Joystick with force feedback control

Abstract

The utility model discloses a kind of force feedback adjustment's joy stick, including operating handle and mounting pedestal, the bottom surface of the operating handle is fixedly connected with the connecting rod of vertical setting, the mounting pedestal is placed in the below of the connecting rod, the top surface middle part of the mounting pedestal is fixedly installed with rotary joint, and the bottom end of the connecting rod is rotated with the mounting pedestal through the rotary joint, the mounting pedestal is provided with a plurality of force feedback components in the outer circumferential position of the connecting rod.Affinity effect lies in: the utility model in operating handle drive connecting rod respectively around rotary joint and carry out the deflection process of front and back left and right, by the way that the fixed disc bottom surface outside connecting rod respectively contact the wear-resistant end of pneumatic push rod top end, it can provide control force feedback by the damping when pneumatic push rod contracts, the reliable and easy-to-implement mode for providing control force feedback for pilot, it is convenient to help pilot accurate perception flight state change.

Description

Technical Field

[0001] This utility model relates to the field of aircraft control equipment technology, specifically to a joystick with force feedback adjustment. Background Technology

[0002] The aircraft control stick is the core human-machine interface device for pilots to control the aircraft's attitude, heading, and flight status. Its tactile feel and feedback accuracy directly affect the stability and safety of flight control. Force feedback, as a key performance indicator of the control stick, can provide pilots with realistic operational feedback by simulating the aerodynamic loads, structural drag, and other mechanical characteristics of the aircraft under different flight conditions. This helps pilots accurately perceive changes in flight status and reduce the risk of operational errors.

[0003] However, most existing aircraft control stick force feedback devices use fixed-parameter drive structures, resulting in relatively limited force feedback range, response speed, and feedback modes. This makes it impossible to flexibly adjust the force feedback according to different pilots' operating habits, hand strength differences, and the personalized needs of different flight missions (such as takeoff, cruise, landing, and aerobatic maneuvers). For example, novice pilots may need a smaller feedback force to reduce operational difficulty, while experienced pilots require a larger feedback force and a more sensitive response speed to obtain precise operational feedback when performing high-precision flight missions. Utility Model Content

[0004] The purpose of this invention is to provide a joystick with force feedback adjustment in order to solve the above problems, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This utility model provides a joystick with force feedback adjustment, including an operating handle and a mounting base. The bottom surface of the operating handle is fixedly connected to a vertically arranged connecting rod. The mounting base is placed horizontally below the connecting rod. A rotating joint is fixedly installed in the middle of the top surface of the mounting base, and the bottom end of the connecting rod is rotatably connected to the mounting base through the rotating joint, so that the operating handle and the connecting rod can perform forward, backward, left and right deflection movements around the rotating joint respectively.

[0007] The mounting base is provided with multiple force feedback components with maneuver force feedback adaptation adjustment function on the outer periphery of the connecting rod.

[0008] Preferably, the rotating joint includes a ball joint seat and a ball joint body. The ball joint seat is fixed to the center of the top surface of the mounting base, and the ball joint body is fixed to the bottom end of the connecting rod and is adapted to the ball joint seat.

[0009] Preferably, the position where the ball joint meets the ball body is provided with a grease cavity filled with grease.

[0010] Preferably, the force feedback assembly includes a fixed plate and a cylinder body. The fixed plate is coaxially fixed to the outside of the connecting rod at a position below the operating handle. Multiple cylinder bodies are vertically fixed to the top surface of the mounting base at a position around the outer periphery of the connecting rod. Each cylinder body has a pneumatic push rod vertically arranged on its top, which can provide operating force feedback by means of contraction damping. The top of each pneumatic push rod is located below the bottom edge of the fixed plate.

[0011] Preferably, the number of cylinder bodies is four, and they correspond to the front, back, left, and right positions of the connecting rod, respectively.

[0012] Preferably, the top of each pneumatic push rod is coaxially fixed with a wear-resistant end via a connecting sleeve. The outer surface of the wear-resistant end is hemispherical, and when the fixed plate is in a flat position, the top of each wear-resistant end contacts the bottom surface of the fixed plate.

[0013] Preferably, the fixed plate is a disc, and the four cylinder bodies are evenly distributed below the bottom surface of the fixed plate. The wear-resistant ends are all hemispherical heads made of wear-resistant alloy material, and the connecting sleeves are all connected to the corresponding pneumatic push rods by means of threaded engagement.

[0014] Preferably, each cylinder body has an intake pipe on its lower outer end face, and each intake pipe is equipped with an electronically controlled throttle valve whose opening can be infinitely adjusted.

