A foot pedal linkage driven linked aircraft teaching simulator

Abstract

The application relates to the field of simulator technology for aircraft teaching purposes, and provides a foot pedal connecting rod transmission linkage type aircraft teaching simulator. The device comprises an upper computer, a power module, a connecting rod module, a swing arm module and a foot pedal module; the upper computer is electrically connected with the power module, the upper computer is used for controlling the movement of the power module; the power module is connected with the connecting rod module, the power module is used for controlling the movement of the connecting rod module; the connecting rod module is connected with the swing arm module, the connecting rod module is used for controlling the movement of the swing arm module; the foot pedal module is connected with the connecting rod module, and the foot pedal module is used for feedback stress. The connecting rod mechanism is designed, the traditional steel wire rope and winch structure are not adopted, the structure is more space-saving, assembly is more convenient, and the failure rate is lower due to the simplified structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of simulator technology for aircraft teaching purposes, and provides a foot pedal connecting rod transmission linkage type aircraft teaching simulator. BACKGROUND

[0002] The aircraft control system generally includes manual control and automatic control system, and the manual control system can be divided into main control system and auxiliary control system, wherein the main control system includes a joystick and a foot pedal, the joystick controls the elevator of the aircraft, and the foot pedal controls the rudder of the aircraft. So as to control the flight trajectory and attitude of the aircraft: further said. The foot pedal is mainly used for correcting the yaw and maintaining the heading stability during the air phase, and can control the steering of the front wheel during the ground operation, and the main landing gear brake of the aircraft is controlled by the foot pedal.

[0003] The force feedback control device is a direct device for the pilot to control the aircraft. Due to the complex flight environment of the aircraft and the changeable flight attitude, the feedback to the foot pedal changes quickly. The pilot needs to make corresponding judgments and perform operations according to the force feedback information, which requires the pilot to train and accumulate experience on the real machine for a long time. Considering the safety and economic benefits of real machine training, a professional aircraft simulation simulator is needed to simulate the force feedback of the real aircraft. The existing aircraft simulator foot pedal device has low structural strength performance and low systematic structural simulation degree. It is difficult to maintain. In the actual training process, the simulation training has the problems of poor authenticity and stability. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the related art. To this end, the present application provides a foot pedal connecting rod transmission linkage type aircraft teaching simulator, which realizes the improvement of the stability and authenticity of the aircraft simulator foot pedal device.

[0005] The present application provides a foot pedal connecting rod transmission linkage type aircraft teaching simulator, which comprises: an upper computer, a power module, a connecting rod module, a swing arm module and a foot pedal module.

[0006] The upper computer is electrically connected with the power module, and the upper computer is used to control the movement of the power module;

[0007] The power module is connected with the connecting rod module, and the power module is used to control the movement of the connecting rod module;

[0008] The connecting rod module is connected with the swing arm module, and the connecting rod module is used to control the movement of the swing arm module;

[0009] The foot pedal module is connected with the connecting rod module, and the foot pedal module is used to feedback the force.

[0010] According to the present invention, a foot pedal linkage-driven aircraft teaching simulator is provided, wherein the power module includes a first motor, a second motor, a first motor swing arm, and a second motor swing arm.

[0011] The output end of the first motor is connected to one end of the first motor swing arm;

[0012] The output end of the second motor is connected to one end of the second motor swing arm;

[0013] The other end of the first motor swing arm is connected to the connecting rod module;

[0014] The other end of the second motor swing arm is connected to the connecting rod module;

[0015] The first motor swing arm rotates about the output end of the first motor as an axis;

[0016] The second motor swing arm rotates about the output end of the second motor.

[0017] According to the present invention, a foot pedal linkage-driven aircraft teaching simulator is provided, wherein the linkage module includes: a first linkage, a second linkage, a first T-shaped linkage, a second T-shaped linkage, a first T-left linkage, a first T-right linkage, a second T-link, and an L-shaped linkage.

[0018] One end of the first connecting rod is connected to the other end of the first motor swing arm;

[0019] The other end of the first link is connected to the rear end of the first T-shaped link;

[0020] The left front end of the first T-shaped link is connected to one end of the left T-shaped link;

[0021] The right front end of the first T-shaped link is connected to one end of the right T-shaped link;

[0022] The other end of the first T-shaped left connecting rod is connected to the swing arm module;

[0023] The other end of the first T-shaped right connecting rod is connected to the swing arm module;

[0024] One end of the second connecting rod is connected to the other end of the second motor swing arm;

[0025] The other end of the second link is connected to one end of the second T-shaped link;

[0026] The right front end of the second T-shaped link is connected to one end of the second T-shaped link;

[0027] The other end of the second T-link is connected to one end of the L-shaped link;

[0028] The other end of the L-shaped connecting rod is connected to the swing arm module.

