arm of the first rotating box assembly is connected to the first triangular rocker arm of the longitudinal parallel servo through the first control stick connecting rod.

[0014] Preferably, the first triangular rocker arm is connected to the second triangular rocker arm through the left and right longitudinal connecting rod; the second triangular rocker arm is connected to the second rotating box assembly through the second control stick connecting rod; the short rocker arm of the second rotating box assembly is connected to the longitudinal damper through the longitudinal damper connecting rod.

[0015] In a second aspect, the present invention provides a fly-by-wire helicopter collective pitch control method, including the following steps: The operator manipulates the first operating handle left and right, causing the first control stick to rotate left and right around the rotating shaft of the first rocker assembly, driving the first universal joint to move left and right, the first universal joint pushes the first rotating pull rod to move left and right, the first rotating pull rod transmits the motion to the left horizontal position sensor, and the left horizontal position sensor converts the mechanical signal into an electrical signal and outputs it to the computer to achieve lateral control; The operator manipulates the first operating handle back and forth. The first joystick rotates back and forth around the rotating shaft of the first rocker assembly, driving the first rotating box assembly to rotate back and forth. The short rocker arm of the first rotating box assembly transmits the motion to the left longitudinal position sensor through the left longitudinal position sensor connecting rod. The left longitudinal position sensor converts the mechanical signal into an electrical signal and outputs it to the computer to achieve longitudinal control.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses the first operating handle as the pilot input interface to generate mechanical commands through forward / backward and left / right movements; drives the first universal joint to move left and right through the first rocker assembly, and drives the first rotating pull rod to transmit the displacement to the left lateral position sensor to complete the lateral mechanical-electrical signal conversion and achieve lateral control; the first rocker assembly is linked to the first rotating box assembly, and its short rocker arm drives the output shaft of the left longitudinal position sensor through the left longitudinal position sensor connecting rod to achieve longitudinal mechanical-electrical signal conversion and achieve longitudinal control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the first perspective structure of an electro-mechanical helicopter cyclic pitch control device of the present invention; Figure 2 It is a schematic diagram of the second perspective structure of an electro-mechanical helicopter cyclic pitch control device of the present invention; Figure 3 For Figure 2 The schematic cross-sectional structure corresponding to the front view; Figure 4 It is a schematic diagram of the structure of the first rotating box assembly of the present invention; Figure 5 It is a schematic diagram of the structure of the second rotating box assembly of the present invention; Figure 6 It is a schematic diagram of the structure of the rotating pull rod of the present invention.

[0019] Wherein: 1. First operating handle; 2. First joystick; 3. First rocker assembly; 4. First rotating box assembly; 5. First universal joint; 6. First rotating pull rod; 7. Second rotating pull rod; 8. Horizontal left - right connecting rod; 9. Third rotating pull rod; 10. Second universal joint; 11. Fourth rotating pull rod; 12. Second rocker assembly; 13. Second joystick; 14. Second operating handle; 15. Second rotating box assembly; 16. First mounting bracket; 17. Second mounting bracket; 18. Left horizontal position sensor; 19. Horizontal friction device bracket assembly; 20. Horizontal friction device; 21. Right horizontal position sensor; 22. Horizontal parallel servo; 23. First joystick connecting rod; 24. Longitudinal parallel servo; 25. Longitudinal left - right connecting rod; 26. Second triangular rocker arm; 27. Second joystick connecting rod; 28. Longitudinal damper connecting rod; 29. Longitudinal damper; 30. Longitudinal friction device connecting rod; 31. Longitudinal friction device bracket assembly; 32. Longitudinal friction device; 33. Right longitudinal position sensor; 34. Left longitudinal position sensor connecting rod; 35. Left longitudinal position sensor; 36. Horizontal damper; 37. Counterweight device; 38. Rotating pull rod joint; 39. Rotating pull rod body; 40. Central pull rod; 41. Earring bolt. Detailed implementation mode

