Helicopter flight simulation training device with linear force feedback

Abstract

The utility model discloses a helicopter flight simulation training device with linear force feedback, which comprises a pedal mechanism, a joystick mechanism and an accelerator collective distance rod mechanism which are arranged according to a helicopter driving position, and each of the pedal mechanism, the joystick mechanism and the accelerator collective distance rod mechanism comprises an electronic driving piece with linear force feedback capability. The electronic driving part is in communication connection with an electronic control unit, the electronic control unit is used for collecting and feeding back motion data of the electronic driving part and controlling execution actions of all the mechanisms, and the electronic control unit is in communication connection with a control terminal. In the device, each mechanism adopts a driving motor group with linear feedback capability, in a data driving mode, a driving motor executes corresponding torque keeping, position changing, speed control and related information feedback according to a command of an electric control unit so as to ensure accurate control, and when a flight trainee operates a steering column, an accelerator collective distance rod and a pedal, the driving motor group is driven by the driving motor group so as to drive the driving motor group to operate the steering column, the accelerator collective distance rod and the pedal. The operation hand feeling is close to the linear force feedback operation hand feeling of a real helicopter.

Description

Technical Field

[0001] The utility model relates to the technical field of flight simulation training equipment, and particularly relates to a helicopter flight simulation training device with linear force feedback. Background Art

[0002] For traditional helicopter flight simulation training systems, damping, springs and other main physical hardware structures are used to simulate the operating feel of helicopter control sticks, throttle collective levers and foot pedals. The specific problems are as follows:

[0003] (1) High cost: The cost of an existing helicopter simulation system exceeds ten million yuan.

[0004] (2) Single function: Traditional helicopter flight simulation training systems can only train the operating feel of flight trainees and collect and record operating data; they cannot use real data to drive the control stick, throttle collective lever and foot pedals to reproduce the operation process during actual flight.

[0005] (3) Large volume: It requires a suitable site for layout and use.

[0006] (4) Complex structure: There are a large number of device components, and quite professional technicians are required for on-site assembly. When component failures occur, corresponding professional personnel from the manufacturer are needed to disassemble, maintain and debug relevant components.

[0007] (5) Long debugging period: Since it is a pure physical structure, only manual debugging can be carried out at the physical level, and the debugging period of most systems is about one year.

[0008] Therefore, the number of traditional helicopter flight simulation training systems assembled is small, and the opportunities for flight trainees to get on the machine for learning and training are also few. Often, prior applications and long queues are required, resulting in low training efficiency of flight trainees, which is not conducive to the wide application of helicopter simulation training systems and the training effect of flight trainees. Summary of the Utility Model

[0009] In order to solve the above technical problems, the utility model provides a helicopter flight simulation training device with linear force feedback.

[0010] The technical solution of the present utility model to solve the above technical problems is as follows: A helicopter flight simulation training device with linear force feedback includes a pedal mechanism, a control stick mechanism, and a collective pitch lever mechanism respectively arranged according to the helicopter cockpit. The pedal mechanism, the control stick mechanism, and the collective pitch lever mechanism all include electronic drive components with the ability of linear force feedback. The electronic drive components are communicatively connected to an electronic control unit. The electronic control unit is used to collect and feedback the motion data of the electronic drive components, control the execution actions of each mechanism, and the electronic control unit is communicatively connected to a control terminal.

[0011] Further, the pedal mechanism includes a mounting seat, a pedal electronic drive component arranged on the end face of the mounting seat, a pedal transmission mechanism connected to the output end of the pedal electronic drive component in a matching manner, and two groups of pedal rods connected to the pedal transmission mechanism. A pedal seat is movably connected between the two groups of pedal rods. The bottom of the pedal seat is arranged on the chassis, and the two groups of pedal rods move in a front-back staggered manner.

[0012] Further, the pedal transmission mechanism includes a rotating shaft arranged on the output end of the pedal electronic drive component and rotatably connected to the mounting seat, a torsion plate arranged on the rotating shaft, torsion blocks arranged at both ends of the torsion plate and located on the two end faces of the torsion plate respectively, and a connecting rod movably connected to the torsion block. The end of the connecting rod away from the torsion block is movably connected to the pedal rod.