[0029] According to the aircraft teaching simulator provided by the application, the middle front end of the first T-shaped connecting rod is connected with the first T-shaped base, and the first T-shaped connecting rod rotates around the middle front end of the first T-shaped connecting rod.

[0030] The middle front end of the second T-shaped connecting rod is connected with the second T-shaped base, and the second T-shaped connecting rod rotates around the middle front end of the second T-shaped connecting rod.

[0031] According to the aircraft teaching simulator provided by the application, the first connecting rod comprises a first left connecting rod, a first tension and pressure sensor and a first right connecting rod, one end of the first left connecting rod is connected with the other end of the first motor swing rod, the other end of the first left connecting rod is connected with one end of the first tension and pressure sensor, the other end of the first tension and pressure sensor is connected with one end of the first right connecting rod, and the other end of the first right connecting rod is connected with the rear end of the first T-shaped connecting rod.

[0032] The second connecting rod comprises a second left connecting rod, a second tension and pressure sensor and a second right connecting rod, one end of the second left connecting rod is connected with the other end of the second motor swing rod, the other end of the second left connecting rod is connected with one end of the second tension and pressure sensor, the other end of the second tension and pressure sensor is connected with one end of the second right connecting rod, and the other end of the second right connecting rod is connected with the rear end of the second T-shaped connecting rod.

[0033] According to the aircraft teaching simulator provided by the application, the swing arm module comprises a left swing arm, a left swing rod, a first left tension spring, a second left tension spring, a left upper connecting rod.

[0034] The upper end of the left swing arm is connected with one end of the left upper connecting rod.

[0035] The upper end of the left swing rod is connected with the other end of the left upper connecting rod.

[0036] The lower end of the left swing arm is connected with the turning end of the L-shaped connecting rod.

[0037] The lower end of the left swing rod is connected with the other end of the L-shaped connecting rod.

[0038] The left swing arm is connected with the first T-shaped left connecting rod.

[0039] One end of the first left tension spring is connected with the left upper connecting rod.

[0040] The other end of the first left tension spring is connected with the left swing arm.

[0041] One end of the second left tension spring is connected with the turning end of the L-shaped connecting rod.

[0042] The other end of the second left tension spring is connected with the left swing arm.

[0043] The first left tension spring and the second left tension spring are used to restore the initial state of the swing arm module.

[0044] The left swing arm rotates around the left upper connecting rod with the upper end of the left swing arm as the axis.

[0045] The left swing arm rotates around the turning end of the L-shaped connecting rod with the lower end of the left swing arm as the axis.

[0046] The left swing rod rotates around the left upper connecting rod with the upper end of the left swing rod as the axis.

[0047] The left swing rod rotates around the other end of the L-shaped connecting rod with the lower end of the left swing rod as the axis.

[0048] According to the present application, a foot pedal connecting rod transmission linkage type aircraft teaching simulator is provided, including a right swing arm, a right swing rod, a first right tension spring, a second right tension spring, a right upper connecting rod, and a right lower connecting rod.

[0049] The upper end of the right swing arm is connected with one end of the right upper connecting rod.

[0050] The upper end of the right swing rod is connected with the other end of the right upper connecting rod.

[0051] The lower end of the right swing arm is connected with one end of the right lower connecting rod.

[0052] The lower end of the right swing rod is connected with the other end of the right lower connecting rod.

[0053] The right swing arm is connected with the first T-shaped right connecting rod.

[0054] One end of the first right tension spring is connected with the right upper connecting rod.

[0055] The other end of the first right tension spring is connected with the right swing arm.

[0056] One end of the second right tension spring is connected with the right upper connecting rod.

[0057] The other end of the second right tension spring is connected with the right swing arm.

[0058] The first right tension spring and the second right tension spring are used to restore the initial state of the swing arm module.

[0059] The right swing arm rotates around the right upper connecting rod with the upper end of the right swing arm as the axis.

[0060] The right swing arm rotates around the right lower connecting rod with the lower end of the right swing arm as the axis.