[0015] Preferably, each of the fixed disks has an attitude detection box installed on its top surface above the cylinder body, and each attitude detection box is electrically connected to the corresponding electronically controlled throttle valve, so as to form a feedback control mode with the attitude detection box and the electronically controlled throttle valve to adapt the control force feedback.

[0016] Preferably, each attitude detection box includes a gyroscope and an accelerometer, used to detect the rotation angle, angular velocity and acceleration information when the fixed disk deflects in real time, so as to detect and obtain the attitude deflection speed when the pilot holds the control handle and to provide feedback control on the opening of the electronically controlled throttle valve.

[0017] In practical use, the aforementioned force feedback adjustable joystick, due to the multiple force feedback components with control force feedback adaptation adjustment functions arranged on the outer periphery of the connecting rod on the mounting base, allows for control force feedback to be provided by the damping of the pneumatic push rod during the forward, backward, left, and right deflection of the connecting rod around the rotating joint by the operating handle. This is achieved by the bottom surface of the fixed plate outside the connecting rod contacting the wear-resistant end of the pneumatic push rod. This provides reliable and easily implemented control force feedback to the pilot, facilitating accurate perception of changes in flight status. The force feedback component is equipped with an attitude detection box at the position corresponding to the cylinder body on the top surface of the fixed plate. The attitude detection box contains a gyroscope and an acceleration sensor. The air intake pipe of the cylinder body is equipped with an electronically controlled throttle valve. By means of the feedback control method formed by the attitude detection box and the electronically controlled throttle valve, the control force feedback provided by the pneumatic push rod when it retracts can be adapted according to the attitude deflection speed when the pilot holds the control handle. This allows for flexible adjustment according to the individual needs of different pilots for force feedback, ensuring that the force feedback output is accurately matched with the operation of the control handle and the actual state of the aircraft.

[0018] The beneficial effects are as follows: 1. The mounting base of this utility model is provided with multiple force feedback components with control force feedback adaptability adjustment function on the outer periphery of the connecting rod. Then, when the operating handle drives the connecting rod to deflect forward, backward and left and right around the rotating joint, the bottom surface of the fixed plate outside the connecting rod contacts the wear-resistant end of the pneumatic push rod. Control force feedback can be provided by means of the damping when the pneumatic push rod retracts. The method of providing control force feedback to the pilot is reliable and easy to implement, which helps the pilot to accurately perceive changes in flight status.

[0019] 2. Attitude detection boxes are installed on the top of the fixed plate corresponding to the cylinder body. The attitude detection boxes contain gyroscopes and accelerometers. At the same time, the air intake pipes of the cylinder body are equipped with electronically controlled throttle valves. With the help of the feedback control method formed by the attitude detection boxes and electronically controlled throttle valves, the control force feedback provided by the pneumatic push rod when it retracts can be adaptively adjusted according to the attitude deflection speed when the pilot holds the control handle. This allows for flexible adjustment according to the individual needs of different pilots for force feedback, ensuring that the force feedback output is accurately matched with the operation of the control handle and the actual state of the aircraft. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an overall isometric schematic diagram of this utility model. Figure 1 ;

[0022] Figure 2 This is an overall isometric schematic diagram of this utility model. Figure 2 ;

[0023] Figure 3 This is a utility model Figure 1 Front view diagram;

[0024] Figure 4 This is a utility model Figure 1 Rear view diagram;

[0025] Figure 5 This is a utility model Figure 1 A left-view diagram;

[0026] Figure 6 This is a utility model Figure 1 A top-down view.

[0027] The annotations in the attached figures are explained as follows:

[0028] 1. Operating handle; 2. Force feedback assembly; 201. Fixed plate; 202. Attitude detection box; 203. Wear-resistant end; 204. Pneumatic push rod; 205. Cylinder body; 206. Air inlet pipe; 207. Electrically controlled throttle valve; 208. Connecting sleeve; 3. Mounting base; 4. Rotating joint; 401. Grease chamber; 402. Ball head; 403. Ball head seat; 5. Connecting rod. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] See Figures 1-6As shown, this utility model provides a joystick with force feedback adjustment, including an operating handle 1 and a mounting base 3. The bottom surface of the operating handle 1 is fixedly connected to a vertically arranged connecting rod 5. The mounting base 3 is placed horizontally below the connecting rod 5. A rotating joint 4 is fixedly installed in the middle of the top surface of the mounting base 3, and the bottom end of the connecting rod 5 is rotatably connected to the mounting base 3 through the rotating joint 4. The effect of this arrangement is that the operating handle 1 and the connecting rod 5 can perform forward, backward, left and right deflection movements around the rotating joint 4, respectively.