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0022] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0023] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0024] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and it does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0025] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "coupled" are used, they 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The following further describes the present invention in detail with reference to the drawings: The first object of the present invention is to provide a swashplate control device for a telex helicopter, such as Figures 1 - 5As shown in the figure, it includes a first operating handle 1; the first operating handle 1 is connected to a first control stick 2; the first control stick 2 is connected to a first rocker assembly 3; the first rocker assembly 3 is hinged to a first universal joint 5; the first universal joint 5 is hinged to a first rotating pull rod 6; the first rotating pull rod 6 is hinged to the input rocker of a left lateral position sensor 18; the first rocker assembly 3 is connected to a first rotating box assembly 4 and is mounted on the first rotating box assembly 4 through bearings; the short rocker of the first rotating box assembly 4 is connected to the output shaft of a left longitudinal position sensor 35 through a left longitudinal position sensor connecting rod 34. In the fly-by-wire helicopter cyclic pitch control device of the present invention, the first operating handle 1 serves as the pilot input interface and generates mechanical commands through forward-backward, left-right movements; the first control stick 2 converts the two-way operation of the handle into axial movement and realizes lateral and longitudinal movements through linkage with the first rocker assembly 3. During lateral operation, the first rocker assembly 3 drives the first universal joint 5 to move left and right, driving the first rotating pull rod 6 to transfer the displacement to the left lateral position sensor 18, completing the lateral mechanical-electrical signal conversion; during longitudinal operation, the first rocker assembly 3 is linked with the first rotating box assembly 4, and its short rocker drives the output shaft of the left longitudinal position sensor 35 through the left longitudinal position sensor connecting rod 34, realizing the longitudinal mechanical-electrical signal conversion.

[0027] The first universal joint 5 is connected to a second rotating pull rod 7; the second rotating pull rod 7 is hinged to a lateral left-right connecting rod 8; the lateral left-right connecting rod 8 is hinged to the input rocker of a lateral friction device support assembly 19; the lateral friction device mounting bracket 19 is respectively connected to a lateral friction device 20 and a right lateral position sensor 21. The first universal joint 5 transfers the lateral control action to the lateral left-right connecting rod 8 through the hinged second rotating pull rod 7, and then transfers the mechanical displacement to the input rocker of the lateral friction device support assembly 19. The rotation of the input rocker drives the rotation of the input shafts of the lateral friction device 20 and the right lateral position sensor 21, thus realizing the functions of providing friction force and converting the pilot's mechanical command into an electrical signal.

[0028] The first rotating pull rod 6 is hinged to a longitudinal left-right connecting rod 25; the longitudinal left-right connecting rod 25 is hinged to the input rocker of a longitudinal friction device support assembly 31; the longitudinal friction device support assembly 31 is respectively connected to a longitudinal friction device 32 and a right longitudinal position sensor 33. The first rotating pull rod 6 synchronously transfers the longitudinal mechanical action to the input rocker of the longitudinal friction device support assembly 31 through the hinged longitudinal left-right connecting rod 25. The longitudinal friction device support assembly 31 on the one hand drives the longitudinal friction device 32 to generate friction force, and on the other hand transfers the mechanical displacement to the right longitudinal position sensor 33 through a linkage structure, converting the mechanical signal into an electrical signal.

[0029] The control device of the present invention further includes a second operating handle 14; the second operating handle 14 is connected to the second control column 13; the second control column 13 is connected to the second rocker assembly 12; the second rocker assembly 12 is hinged to the second universal joint 10; the second universal joint 10 is hinged to the fourth rotating pull rod 11; the fourth rotating pull rod 11 is hinged to the input rocker of the right lateral position sensor 21; the second rocker assembly 12 is connected to the second rotating box assembly 15 and is mounted on the second rotating box assembly 15 through a bearing; the short rocker of the second rotating box assembly 15 is connected to the output shaft of the right longitudinal position sensor 33 through the right longitudinal position sensor connecting rod. Similar to the first operating handle 1, the second operating handle 14 also serves as a pilot input interface, generating mechanical instructions through forward / backward and left / right movements; the second control column 13 converts the bidirectional operation of the handle into axial movement and realizes lateral and longitudinal movements through linkage with the second rocker assembly 12.