[0061] The right swing rod rotates around the right upper connecting rod with the upper end of the right swing rod as the axis.

[0062] The right swing rod rotates around the right lower connecting rod with the lower end of the right swing rod as the axis.

[0063] The foot pedal linkage driving linkage type aircraft teaching simulator provided by the present application, the swing arm module further comprises a swing arm pedestal and left and right connecting rods:

[0064] One end of the left and right connecting rods is connected with the right lower connecting rod, and the other end of the left and right connecting rods is connected with the L-shaped connecting rod,

[0065] The swing arm pedestal comprises a left pedestal, a right pedestal and a rotating shaft,

[0066] The turning end of the L-shaped connecting rod is connected with the left pedestal through the rotating shaft;

[0067] The lower end of the left swing arm is connected with the left pedestal through the rotating shaft;

[0068] One end of the right lower connecting rod is connected with the right pedestal through the rotating shaft;

[0069] The lower end of the right swing arm is connected with the right pedestal through the rotating shaft;

[0070] The turning end of the L-shaped connecting rod rotates around the rotating shaft as the axis;

[0071] The left swing arm rotates around the rotating shaft as the axis;

[0072] The right swing arm rotates around the rotating shaft as the axis.

[0073] The foot pedal linkage driving linkage type aircraft teaching simulator provided by the present application, the foot pedal module comprises a left foot pedal: the tail end of the left foot pedal is connected with one end of a left upper connecting rod, the tail end of the left foot pedal is connected with the upper end of a left swing arm, and the tail end of the left foot pedal rotates around one end of the left upper connecting rod as the axis.

[0074] The foot pedal linkage driving linkage type aircraft teaching simulator provided by the present application, the foot pedal module comprises a right foot pedal: the tail end of the right foot pedal is connected with one end of a right upper connecting rod, the tail end of the right foot pedal is connected with the upper end of a right swing arm, and the tail end of the right foot pedal rotates around one end of the right upper connecting rod as the axis.

[0075] The above one or more technical solutions in the embodiments of the present application have at least one of the following technical effects:

[0076] The foot pedal linkage driving linkage type aircraft teaching simulator provided by the present application designs a connecting rod mechanism, does not adopt the traditional steel wire rope and winch structure, adopts a common connecting rod structure, is more space-saving in structure, is more convenient to assemble, and has a lower failure rate due to the simplified structure.

[0077] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0079] Figure 1 is the front view of the embodiment of the present application.

[0080] Figure 2 is the rear view of the embodiment of the present application.

[0081] Figure 3 is the schematic diagram of the connecting rod structure of the embodiment of the present application.

[0082] Figure 4 is the schematic diagram of the force of the toe of the foot pedal of the embodiment of the present application.

[0083] Figure 5 is the schematic diagram of the connecting rod structure of the force of the toe of the foot pedal of the embodiment of the present application.

[0084] Figure 6 is the schematic diagram of the force of the heel of the foot pedal of the embodiment of the present application.

[0085] Figure 7 is the schematic diagram of the connecting rod structure of the force of the heel of the foot pedal of the embodiment of the present application.

[0086] Reference signs:

[0087] 111, first motor; 121, second motor; 112, first motor swing rod; 122, second motor swing rod; 21, first connecting rod; 211, first left connecting rod; 212, first tension and compression force sensor; 213, first right connecting rod; 214, first T-shaped connecting rod; 215, first T-shaped pedestal; 216, first T-shaped left connecting rod; 217, first T-shaped right connecting rod; 22, second connecting rod; 221, second left connecting rod; 222, second tension and compression force sensor; 223, second right connecting rod; 224, second T-shaped connecting rod; 225, second T-shaped pedestal; 226, second T-shaped connecting rod; 231, L-shaped connecting rod; 311, left swing arm; 312, left swing rod; 313, first left tension spring; 314, second left tension spring; 315, left upper connecting rod; 321, right swing arm; 322, right swing rod; 323, first right tension spring; 324, second right tension spring; 325, right upper connecting rod; 326, right lower connecting rod; 331, swing arm pedestal; 332, left and right connecting rod; 333, rotating shaft; 41, left pedal; 42, right pedal. DETAILED DESCRIPTION

[0088] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in a clear and complete manner. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based upon the embodiments in the present application, all the other embodiments obtained by those ordinarily skilled in the art without creative efforts on the basis of the present application shall fall within the scope of the present application. The following embodiments are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0089] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the embodiments of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only used for description purposes, and cannot be understood as indicating or implying relative importance.