[0013] Further, the pedal rod includes a connecting vertical rod and a pedal cross rod arranged at the top of the connecting vertical rod. An opening is arranged at the bottom of the connecting vertical rod. One end of the connecting rod is movably connected in the opening, and the connecting vertical rod is movably connected to the pedal seat.

[0014] Further, a pedal plate is arranged on the chassis, and the pedal plate covers the mounting seat.

[0015] Further, the control stick mechanism includes a fixed seat, a first electronic drive component arranged on the fixed seat, a connecting seat arranged at the output end of the first electronic drive component, a second electronic drive component arranged on the connecting seat and perpendicular to the first electronic drive component, and a control stick base arranged at the output end of the second electronic drive component. The control stick is arranged on the control stick base. The first electronic drive component and the second electronic drive component are respectively communicatively connected to the electronic control unit.

[0016] Further, the collective pitch lever mechanism includes a collective pitch lever base, a collective pitch lever electronic drive component arranged on the collective pitch lever base, a connecting plate arranged at the output end of the collective pitch lever electronic drive component, and a collective pitch lever arranged on the connecting plate.

[0017] Further, a counterweight block is arranged at the tail end of the connecting plate.

[0018] The utility model has the following beneficial effects: A helicopter flight simulation training device with linear force feedback provided by the utility model:

[0019] (1) Its structure is reliable and its performance is excellent. Each mechanism adopts a drive motor group with linear feedback ability. In the data-driven mode, the drive motor executes corresponding torque maintenance, position change, speed control and related information feedback according to the commands of the electronic control unit to ensure precise control. When flight trainees operate the joystick, throttle collective lever and foot pedals, the operating feel is close to the linear force feedback operating feel of a real helicopter.

[0020] (2) The device is small in size, flexible and convenient for layout, disassembly and assembly, more adaptable to the use space environment, and can be arranged in places where traditional helicopter flight simulation training systems cannot be arranged.

[0021] (3) The device can be interconnected with control terminal devices, with strong scalability and flexible deployment.

[0022] (4) The device minimizes the manufacturing cost and use cost of the helicopter flight simulation training system, creating a better helicopter flight simulation training environment for more flight trainees. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of the utility model;

[0024] Figure 2 It is a schematic external structural diagram of the foot pedal mechanism in the utility model;

[0025] Figure 3 It is a schematic internal structural diagram of the foot pedal mechanism in the utility model;

[0026] Figure 4 It is a schematic structural diagram of the joystick mechanism in the utility model;

[0027] Figure 5 It is a schematic structural diagram of the throttle collective lever mechanism in the utility model;

[0028] Figures 1 to 5The reference numerals shown in the figures are respectively represented as follows: 1 - pedal mechanism, 2 - control stick mechanism, 3 - collective pitch lever mechanism, 10 - mounting base, 11 - electronic pedal drive, 12 - pedal transmission mechanism, 13 - pedal rod, 14 - pedal seat, 15 - chassis, 16 - pedal board, 120 - rotating shaft, 121 - torsion plate, 122 - torsion block, 123 - connecting rod, 130 - connecting vertical rod, 131 - pedal cross bar, 20 - fixed seat, 21 - first electronic drive, 22 - connecting seat, 23 - second electronic drive, 24 - control stick base, 25 - control stick, 30 - collective pitch lever base, 31 - collective pitch lever electronic drive, 32 - connecting plate, 33 - collective pitch lever, 34 - counterweight block. Detailed implementation mode

[0029] The principles and features of the present utility model will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present utility model and are not intended to limit the scope of the present utility model.

[0030] As Figure 1 shown, a helicopter flight simulation training device with linear force feedback, characterized in that it includes a pedal mechanism 1, a control stick mechanism 2, and a collective pitch lever mechanism 3 arranged according to the helicopter cockpit positions respectively. The pedal mechanism 1, the control stick mechanism 2, and the collective pitch lever mechanism 3 all include electronic drives with the ability of linear force feedback. The electronic drives are communicatively connected to an electronic control unit, which is used to collect and feedback the motion data of the electronic drives, control the execution actions of each mechanism, and the electronic control unit is communicatively connected to a control terminal. The electronic drive uses a drive motor. The electronic control unit includes a 600W 24V DC power supply module and a PCB motor control board. The PCB motor control board supports 485, CAN, and TCP / IP protocols and is configured with corresponding physical interfaces. The electronic control unit directly uses the CAN protocol and is connected with 2-core data lines to achieve real-time data synchronization of the three groups of mechanisms. In the data-driven mode, the electronic control unit controls and feedbacks the real-time position, torque, and speed of all drive motors to ensure accurate control, and can be uploaded to the control terminal through the TCP / IP port. The electronic drives here refer to the pedal electronic drive 11, the collective pitch lever electronic drive 31, and the first electronic drive 21 and the second electronic drive 23 of the control stick 25 mechanism.