[0030] The fourth rotating pull rod 11 is hinged to the longitudinal left and right connecting rod 25; the second universal joint 10 is connected to the third rotating pull rod 9; the third rotating pull rod 9 is connected to the lateral left and right connecting rod 8.

[0031] During the actual operation process, when the pilot can input instructions through a single operating handle, the unilateral lateral position sensor and the longitudinal position sensor can synchronously sense the control actions, and through the mechanical coupling of the lateral left and right connecting rod 8 and the longitudinal left and right connecting rod 25, transmit the displacement signal to the corresponding lateral position sensor and the right longitudinal position sensor 33 on the other side, forming a bilateral redundant signal synchronization mechanism.

[0032] The second rotating pull rod 7 is hinged to the input rocker of the lateral parallel servo 22. The second rotating pull rod 7 pushes the input rocker of the lateral parallel servo 22 to rotate around its rotating shaft, transmits the movement to the inside of the lateral parallel servo 22, and the lateral parallel servo 22 provides a control sensing force for lateral control; at the same time, the lateral parallel servo 22 provides a force release function and a reverse drive control column for lateral control.

[0033] In addition, a shear pin is also designed on the input rocker of the lateral parallel servo 22. When the lateral parallel servo 22 jams, the pilot can make the shear pin break through strong operation, thereby isolating the fault and ensuring the safety of the aircraft; a neutral pin is also designed on the input rocker of the lateral parallel servo 22 for installation and debugging of lateral control.

[0034] The third rotating pull rod 9 is connected to the lateral damper 36. The third rotating pull rod 9 transmits the movement to the lateral damper 36 through the second universal joint 10 and the second rotating pull rod 7, for providing a lateral control damping function; at the same time, a shear pin is designed on the input rocker of the lateral damper 36. When the damper jams, the pilot can make the shear pin break through strong operation, thereby isolating the fault and ensuring the safety of the aircraft; The long rocker arm of the first rotating box assembly 4 is connected to the first triangular rocker arm of the longitudinal parallel servo 24 through the first control rod connecting rod 23. The long rocker arm of the first rotating box assembly 4 transmits the motion to the first triangular rocker arm of the longitudinal parallel servo 24 through the first control rod connecting rod 23, and the first triangular rocker arm transmits the motion to the inside of the longitudinal parallel servo 24. The longitudinal parallel servo 24 provides the control sensing force for longitudinal control; at the same time, the longitudinal parallel servo 24 provides the force release function and the reverse drive control rod for longitudinal control. In addition, a shear pin is designed on the input rocker arm of the longitudinal parallel servo 24. When the longitudinal parallel servo 24 jams, the pilot can break the shear pin through strong operation, so as to isolate the fault and ensure the safety of the aircraft; a neutral pin is also designed on the input rocker arm of the longitudinal parallel servo 24 for installation and debugging of longitudinal control.

[0035] The first triangular rocker arm is connected to the second triangular rocker arm 26 through the longitudinal left and right connecting rod 25; the second triangular rocker arm 26 is connected to the second rotating box assembly 15 through the second control rod connecting rod 27; the short rocker arm of the second rotating box assembly 15 is connected to the longitudinal damper 29 through the longitudinal damper connecting rod 28.

[0036] At the same time, the short rocker arm of the second rotating box assembly 15 transmits the motion to the input rocker arm of the longitudinal friction device support assembly 31 through the longitudinal friction device connecting rod 30. The rotation of the input rocker arm drives the rotation of the longitudinal friction device 32 and the input shaft of the right longitudinal position sensor 33, so as to realize the functions of providing friction force and converting the pilot's mechanical command into an electric signal.