[0090] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, or indirectly connected through an intermediate medium. For those ordinarily skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0091] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0092] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0093] The application is described below in conjunction with Figures 1 to 7 The application is described below in conjunction with

[0094] Embodiments

[0095] As Figure 1 and Figure 2 The embodiment of the application provides a pedal linkage transmission linkage type aircraft teaching simulator, which comprises a host computer, a power module, a linkage module, a swing arm module and a foot pedal module:

[0096] The host computer is electrically connected with the power module, and the host computer is used for controlling the movement of the power module.

[0097] The power module is connected with the linkage module, and the power module is used for controlling the movement of the linkage module.

[0098] The linkage module is connected with the swing arm module, and the linkage module is used for controlling the movement of the swing arm module.

[0099] The foot pedal module is connected with the linkage module, and the foot pedal module is used for feedback force.

[0100] Specifically, the power module comprises a first motor 111, a second motor 121, a first motor swing rod 112 and a second motor swing rod 122.

[0101] One end of the first motor swing rod 112 is connected with the output end of the first motor 111, and one end of the second motor swing rod 122 is connected with the output end of the second motor 121.

[0102] The other end of the first motor swing rod 112 is connected with the linkage module.

[0103] The other end of the second motor swing rod 122 is connected with the linkage module.

[0104] The first motor swing rod 112 rotates around the output end of the first motor 111 as the shaft.

[0105] The second motor swing rod 122 rotates around the output end of the second motor 121.

[0106] The first motor 111 and the second motor 121 are used for converting the electrical signal of the upper computer into an actual adjustment value; the first motor swing rod 112 and the second motor swing rod 122 are used for transmitting the adjustment value.

[0107] Specifically, the connecting rod module comprises a first connecting rod 21, a second connecting rod 22, a first T-shaped connecting rod 214, a second T-shaped connecting rod 224, a first T-shaped left connecting rod 216, a first T-shaped right connecting rod 217, a second T-shaped connecting rod 226 and an L-shaped connecting rod 231.

[0108] One end of the first connecting rod 21 is connected to the other end of the first motor swing rod 112;

[0109] The other end of the first connecting rod 21 is connected to the rear end of the first T-shaped connecting rod 214;

[0110] The left front end of the first T-shaped connecting rod 214 is connected to one end of the first T-shaped left connecting rod 216;

[0111] The right front end of the first T-shaped connecting rod 214 is connected to one end of the first T-shaped right connecting rod 217;

[0112] The other end of the first T-shaped left connecting rod 216 is connected to the swing arm module;

[0113] The other end of the first T-shaped right connecting rod 217 is connected to the swing arm module;

[0114] One end of the second connecting rod 22 is connected to the other end of the second motor swing rod 122;

[0115] The other end of the second connecting rod 22 is connected to one end of the second T-shaped connecting rod 224;

[0116] The right front end of the second T-shaped connecting rod 224 is connected to one end of the second T-shaped connecting rod 226;

[0117] The other end of the second T-shaped connecting rod 226 is connected to one end of the L-shaped connecting rod 231;

[0118] The other end of the L-shaped connecting rod 231 is connected to the swing arm module.

[0119] The first link 21 and the second link 22 are used to transmit force from the power module. The first T-shaped left link 216 is used to control the extension amount of the first T-shaped left link 216 and the first T-shaped right link 217. The second T-shaped link is used to control the extension amount of the second T-shaped link 226. The first T-shaped left link 216 and the first T-shaped right link 217 are used to control the rotation amount of the swing arm module. The second T-shaped link 226 is used to control the rotation amount of the L-shaped link 231, and the L-shaped link 231 is used to control the movement of the swing arm module.

[0120] Specifically, the middle front end of the first T-shaped connecting rod 214 is connected to the first T-shaped base 215, and the first T-shaped connecting rod 214 rotates about the middle front end of the first T-shaped connecting rod 214 as an axis.

[0121] The middle front end of the second T-shaped connecting rod 224 is connected to the second T-shaped base 225, and the second T-shaped connecting rod 224 rotates about the middle front end of the second T-shaped connecting rod 224 as an axis.