[0031] See Figures 1-6 As shown, the mounting base 3 has multiple force feedback components 2 with adaptive adjustment function for operating force feedback on the outer periphery of the connecting rod 5. Specifically, the force feedback component 2 includes a fixed plate 201 and a cylinder body 205. The fixed plate 201 is coaxially fixed to the outside of the connecting rod 5 below the operating handle 1. Multiple cylinder bodies 205 are vertically fixed to the top surface of the mounting base 3 on the outer periphery of the connecting rod 5. The top of each cylinder body 205 is vertically provided with a pneumatic push rod 204 that can provide operating force feedback by means of contraction damping. The top of each pneumatic push rod 204 is located below the bottom edge of the fixed plate 201. The lower part of the outer end face of each cylinder body 205 is provided with an air inlet pipe 206. Each air inlet pipe 206 is combined with an electronically controlled throttle valve 207 that can infinitely adjust the opening. Attitude detection boxes 202 are installed on the top surface of the disc 201 above the cylinder body 205, and each attitude detection box 202 is electrically connected to the corresponding electronically controlled throttle valve 207. The purpose of this arrangement is that, firstly, during the process of the operating handle 1 driving the connecting rod 5 to deflect around the rotating joint 4 in the forward, backward, left, and right directions, the bottom surface of the fixed disc 201 outside the connecting rod 5 contacts the wear-resistant end 203 at the top of the pneumatic push rod 204. The damping of the pneumatic push rod 204 during contraction can provide control force feedback, which is reliable and easy to implement for providing control force feedback to the pilot. At the same time, the attitude detection box 202 and the electronically controlled throttle valve 207 form a feedback control method to adapt the control force feedback, realizing flexible adjustment according to the individual needs of different pilots for force feedback.

[0032] See Figures 1-6As shown, the following optimizations have been made to this application. Specifically, the rotating joint 4 includes a ball joint 403 and a ball head 402. The ball joint 403 is fixed to the center of the top surface of the mounting base 3, and the ball head 402 is fixed to the bottom end of the connecting rod 5 and adapted to the ball joint 403, so that the deflection action of the connecting rod 5 and the operating handle 1 can be realized by the deflection of the ball head 402 around the ball joint 403. Optionally, a grease cavity 401 filled with grease is provided at the joint position of the ball joint 403 and the ball head 402 to reduce the friction between the ball head 402 and the ball joint 403. Furthermore, there are four cylinder bodies 205, which correspond to the four positions of the connecting rod 5 (front, back, left, right). With this arrangement, by setting four cylinder bodies 205, it is ensured that the connecting rod 5 and the operating handle 1 can provide operating force feedback when deflected in four directions.

[0033] See Figures 1-4 As shown, the top of each pneumatic push rod 204 is coaxially fixed with a wear-resistant end 203 via a connecting sleeve 208. The outer surface of the wear-resistant end 203 is hemispherical. When the fixed plate 201 is in a flat position, the top of the wear-resistant end 203 contacts the bottom surface of the fixed plate 201. This arrangement facilitates the fixed plate 201 to smoothly deflect to four directions and also ensures that the fixed plate 201 pushes and retracts the pneumatic push rod 204 by contacting the wear-resistant end 203 during the deflection process.

[0034] See Figures 1-6 As shown, the fixed disk 201 is a disc, and the four cylinder bodies 205 are evenly distributed below the bottom surface of the fixed disk 201. The wear-resistant ends 203 are all hemispherical heads made of wear-resistant alloy material, and the connecting sleeves 208 are connected to the corresponding pneumatic push rods 204 by threaded engagement. This arrangement firstly ensures that the placement of the cylinder bodies 205 meets the usage requirements, and secondly, ensures that the wear-resistant ends 203 have a reliable and stable wear-resistant service life. It also facilitates the quick installation and removal of the connecting sleeves 208 at the ends of the pneumatic push rods 204, thus facilitating subsequent replacement of the wear-resistant ends 203. Optionally, the attitude detection boxes 202 all include gyroscopes and accelerometers. This arrangement is based on the consideration that the attitude detection boxes 202 can detect the rotation angle, angular velocity, and acceleration information of the fixed disk 201 in real time when it deflects. This information data can then be used to detect and obtain the attitude deflection speed when the pilot holds the control handle 1 and provide feedback control on the opening of the electronically controlled throttle valve 207.