[0037] As Figure 6 shown, each rotating pull rod is composed of a rotating pull rod joint 38, a rotating pull rod body 39, a central pull rod 40, an earring bolt 41 and bearings, etc. When the lateral control rod moves, the function of the rotating pull rod is the same as that of an ordinary pull rod, transmitting the motion of the lateral channel wire system and bearing the tensile and compressive forces along its axis; when the longitudinal control rod moves, the central pull rod 40 in the rotating pull rod rotates around the rotating pull rod body 39 to realize the decoupling function of longitudinal and lateral control.

[0038] The control device is also provided with a weight device 37, which is fixed to the lower end of the long rocker arm of the second rotating box assembly 15 for adjusting the center of gravity and unbalanced force of the control device.

[0039] The control device of the present invention is also provided with a first mounting bracket 16 and a second mounting bracket 17, which are respectively fixed to the cockpit floor skeleton at intervals through 6 groups of screws. The first rotating box assembly 4 and the second rotating box assembly 15 are respectively mounted on the first mounting bracket 16 and the second mounting bracket 17 through bearings; The left lateral position sensor 18, the lateral friction device mounting bracket 19, and the left longitudinal position sensor 35 are all fixed to the first mounting bracket 16 by four sets of screws; the longitudinal damper 29, the longitudinal friction device bracket assembly 31, and the longitudinal friction device 32 are all fixed to the second mounting bracket 17 by four sets of screws. In the present invention, functional components such as the control stick assembly, the damper, the friction device, and the position sensor are modularly arranged and integrally mounted on the left and right mounting brackets; the control device of the present invention has a compact structural layout, high integration, and light weight, and has functions of providing a force feeling function, a force release function, a self-locking function, a parallel servo shear function, a neutral position pinning function, a function of converting mechanical signals into electrical signals, a damping function, a friction force adjustment function, and a longitudinal and lateral control decoupling function, and is used for the longitudinal and lateral attitude control of a helicopter. Compared with the traditional decentralized layout control system, the installation and layout space of the system is reduced, the installation difficulty of the control device on the helicopter is reduced, the overall weight of the control device is reduced, the installation and maintenance time of the control device is shortened, and the maintainability of the system is improved.

[0040] The second object of the present invention is to provide a fly-by-wire helicopter cyclic pitch control method, including the following steps: The operator manipulates the first operation handle 1 left and right, causing the first control stick 2 to rotate left and right around the rotating shaft of the first rocker assembly 3, driving the first universal joint 5 to move left and right, the first universal joint 5 pushing the first rotating pull rod 6 to move left and right, the first rotating pull rod 6 transmitting the motion to the left lateral position sensor 18, and the left lateral position sensor 18 converting the mechanical signal into an electrical signal and outputting it to the computer to achieve lateral control; The operator manipulates the first operation handle 1 forward and backward, the first control stick 2 rotating forward and backward around the rotating shaft of the first rocker assembly 3 drives the first rotating box assembly 4 to rotate forward and backward, and the short rocker arm of the first rotating box assembly 4 transmits the motion to the left longitudinal position sensor 35 through the left longitudinal position sensor connecting rod 34, and the left longitudinal position sensor 35 converts the mechanical signal into an electrical signal and outputs it to the computer to achieve longitudinal control.

[0041] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A swashplate control device for a telex helicopter, characterized in that, Comprising a first operating handle (1); the first operating handle (1) is connected to a first control stick (2); the first control stick (2) is connected to a first rocker assembly (3); the first rocker assembly (3) is hinged to a first universal joint (5); the first universal joint (5) is hinged to a first rotating pull rod (6); the first rotating pull rod (6) is hinged to the input rocker of a left lateral position sensor (18); the first rocker assembly (3) is connected to a first rotating box assembly (4); the short rocker of the first rotating box assembly (4) is connected to the output shaft of a left longitudinal position sensor (35) through a left longitudinal position sensor connecting rod (34).