[0122] Specifically, the middle front end of the first T-shaped connecting rod 214 is connected to the first T-shaped base 215, and the first T-shaped connecting rod 214 rotates about the middle front end of the first T-shaped connecting rod 214 as an axis.

[0123] The middle front end of the second T-shaped connecting rod 224 is connected to the second T-shaped base 225, and the second T-shaped connecting rod 224 rotates about the middle front end of the second T-shaped connecting rod 224 as an axis.

[0124] The first T-shaped base 215 is used to place the first T-shaped connecting rod 214 and allows the first T-shaped connecting rod 214 to rotate. The second T-shaped base 225 is used to place the second T-shaped connecting rod 224 and allows the second T-shaped connecting rod 224 to rotate.

[0125] The first connecting rod 21 includes: a first left connecting rod 211, a first tension / compression sensor 212, and a first right connecting rod 213. One end of the first left connecting rod 211 is connected to the other end of the swing arm of the first motor 111, the other end of the first left connecting rod 211 is connected to one end of the first tension / compression sensor 212, the other end of the first tension / compression sensor 212 is connected to one end of the first right connecting rod 213, and the other end of the first right connecting rod 213 is connected to the rear end of the first T-shaped connecting rod 214.

[0126] The second connecting rod 22 comprises a second left connecting rod 221, a second tension and pressure sensor 222 and a second right connecting rod 223, one end of the second left connecting rod 221 is connected with the other end of the swing rod of the second motor 121, the other end of the second left connecting rod 221 is connected with one end of the second tension and pressure sensor 222, the other end of the second tension and pressure sensor 222 is connected with one end of the second right connecting rod 223, and the other end of the second right connecting rod 223 is connected with the rear end of the second T-shaped connecting rod 224.

[0127] Specifically, the swing arm module comprises a left swing arm 311, a left swing rod 312, a first left tension spring 313, a second left tension spring 314, a left upper connecting rod 315, and a left lower connecting rod 316.

[0128] The upper end of the left swing arm 311 is connected with one end of the left upper connecting rod 315.

[0129] The upper end of the left swing rod 312 is connected with the other end of the left upper connecting rod 315.

[0130] The lower end of the left swing arm 311 is connected with the turning end of the L-shaped connecting rod 231.

[0131] The lower end of the left swing rod 312 is connected with the other end of the L-shaped connecting rod 231.

[0132] The left swing arm 311 is connected with the first T-shaped left connecting rod 216.

[0133] One end of the first left tension spring 313 is connected with the left upper connecting rod 315.

[0134] The other end of the first left tension spring 313 is connected with the left swing arm 311.

[0135] One end of the second left tension spring 314 is connected with the turning end of the L-shaped connecting rod 231.

[0136] The other end of the second left tension spring 314 is connected with the left swing arm 311.

[0137] The first left tension spring 313 and the second left tension spring 314 are used to restore the initial state of the swing arm module.

[0138] The left swing arm 311 rotates around the left upper connecting rod 315 with the upper end of the left swing arm 311 as the axis.

[0139] The left swing arm 311 rotates around the turning end of the L-shaped connecting rod 231 with the lower end of the left swing arm 311 as the axis.

[0140] The left swing rod 312 rotates around the left upper connecting rod 315 with the upper end of the left swing rod 312 as the axis.

[0141] The left swing rod 312 rotates around the other end of the L-shaped connecting rod 231 with the lower end of the left swing rod 312 as the axis.

[0142] Specifically, the swing arm module further comprises a right swing arm 321, a right swing rod 322, a first right tension spring 323, a second right tension spring 324, a right upper connecting rod 325, a right lower connecting rod 326;

[0143] The upper end of the right swing arm 321 is connected to one end of the right upper connecting rod 325;

[0144] The upper end of the right swing rod 322 is connected to the other end of the right upper connecting rod 325;

[0145] The lower end of the right swing arm 321 is connected to one end of the right lower connecting rod 326;

[0146] The lower end of the right swing rod 322 is connected to the other end of the right lower connecting rod 326;

[0147] The right swing arm 321 is connected to the first T-shaped right connecting rod 217;

[0148] One end of the first right tension spring 323 is connected to the right upper connecting rod 325;

[0149] The other end of the first right tension spring 323 is connected to the right swing arm 321;

[0150] One end of the second right tension spring 324 is connected to the right upper connecting rod 325;

[0151] The other end of the second right tension spring 324 is connected to the right swing arm 321;

[0152] The first right tension spring 323 and the second right tension spring 324 are used to restore the initial state of the swing arm module;

[0153] The right swing arm 321 rotates around the right upper connecting rod 325 with the upper end of the right swing arm 321 as the axis;

[0154] The right swing arm 321 rotates around the right lower connecting rod 326 with the lower end of the right swing arm 321 as the axis;

[0155] The right swing rod 322 rotates around the right upper connecting rod 325 with the upper end of the right swing rod 322 as the axis;

[0156] The right swing rod 322 rotates around the right lower connecting rod 326 with the lower end of the right swing rod 322 as the axis.