[0031] As Figures 2 to 3As shown, the pedal mechanism 1 includes a mounting base 10, a pedal electronic drive member 11 disposed on the end face of the mounting base 10, a pedal transmission mechanism 12 cooperatively connected to the output end of the pedal electronic drive member 11, and two sets of pedal rods 13 connected to the pedal transmission mechanism 12. There is a pedal seat 14 movably connected between the two sets of pedal rods 13, and the movable connection method is by bearing connection. The bottom of the pedal seat 14 is disposed on the chassis 15, and the two sets of pedal rods 13 move in a front-back staggered manner. The pedal electronic drive member drives the pedal transmission mechanism 12 to act, thereby driving the two sets of pedal rods 13 to perform front-back staggered movement, forming one pedal moving forward and the other pedal moving backward correspondingly. In the data-driven mode, the motor executes corresponding torque holding, position change, speed control, and related information feedback according to the commands of the electronic control unit to ensure precise control. In the data acquisition mode, the electronic control unit acquires data such as the position, torque, and speed of the motor, converts it into the movement angle data of the pedal rod 13, and can upload it to the control terminal / server through the TCP / IP port. In addition, the pedal mechanism 1 further includes a pedal plate 16, and the pedal plate covers the chassis 15 to support the user's feet.

[0032] Specifically, in the pedal mechanism 1, the pedal transmission mechanism 12 includes a rotating shaft 120 disposed on the output end of the pedal electronic drive member 11 and rotatably connected to the mounting base 10, a torsion plate 121 disposed on the rotating shaft 120, torsion blocks 122 disposed at both ends of the torsion plate 121 and located on the two end faces of the torsion plate 121 respectively, and a connecting rod 123 movably connected to the torsion blocks 122. The end of the connecting rod 123 away from the torsion block 122 is movably connected to the pedal rod 13, and the movable connection methods are all by bearing connection. The pedal rod 13 includes a connecting vertical rod 130 and a pedal cross rod 131 disposed at the top of the connecting vertical rod 130. An opening 132 is provided at the bottom of the connecting vertical rod 130, and one end of the connecting rod 123 is movably connected within the opening 132, and the connecting vertical rod 130 is movably connected to the pedal seat 14. During operation, the pedal electronic drive member drives the rotating shaft 120 to rotate, and then drives the long-strip torsion plate 121 to rotate accordingly, thereby driving the torsion blocks 122 at both ends to rotate. Under the rotation of the torsion blocks 122, the connecting rod 123 is driven to push the pedal rod 13 to move. When one pedal rod 13 moves forward, the other pedal rod 13 moves backward.

[0033] As Figure 4As shown in the figure, the control column mechanism 2 includes a fixed seat 20, a first electronic drive 21 disposed on the fixed seat 20, a connecting seat 22 disposed at the output end of the first electronic drive 21, a second electronic drive 23 disposed on the connecting seat 22 and perpendicular to the first electronic drive 21, and a control column base 24 disposed at the output end of the second electronic drive 23. The control column 25 is disposed on the control column base 24. The first electronic drive 21 and the second electronic drive 23 are respectively communicatively connected to the electronic control unit. The first electronic drive 21 drives the connecting seat 22 and the second electronic drive 23 as a whole to move in the Y-axis direction, and the second electronic drive 23 drives the control column base 24 and the control column 25 as a whole to move in the X-axis direction, thereby realizing the X and Y axis movements of the control column 25. The electronic drive executes corresponding torque holding, position change, speed control and related information feedback according to the command of the electronic control unit to ensure precise control. In the data acquisition mode, the electronic control unit acquires data such as the position, torque, and speed of the motor, converts it into the movement angle data of the control column 25, and can upload it to the server through the TCP / IP port.