2. The pitch control device of a telecontrolled helicopter according to claim 1, characterized in that, The first universal joint (5) is connected to a second rotating pull rod (7); the second rotating pull rod (7) is hinged to a lateral left - right connecting rod (8); the lateral left - right connecting rod (8) is hinged to the input rocker of a lateral friction device support assembly (19); the lateral friction device mounting bracket (19) is respectively connected to a lateral friction device (20) and a right lateral position sensor (21).

3. The pitch control device of a telex helicopter according to claim 1, characterized in that, The first rotating pull rod (6) is hinged to a longitudinal left - right connecting rod (25); the longitudinal left - right connecting rod (25) is hinged to the input rocker of a longitudinal friction device support assembly (31); the longitudinal friction device support assembly (31) is respectively connected to a longitudinal friction device (32) and a right longitudinal position sensor (33).

4. A swashplate control device for a telex helicopter according to claim 1, characterized in that, Further comprising a second operating handle (14); the second operating handle (14) is connected to a second control stick (13); the second control stick (13) is connected to a second rocker assembly (12); the second rocker assembly (12) is hinged to a second universal joint (10); the second universal joint (10) is hinged to a fourth rotating pull rod (11); the fourth rotating pull rod (11) is hinged to the input rocker of a right lateral position sensor (21); the second rocker assembly (12) is connected to a second rotating box assembly (15); the short rocker of the second rotating box assembly (15) is connected to the output shaft of a right longitudinal position sensor (33) through a right longitudinal position sensor connecting rod.

5. A swashplate control device for a telecontrolled helicopter according to claim 4, characterized in that The fourth rotating pull rod (11) is hinged to a longitudinal left - right connecting rod (25); the second universal joint (10) is connected to a third rotating pull rod (9); the third rotating pull rod (9) is connected to a lateral left - right connecting rod (8).

6. The pitch control device for a telex helicopter according to claim 1, characterized in that The second rotating pull rod (7) is hinged to the input rocker of a lateral parallel servo (22).

7. The pitch control device of a telex helicopter according to claim 1, characterized in that, The fourth rotating pull rod (11) is connected to a lateral damper (36).

8. The pitch control device of a telex helicopter according to claim 1, wherein, The long rocker of the first rotating box assembly (4) is connected to the first triangular rocker of a longitudinal parallel servo (24) through a first control stick connecting rod (23).

9. The pitch control device of a telex helicopter according to claim 1, characterized in that The first triangular rocker is connected to a second triangular rocker (26) through a longitudinal left - right connecting rod (25); the second triangular rocker (26) is connected to the second rotating box assembly (15) through a second control stick connecting rod (27); the short rocker of the second rotating box assembly (15) is connected to a longitudinal damper (29) through a longitudinal damper connecting rod (28).

10. A method for cyclic pitch control of a telex helicopter, characterized in that, Adopting the operating device according to any one of claims 1 to 9, comprising the following steps: The operator manipulates the first operating handle (1) left and right, causing the first control stick (2) to rotate left and right around the rotating shaft of the first rocker assembly (3), driving the first universal joint (5) to move left and right. The first universal joint (5) pushes the first rotating pull rod (6) to move left and right. The first rotating pull rod (6) transmits the motion to the left lateral position sensor (18). The left lateral position sensor (18) converts the mechanical signal into an electrical signal and outputs it to the computer to achieve lateral control. The operator manipulates the first operating handle (1) forward and backward. The first control stick (2) rotates forward and backward around the rotating shaft of the first rocker assembly (3), driving the first rotating box assembly (4) to rotate forward and backward. The short rocker arm of the first rotating box assembly (4) transmits the motion to the left longitudinal position sensor (35) through the left longitudinal position sensor connecting rod (34). The left longitudinal position sensor (35) converts the mechanical signal into an electrical signal and outputs it to the computer to achieve longitudinal control.

Images