[0157] Specifically, the swing arm module further comprises a swing arm pedestal 331 and a left-right connecting rod 332:

[0158] One end of the left-right connecting rod 332 is connected to the right lower connecting rod 326, and the other end of the left-right connecting rod 332 is connected to the L-shaped connecting rod 231,

[0159] The swing arm pedestal 331 comprises a left pedestal, a right pedestal and a rotating shaft 333,

[0160] The turning end of the L-shaped connecting rod 231 is connected with the left pedestal through the rotating shaft 333;

[0161] The lower end of the left swing arm 311 is connected with the left pedestal through the rotating shaft 333;

[0162] One end of the right lower connecting rod 326 is connected with the right pedestal through the rotating shaft 333;

[0163] The lower end of the right swing arm 321 is connected with the right pedestal through the rotating shaft 333;

[0164] The turning end of the L-shaped connecting rod 231 rotates around the rotating shaft 333 as the axis;

[0165] The left swing arm 311 rotates around the rotating shaft 333 as the axis;

[0166] The right swing arm 321 rotates around the rotating shaft 333 as the axis.

[0167] Specifically, the pedal module comprises a left pedal 41: the tail end of the left pedal 41 is connected with one end of the left upper connecting rod 315, the tail end of the left pedal 41 is connected with the upper end of the left swing arm 311, and the tail end of the left pedal 41 rotates around one end of the left upper connecting rod 315 as the axis; the pedal module comprises a right pedal 42: the tail end of the right pedal 42 is connected with one end of the right upper connecting rod 325, the tail end of the right pedal 42 is connected with the upper end of the right swing arm 321, and the tail end of the right pedal 42 rotates around one end of the right upper connecting rod 325 as the axis.

[0168] As shown in Figure 3 , Figure 3 is a schematic view of the connecting rod structure of the embodiment of the present application, wherein

[0169] The left swing arm 311, the left swing rod 312, the left upper connecting rod 315 and the L-shaped connecting rod 231 constitute a parallelogram; the right swing arm 321, the right swing rod 322, the right upper connecting rod 325 and the right lower connecting rod 326 constitute a parallelogram; the two groups of same parallelograms are convenient for the control of the swing arm module by the motor and the pedaling movement of the user. The left and right foot pedals are provided with two groups of same springs, the two ends of the spring respectively pull the swing arm and the upper and lower connecting rods, and play a role in returning the swing arm module to the center.

[0170] As shown in Figure 4 and Figure 5As shown, if it is a toe force operation, for example, an airplane brake operation, first, the two feet toe down the pedals to drive the L-shaped connecting rod 231 and the second T-shaped connecting rod 226 to push the second T-shaped connecting rod 224 to rotate horizontally to drive the second connecting rod 22, the second connecting rod 22 is connected with the second tension and pressure sensor 222 and the second motor 121, the second tension and pressure sensor 222 senses the change of pressure to form a signal transmitted to the upper computer. The upper computer controls the rotation angle and torque of the first motor 111 and the rotation angle and torque of the second motor 121 according to the signal, and the second connecting rod 22 is connected with the first connecting rod 21, and finally the force is reversely transmitted to the pedals to simulate the actual operation experience of the pedals.

[0171] As shown in Figure 6 and Figure 7 As shown, if it is a toe force operation, for example, an airplane brake operation, first, the two feet toe down the pedals to drive the L-shaped connecting rod 231 and the second T-shaped connecting rod 226 to push the second T-shaped connecting rod 224 to rotate horizontally to drive the second connecting rod 22, the second connecting rod 22 is connected with the second tension and pressure sensor 222 and the second motor 121, the second tension and pressure sensor 222 senses the change of pressure to form a signal transmitted to the upper computer. The upper computer controls the rotation angle and torque of the first motor 111 and the rotation angle and torque of the second motor 121 according to the signal, and the second connecting rod 22 is connected with the first connecting rod 21, and finally the force is reversely transmitted to the pedals to simulate the actual operation experience of the pedals.