[0034] As Figure 5 shown in the figure, the collective pitch lever mechanism 3 includes a collective pitch lever base 30, a collective pitch lever electronic drive 31 disposed on the collective pitch lever base 30, a connecting plate 32 disposed at the output end of the collective pitch lever electronic drive 31, and a collective pitch lever 33 disposed on the connecting plate 32. The collective pitch lever electronic drive 31 drives the connecting plate 32 and the collective pitch lever 33 as a whole to move. During this process, the electronic drive executes corresponding torque holding, position change, speed control and related information feedback according to the command of the electronic control unit to ensure precise control. In the data acquisition mode, the electronic control unit acquires data such as the position, torque, and speed of the motor, converts it into the movement angle data of the collective pitch lever 33, and can upload it to the server through the TCP / IP port.

[0035] Based on the training device of the present application, in the data acquisition mode, when a flight cadet operates the control column 25, the collective pitch lever 33, and the foot pedals, the operating feel is close to the linear force feedback operating feel of a real helicopter.

[0036] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A helicopter flight simulation training device with linear force feedback, characterized in that, It includes a pedal mechanism (1), a control stick mechanism (2), and a collective pitch lever mechanism (3) respectively arranged according to the helicopter pilot's seat. The pedal mechanism (1), the control stick mechanism (2), and the collective pitch lever mechanism (3) all include electronic drive components with the ability of linear force feedback. The electronic drive components are communicatively connected to an electronic control unit. The electronic control unit is used to collect and feedback the motion data of the electronic drive components, control the execution actions of each mechanism, and the electronic control unit is communicatively connected to a control terminal.

2. The helicopter flight simulation training device with linear force feedback according to claim 1, characterized in that The pedal mechanism (1) includes a mounting seat (10), a pedal electronic drive component (11) arranged on the end face of the mounting seat (10), a pedal transmission mechanism (12) cooperatively connected to the output end of the pedal electronic drive component (11), and two groups of pedal rods (13) connected to the pedal transmission mechanism (12). A pedal seat (14) is movably connected between the two groups of pedal rods (13). The bottom of the pedal seat (14) is arranged on a chassis (15), and the two groups of pedal rods (13) move in a front-back staggered manner.

3. The helicopter flight simulation training device with linear force feedback according to claim 2, characterized in that, The pedal transmission mechanism (12) includes a rotating shaft (120) arranged at the output end of the pedal electronic drive component (11) and rotatably connected to the mounting seat (10), a torsion plate (121) arranged on the rotating shaft (120), torsion blocks (122) arranged at both ends of the torsion plate (121) and located on the two end faces of the torsion plate (121), and a connecting rod (123) movably connected to the torsion blocks (122). The end of the connecting rod (123) far from the torsion blocks (122) is movably connected to the pedal rod (13).

4. The helicopter flight simulation training device with linear force feedback according to claim 3, characterized in that, The pedal rod (13) includes a connecting vertical rod (130) and a pedal cross rod (131) arranged at the top of the connecting vertical rod (130). An opening (132) is arranged at the bottom of the connecting vertical rod (130). One end of the connecting rod (123) is movably connected in the opening (132), and the connecting vertical rod (130) is movably connected to the pedal seat (14).

5. The helicopter flight simulation training device with linear force feedback according to any one of claims 2 to 4, characterized in that A pedal plate (16) is arranged on the chassis (15), and the pedal plate (16) covers the mounting seat (10).

6. The helicopter flight simulation training device with linear force feedback according to claim 1, characterized in that, The control stick mechanism (2) includes a fixed seat (20), a first electronic drive component (21) arranged on the fixed seat (20), a connecting seat (22) arranged at the output end of the first electronic drive component (21), a second electronic drive component (23) arranged on the connecting seat (22) and perpendicular to the first electronic drive component (21), and a control stick base (24) arranged at the output end of the second electronic drive component (23). A control stick (25) is arranged on the control stick base (24). The first electronic drive component (21) and the second electronic drive component (23) are respectively communicatively connected to the electronic control unit.

7. The helicopter flight simulation training device with linear force feedback according to claim 1, wherein The collective pitch lever mechanism (3) includes a collective pitch lever base (30), a collective pitch lever electric drive (31) disposed on the collective pitch lever base (30), a connecting plate (32) disposed at the output end of the collective pitch lever electric drive (31), and a collective pitch lever (33) disposed on the connecting plate (32).

8. The helicopter flight simulation training device with linear force feedback according to claim 7, characterized in that, A counterweight (34) is disposed at the tail end of the connecting plate (32).

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