Side rod simulation control and measurement device and test tool comprising same

Abstract

A joystick simulation manipulation and measurement device comprises a mounting seat; each linear actuating device comprises a shell seat and an actuating head, wherein the shell seat is hinged to the mounting seat through a first universal joint, and the actuating head linearly moves relative to the shell seat; the operating rod clamping piece is used for being fixedly arranged outside an operating rod in a sleeving mode, and the operating rod clamping piece is configured to be installed with the actuating head in a hinged mode through a second universal joint; the load sensing device is mounted between the actuating head and the second universal joint so as to sense a load applied to the operating lever by a related linear actuating device; and the displacement sensor is fixedly mounted on the operating rod so as to sense the displacement of the operating rod.

Description

Technical Field

[0001] The utility model relates to the fields of mechanical design and testing, and particularly relates to a side stick force simulation manipulation and measurement device, which can simulate different manipulation states of an aircraft side stick and perform force measurement. Background Art

[0002] As an important system of an aircraft, the flight control system, and the side stick, as an important component of the flight control system, the sufficiency of its test verification is particularly important for aircraft safety.

[0003] In order to correctly measure the starting force, maximum stroke holding force of the aircraft cockpit side stick, and the side stick position and side stick spring force feeling curve, during the test process, a set of devices needs to be designed to simulate the movement of manually operating the side stick and be able to accurately measure the starting force and side stick position of the side stick under the pitching axis, rolling axis and coupled movement of the aircraft.

[0004] The side stick is clamped by a fixture and tooling, force and displacement sensors are installed on the fixture and tooling, and a handle unit or a drive interface is installed to simulate the single-axis movement of the side stick corresponding to the pitching axis or rolling axis of the aircraft.

[0005] Existing problems: It is very difficult to accurately and smoothly drive the side stick to move in a uniform circular motion manually, which causes damping force. Therefore, the side stick force cannot be accurately measured, and only one axis can be measured first, and then the sensor position needs to be disassembled and adjusted to measure the other axis. Biaxial simultaneous measurement cannot be performed, which affects the design verification of the coupling force. Content of the Utility Model

[0006] In view of the existing technical deficiencies, the utility model thus provides a side stick force measurement and driving device. This device can accurately and smoothly drive the side stick to move, effectively reduce the test cost, and improve the test efficiency.

[0007] To this end, the utility model provides a joystick simulation manipulation and measurement device, including:

[0008] A mounting seat;

[0009] Two groups of linear actuating devices, each group of the linear actuating devices including a housing seat hingedly installed on the mounting seat through a first universal joint and an actuating head linearly moving relative to the housing seat;

[0010] A joystick clamping member for fixedly sleeving outside the joystick, and the joystick clamping member is configured to be hingedly installed on the actuating head through a second universal joint;

[0011] A load sensing device installed between the actuating head and the second universal joint to sense the load applied by the relevant linear actuating device to the joystick; and

[0012] A displacement sensor, which is fixedly installed on the joystick to sense the displacement of the joystick.

[0013] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the actuating heads of the two sets of linear actuating devices are circumferentially spaced apart from each other by 90° around the joystick holder.

[0014] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the mounting base includes a floor-standing frame for standing on the floor surface and a magnetic base that can be magnetically mounted on the upper surface of the floor-standing frame.

[0015] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the linear actuating device includes a support rod fixedly connected to the housing base.

[0016] And the mounting base includes a support rod receiving seat for ball-joint connection with the support rod, so as to realize the first universal joint through the support rod and the support rod receiving seat.

[0017] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the joystick holder includes at least two annular parts, and the two annular parts are fixed around the joystick through fasteners.

[0018] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the linear actuating device includes an electric actuating cylinder.

[0019] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, it further includes a control demodulation module, and the control demodulation module is configured to receive the sensing information from the load sensing device and the displacement sensor.

[0020] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the load sensing device includes a force sensor.

[0021] According to a preferred embodiment of the joystick simulation manipulation and measurement device of the present invention, the displacement sensor includes a three-axis angle sensor.

[0022] In addition, the present invention also provides a test tooling, including:

[0023] A joystick, which is installed on a joystick base so as to be able to swing relative to the joystick base;

[0024] The joystick simulation manipulation and measurement device according to the foregoing content, wherein the joystick holder is fixedly sleeved outside the joystick.

[0025] The device of the present utility model can be composed of an installation frame, a support rod, a loading mount, a servo electric cylinder, a joystick mount, etc. At the same time, according to the test requirements, it can simulate different driving forces and displacements to evaluate the operating characteristics of the side rod. Brief Description of the Drawings

[0026] This document includes drawings to provide a further understanding of various embodiments. The drawings are incorporated into and form a part of this specification.

[0027] The drawings illustrate various embodiments described herein and, together with the written description, are used to explain the principles and operations of the claimed subject matter.