[0172] The first connecting rod 21 of the two sets of pedal connecting rod transmission linkage control devices is connected on the swing rod of the first motor 111 at the same time, and the second connecting rod 22 is connected on the swing rod of the second motor 121 at the same time, so that the two sets of pedals move synchronously. It is convenient for two students to learn operation at the same time. The device provided by the application is commonly used for training of pilots, and the left side is a main pilot position and the right side is a copilot position.

[0173] The application designs a simulator for teaching purpose of an airplane, in particular, a teaching simulator for airplane pedal control. The application does not adopt a traditional steel wire and winch structure, but adopts a common connecting rod structure, which is more space-saving and more convenient to assemble. At the same time, the structure is simplified, so that the failure rate is lower, and the purpose of high quality and low price is achieved.

[0174] Although the present disclosure has been described with reference to several specific embodiments, it will be understood that the present disclosure is not limited to the specific embodiments disclosed. The present disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A foot pedal linkage driven gang aircraft teaching simulator characterized by, The utility model relates to a kind of footboard linkage transmission linkage type aircraft teaching simulator, including: Host computer, power module, connecting rod module, swing arm module and footboard module; The host computer is electrically connected with the power module, and the host computer is used to control the power module movement; The power module is connected with the connecting rod module, and the power module is used to control the connecting rod module movement, and the power module includes first motor, second motor, first motor swing rod and second motor swing rod; The connecting rod module includes: first connecting rod, second connecting rod, first T-shaped connecting rod, second T-shaped connecting rod, first T left connecting rod, first T right connecting rod, second T connecting rod and L-shaped connecting rod; One end of the first connecting rod is connected to the other end of the first motor swing rod; The other end of the first connecting rod is connected to the rear end of the first T-shaped connecting rod; The left front end of the first T-shaped connecting rod is connected to one end of the first T left connecting rod; The right front end of the first T-shaped connecting rod is connected to one end of the first T right connecting rod; The other end of the first T left connecting rod is connected to the swing arm module; The other end of the first T right connecting rod is connected to the swing arm module; One end of the second connecting rod is connected to the other end of the second motor swing rod; The other end of the second connecting rod is connected to one end of the second T-shaped connecting rod; The right front end of the second T-shaped connecting rod is connected to one end of the second T connecting rod; The other end of the second T connecting rod is connected to one end of the L-shaped connecting rod; The other end of the L-shaped connecting rod is connected to the swing arm module; The first connecting rod includes: first left connecting rod, first tension and pressure sensor and first right connecting rod, one end of the first left connecting rod is connected to the other end of the first motor swing rod, the other end of the first left connecting rod is connected to one end of the first tension and pressure sensor, the other end of the first tension and pressure sensor is connected to one end of the first right connecting rod, and the other end of the first right connecting rod is connected to the rear end of the first T-shaped connecting rod; The second connecting rod includes: second left connecting rod, second tension and pressure sensor and second right connecting rod, one end of the second left connecting rod is connected to the other end of the second motor swing rod, the other end of the second left connecting rod is connected to one end of the second tension and pressure sensor, the other end of the second tension and pressure sensor is connected to one end of the second right connecting rod, and the other end of the second right connecting rod is connected to the rear end of the second T-shaped connecting rod; The connecting rod module is connected with the swing arm module, and the connecting rod module is used to control the swing arm module movement; The footboard module is connected with the connecting rod module, and the footboard module is used to feedback stress.

2. The footboard linkage transmission linkage type aircraft teaching simulator according to claim 1, wherein: The output end of the first motor is connected to one end of the first motor swing rod; The output end of the second motor is connected to one end of the second motor swing rod; The other end of the first motor swing rod is connected to the connecting rod module; The other end of the second motor swing rod is connected to the connecting rod module; The first motor swing rod rotates with the output end of the first motor as the shaft; The second motor swing rod rotates with the output end of the second motor as the shaft.

3. A foot pedal linkage driven gang aircraft teaching simulator as claimed in claim 2 wherein, The middle front end of the first T-shaped connecting rod is connected to the first T-shaped connecting rod, and the first T-shaped connecting rod rotates with the middle front end of the first T-shaped connecting rod as the shaft. The middle front end of the second T-shaped connecting rod is connected with the second T-shaped base, and the second T-shaped connecting rod rotates about the middle front end of the second T-shaped connecting rod as an axis.