[0035] With the above structure, in practical use, since the mounting base 3 has multiple force feedback components 2 with control force feedback adaptation adjustment function on the outer periphery of the connecting rod 5, when the operating handle 1 drives the connecting rod 5 to deflect forward, backward, left, and right around the rotating joint 4, the bottom surface of the fixed plate 201 outside the connecting rod 5 contacts the wear-resistant end 203 of the top of the pneumatic push rod 204. Control force feedback can be provided by utilizing the damping of the pneumatic push rod 204 during contraction. This method of providing control force feedback to the pilot is reliable and easy to implement, facilitating the pilot's accurate perception of changes in flight status. Simultaneously, because the force feedback components 2 are located on the fixed plate 2... Attitude detection boxes 202 are installed on the top surface of the cylinder body 205, corresponding to the positions of the cylinder body 205. The attitude detection boxes 202 are equipped with gyroscopes and acceleration sensors. The air intake pipes 206 of the cylinder body 205 are equipped with electronically controlled throttle valves 207. With the help of the feedback control method formed by the attitude detection boxes 202 and the electronically controlled throttle valves 207, the control force feedback provided by the pneumatic push rod 204 when it retracts can be adapted according to the attitude deflection speed when the pilot holds the control handle 1. This realizes flexible adjustment according to the individual needs of different pilots for force feedback, ensuring that the force feedback output is accurately matched with the operation of the control handle 1 and the actual state of the aircraft.

[0036] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A joystick with force feedback adjustment, comprising an operating handle (1) and a mounting base (3), characterized in that: The bottom surface of the operating handle (1) is fixedly connected to a vertically arranged connecting rod (5), the mounting base (3) is placed flat below the connecting rod (5), a rotating joint (4) is fixedly installed in the middle of the top surface of the mounting base (3), and the bottom end of the connecting rod (5) is rotatably connected to the mounting base (3) through the rotating joint (4), so that the operating handle (1) and the connecting rod (5) can rotate around the rotating joint (4) in the front, back, left and right directions respectively; The mounting base (3) is provided with multiple force feedback components (2) with maneuvering force feedback adaptation adjustment function on the outer periphery of the connecting rod (5).

2. The joystick with force feedback adjustment according to claim 1, characterized in that: The rotating joint (4) includes a ball head seat (403) and a ball head body (402). The ball head seat (403) is fixed to the middle of the top surface of the mounting base (3), and the ball head body (402) is fixed to the bottom end of the connecting rod (5) and is adapted to the ball head seat (403).

3. The joystick with force feedback adjustment according to claim 2, characterized in that: The ball joint (403) and the ball body (402) are provided with a grease cavity (401) filled with grease.

4. A joystick with force feedback adjustment according to claim 1, 2 or 3, characterized in that: The force feedback assembly (2) includes a fixed plate (201) and a cylinder body (205). The fixed plate (201) is coaxially fixed to the outside of the connecting rod (5) below the operating handle (1). Multiple cylinder bodies (205) are vertically fixed to the top surface of the mounting base (3) at the outer periphery of the connecting rod (5). Each cylinder body (205) has a pneumatic push rod (204) vertically arranged on its top, which can provide operating force feedback by means of contraction damping. The top of each pneumatic push rod (204) is located below the bottom edge of the fixed plate (201).

5. A joystick with force feedback adjustment according to claim 4, characterized in that: The number of cylinder bodies (205) is four, and they correspond to the front, back, left, and right positions of the connecting rod (5).

6. The joystick with force feedback adjustment according to claim 5, characterized in that: The top of each pneumatic push rod (204) is coaxially fixed with a wear-resistant end (203) through a connecting sleeve (208). The outer surface of the wear-resistant end (203) is a hemispherical surface. When the fixed plate (201) is in a flat state, the top of the wear-resistant end (203) is in contact with the bottom surface of the fixed plate (201).

7. A joystick with force feedback adjustment according to claim 6, characterized in that: The fixed plate (201) is a disc, and the four cylinder bodies (205) are evenly distributed below the bottom surface of the fixed plate (201). The wear-resistant end (203) is a hemispherical head made of wear-resistant alloy material, and the connecting sleeve (208) is connected to the corresponding pneumatic push rod (204) by means of threaded engagement.

8. A joystick with force feedback adjustment according to claim 5, 6 or 7, characterized in that: The lower part of the outer end face of the cylinder body (205) is provided with an air intake pipe (206), and the air intake pipe (206) is equipped with an electronically controlled throttle valve (207) that can infinitely adjust the opening.

9. A joystick with force feedback adjustment according to claim 8, characterized in that: Each of the fixed disks (201) has an attitude detection box (202) installed on its top surface above the cylinder body (205). Each attitude detection box (202) is electrically connected to the corresponding electronically controlled throttle valve (207) to form a feedback control mode with the attitude detection box (202) and the electronically controlled throttle valve (207) to adapt the force feedback.

10. A joystick with force feedback adjustment according to claim 9, characterized in that: Each attitude detection box (202) includes a gyroscope and an accelerometer, used to detect the rotation angle, angular velocity and acceleration information of the fixed disk (201) in real time, so as to detect and obtain the attitude deflection speed when the pilot holds the operating handle (1) and to provide feedback control on the opening of the electronically controlled throttle valve (207).

Images