[0028] With reference to the above objectives, the technical features of the present utility model are clearly described below, and its advantages are obvious from the following detailed description with reference to the drawings. The drawings illustrate, by way of example, the preferred embodiments of the present utility model without limiting the scope of the present utility model.

[0029] In the drawings:

[0030] Figure 1 is a front view schematic diagram of a preferred embodiment of the simulation manipulation and measurement device according to the present utility model;

[0031] Figure 2 is Figure 1 a top view schematic diagram of the simulation manipulation and measurement device of the present utility model shown in

[0032] List of Reference Numerals

[0033] 10 Joystick

[0034] 20 Joystick Base

[0035] 110 Mount

[0036] 111 Floor Frame

[0037] 112 Magnetic Base

[0038] 113 Support Rod Holder

[0039] 120 Linear Actuating Device

[0040] 121 Housing Base

[0041] 122 Actuating Head

[0042] 123 Support Rod

[0043] 130 Joystick Clamp

[0044] 140 Load Sensing Device

[0045] 150 Displacement Sensor Detailed Embodiment

[0046] Now, the embodiments of the present utility model will be described in detail. Examples of these embodiments are shown in the drawings and described below.

[0047] Although the present utility model will be described in combination with exemplary embodiments, it should be realized that this specification is not intended to limit the present utility model to the illustrated embodiments. On the contrary, the present utility model aims to cover not only these exemplary embodiments, but also various alternative forms, modified forms, equivalent forms and other embodiments that can be included within the spirit and scope of the present utility model.

[0048] For the convenience of explanation and precise definition of the technical solution of the present utility model, the terms "upper", "lower", "inner" and "outer" are used to describe the features with reference to the positions of the features of the exemplary embodiments shown in the drawings.

[0049] The following specifically describes various preferred but non-limiting embodiments of the joystick simulation manipulation and measurement device of the present utility model with reference to the drawings.

[0050] Figure 1 and Figure 2 show a joystick simulation manipulation and measurement device according to the present utility model and a test tooling including the device. The test tooling further includes a manipulable joystick 10, and the joystick 10 is mounted on a joystick base 20 to be able to swing relative to the joystick base. It should be noted that Figure 1 and Figure 2 show two sets of joystick simulation manipulation and measurement devices respectively for the left and right joysticks 10. Obviously, the left and right sets of devices can also be installed and used independently.

[0051] Refer to Figure 1 and Figure 2 , the joystick simulation manipulation and measurement device includes: a mounting seat 110, two sets of linear actuating devices 120, a joystick clamping member 130, a load sensing device 140 and a displacement sensor 150.

[0052] In the preferred embodiment shown in the figure, for example, refer to Figure 2 shown in, the actuating heads of the two sets of linear actuating devices 120 can preferably be arranged at intervals of 90° circumferentially around the joystick clamping member. Those skilled in the art can understand that generally, as long as the two sets of linear actuating devices 120 are not collinearly arranged, generally, the desired manipulation of the joystick 10 can be achieved through their cooperation, so this is also an alternative embodiment and will not be elaborated here.

[0053] Each set of linear actuating devices 120 includes a housing base 121 hingedly mounted to the mounting base 110 via a first universal joint and an actuating head 122 that moves linearly relative to the housing base 121. For example, see Figure 2 as shown in

[0054] In the preferred embodiment shown in the figure, the linear actuating device 120 includes a strut 123 fixedly connected to the housing base 121. And in this embodiment, the mounting base 110 may include a strut receiving seat 113 for ball-joint connection with the strut 123 to implement the above-mentioned first universal joint through the strut 123 and the strut receiving seat 113.

[0055] The linear actuating device 120 may preferably include an electric actuating cylinder.

[0056] See Figure 2 , the joystick holder 130 is used to be fixedly sleeved outside the joystick 10. Preferably, the joystick holder 130 may include at least two annular parts and an annular clamping block inside the annular parts. The two annular parts are fixed around the joystick 10 through fasteners. Among them, the annular clamping block can be appropriately deformed to facilitate protecting the measured joystick 10 and conforming to the outer surface shape of the joystick 10 to further strengthen the clamping of the joystick 10.

[0057] The joystick holder 130 is configured to be hingedly mounted to the actuating head 122 via a second universal joint. The above-mentioned second universal joint can be preferably implemented, for example, through a cross hinge or other hinge parts that can achieve universal hinge connection.

[0058] The load sensing device 140 is installed between the actuating head 122 and the second universal joint to sense the load applied by the relevant linear actuating device 120 to the joystick 10. The load sensing device 140 may include, for example, a force sensor.

[0059] The displacement sensor 150 is fixedly installed on the joystick 10 to sense the displacement of the joystick 10. The displacement sensor 150 may include, for example, a three-axis angle sensor.

[0060] The mounting base 110 includes a floor-standing frame 111 for standing on the floor surface ( Figure 1 the lowest in the drawing) and a magnetic base 112 that can be magnetically mounted on the upper surface of the floor-standing frame 111. The magnetic base 112 may include a permanent magnet and / or an electromagnet to be magnetically attracted to the relevant magnetic part of the floor-standing frame 111. It can be understood that, in order to generate this magnetic attraction, the relevant part of the floor-standing frame 111 may include a magnetic part, such as a ferromagnetic part.