4. A foot pedal linkage driven linked aircraft teaching simulator as claimed in claim 2 wherein, The swing arm module comprises a left swing arm, a left swing rod, a first left tension spring, a second left tension spring, a left upper connecting rod, and a left lower connecting rod. The upper end of the left swing arm is connected with one end of the left upper connecting rod. The upper end of the left swing rod is connected with the other end of the left upper connecting rod. The lower end of the left swing arm is connected with the turning end of the L-shaped connecting rod. The lower end of the left swing rod is connected with the other end of the L-shaped connecting rod. The left swing arm is connected with the first T-shaped left connecting rod. One end of the first left tension spring is connected with the left upper connecting rod. The other end of the first left tension spring is connected with the left swing arm. One end of the second left tension spring is connected with the turning end of the L-shaped connecting rod. The other end of the second left tension spring is connected with the left swing arm. The first left tension spring and the second left tension spring are used to restore the initial state of the swing arm module. The left swing arm rotates about the left upper connecting rod with the upper end of the left swing arm as an axis. The left swing arm rotates about the turning end of the L-shaped connecting rod with the lower end of the left swing arm as an axis. The left swing rod rotates about the left upper connecting rod with the upper end of the left swing rod as an axis. The left swing rod rotates about the other end of the L-shaped connecting rod with the lower end of the left swing rod as an axis.

5. A foot pedal linkage driven linked aircraft teaching simulator as claimed in claim 4 wherein, The swing arm module further comprises a right swing arm, a right swing rod, a first right tension spring, a second right tension spring, a right upper connecting rod, and a right lower connecting rod. The upper end of the right swing arm is connected with one end of the right upper connecting rod. The upper end of the right swing rod is connected with the other end of the right upper connecting rod. The lower end of the right swing arm is connected with one end of the right lower connecting rod. The lower end of the right swing rod is connected with the other end of the right lower connecting rod. The right swing arm is connected with the first T-shaped right connecting rod. One end of the first right tension spring is connected with the right upper connecting rod. The other end of the first right tension spring is connected with the right swing arm. One end of the second right tension spring is connected with the right upper connecting rod. The other end of the second right tension spring is connected with the right swing arm. The first right tension spring and the second right tension spring are used to restore the initial state of the swing arm module. The right swing arm rotates about the right upper connecting rod with the upper end of the right swing arm as an axis. The right swing arm rotates about the right lower connecting rod with the lower end of the right swing arm as an axis. The right swing rod rotates about the right upper connecting rod with the upper end of the right swing rod as an axis. The right swing rod rotates about the right lower connecting rod with the lower end of the right swing rod as an axis.

6. A foot pedal linkage driven gang aircraft teaching simulator as claimed in claim 5 wherein, The swing arm module further comprises a swing arm base and left and right connecting rods. One end of the left and right connecting rod is connected with the right lower connecting rod, and the other end of the left and right connecting rod is connected with the L-shaped connecting rod. The swing arm base comprises a left base, a right base, and a rotating shaft. The turning end of the L-shaped connecting rod is connected with the left base through the rotating shaft. The lower end of the left swing arm is connected with the left base through the rotating shaft. One end of the right lower connecting rod is connected with the right base through the rotating shaft. The lower end of the right swing arm is connected with the right base through the rotating shaft. The turning end of the L-shaped connecting rod rotates about the rotating shaft as an axis. The left swing arm rotates about the rotating shaft as an axis. The right swing arm rotates about the rotating shaft as an axis.

7. A foot pedal linkage driven linked aircraft teaching simulator as claimed in claim 4 wherein, The foot pedal module comprises a left foot pedal, the tail end of the left foot pedal is connected with one end of the left upper connecting rod, the tail end of the left foot pedal is connected with the upper end of the left swing arm, and the tail end of the left foot pedal rotates about one end of the left upper connecting rod as an axis.

8. A foot pedal linkage driven linked aircraft teaching simulator as claimed in claim 5 wherein, The foot pedal module comprises a right foot pedal, the tail end of the right foot pedal is connected with one end of a right upper connecting rod, the tail end of the right foot pedal is connected with the upper end of a right swing arm, and the tail end of the right foot pedal rotates about one end of the right upper connecting rod.

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