[0061] The joystick simulation operation and measurement device according to the preferred embodiment of the present utility model may further include a control demodulation module. The control demodulation module is configured to receive the sensing information from the load sensing device 140 and the displacement sensor 150 and send control instructions to the two groups of the linear actuating devices 120.

[0062] The following briefly describes the usage method of the device according to the present utility model:

[0063] 1) Remove the decorative plate and mounting fasteners on the joystick 10;

[0064] 2) Install the base mounting seat on the joystick 10 with bolts;

[0065] 3) Set up the floor frame 111;

[0066] 4) Install the bearing rotating base. Install the bearing rotating base on the electric actuator cylinder mounting seat according to the test installation requirements. Among them, the bearing rotating base can be composed of a bearing base, a double-ear gland and a bearing;

[0067] 5) The electric cylinder mounting seat can be installed on the left or right joystick according to the test requirements and installed on the base mounting seat with bolts;

[0068] 6) Install the magnetic base 112 and the support rod receiving seat 113, and set up the support rod 123 and the universal joint;

[0069] 7) Install the electric actuator cylinder;

[0070] 8) Install the joystick clamp 130 and the annular clamping block;

[0071] 9) The control demodulation module mainly completes the driving of the electric cylinder. The upper computer drives the side stick to perform position / speed closed-loop motion according to the feedback values of the absolute encoder, force sensor, etc. in the electric actuator cylinder, and at the same time provides overload protection;

[0072] 10) The measurement and control system can communicate with external devices through Ethernet and receive external data.

[0073] The present utility model has the following advantages:

[0074] 1. Using double-actuator rod drive, it can conveniently and simultaneously measure the lateral and longitudinal operating forces, and can also measure the lateral and longitudinal resultant forces and displacements.

[0075] 2. The measurement and drive device has the function of adjustable fixed side stick position to fix the irregular aircraft side stick, and the driving force output is continuous and smooth, avoiding continuous oscillation of the amplitude, and no jitter or creep phenomenon occurs.

[0076] The preferred embodiments of the present utility model have been described in detail above. However, it should be understood that if necessary, aspects of the embodiments can be modified to adopt aspects, features, and concepts of various patents, applications, and publications to provide additional embodiments.

[0077] In view of the foregoing detailed description, various readily conceivable changes can be made to the embodiments described herein.

[0078] Generally speaking, in the claims, the terms used should not be construed as being limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents to which the claims are entitled.

Claims

1. A joystick simulation control and measurement device, It is characterized in that include: Mounting seat (110); Two sets of linear actuating devices (120), each set of the linear actuating devices (120) comprising a housing (121) hingedly mounted to the mounting seat (110) via a first universal joint and an actuating head (122) that moves linearly relative to the housing (121); A joystick clamp (130), the joystick clamp (130) being used for being fixedly sleeved outside the joystick (10), and the joystick clamp (130) being configured to be hingedly mounted with the actuating head (122) via a second universal joint; a load sensing device (140) installed between the actuator head (122) and the second universal joint to sense the load applied to the joystick (10) by the associated linear actuator (120); and A displacement sensor (150) is fixedly mounted on the joystick (10) to sense the displacement of the joystick (10).

2. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The actuating heads (122) of the two sets of linear actuating devices (120) are arranged around the joystick clamp (130) at a 90° interval from each other in the circumferential direction.

3. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The mounting seat (110) comprises a floor frame (111) for standing on a floor surface, and a magnetic seat (112) that can be magnetically mounted on the upper surface of the floor frame (111).

4. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The linear actuating device comprises a support rod (123) fixedly connected to the housing seat (121), Furthermore, the mounting seat (110) comprises a support rod receptacle (113) for being spherically connected to the support rod (123), so as to realize the first universal joint through the support rod (123) and the support rod receptacle (113).

5. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The operating rod clamp (130) comprises at least two annular parts and annular clamping blocks inside the annular parts, and the two annular parts are fixed around the operating rod (10) by fasteners.

6. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The linear actuating device (120) comprises an electric actuating cylinder.

7. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that It also includes a control demodulation module, which is configured to receive sensing information from the load sensing device (140) and the displacement sensor (150) and send control instructions to the two groups of linear actuating devices (120).

8. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The load sensing device (140) includes a force sensor.

9. The joystick simulation manipulation and measurement device according to claim 1, It is characterized in that The displacement sensor (150) comprises a three-axis angle sensor.

10. A test tool, It is characterized in that include: A joystick (10), the joystick (10) being mounted on a joystick base (20) so as to be able to swing relative to the joystick base (20); The joystick simulation manipulation and measurement device according to any one of claims 1 to 9, wherein: The joystick clamp (130) is fixedly sleeved outside the joystick (10).

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