Aircraft flight simulator

Abstract

A simulator (100) for aircrafts comprises: a control stick (10) turnable about an axial center (X1) in both directions; and a reaction force generation unit (20) having a tension spring (26) that is displaced by turning of the control stick (10) and that generates a steering reaction force for the control stick (10). The reaction force generation unit (20) further has: a transmission member (22) that is connected to the control stick (10) and turns together with the control stick (10); a first arm (23) that, upon turning of the control stick (10) in one direction and transmission of the turning through the transmission member (22), turns about an axial center (X2) and displaces the tension spring (26); and a second arm (24) that, upon turning of the control stick (10) in the other direction and transmission of the turning through the transmission member (22), turns about the axial center (X2) and displaces the tension spring (26).

Description

[Technical Field]

[0001] The technology disclosed herein relates to an aircraft flight simulator. [Background technology]

[0002] Conventionally, aircraft control devices have been known that have a mechanism for generating a control reaction force from a control stick or the like in order to provide a sense of control. For example, the control device disclosed in Patent Document 1 includes a cylinder that houses a compression spring and a rod inserted into the cylinder so that it can move back and forth. In this control device, rotation of the control stick moves the rod back and forth from the cylinder, displacing the compression spring. The elastic force of this displaced compression spring acts on the control stick as a control reaction force. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-59293 Summary of the Invention

[0004] When constructing the above-described control device as a simulator for training, it is desirable that the entire device be as compact as possible. However, there is room for improvement in terms of miniaturization of the above-described control device.

[0005] The technology disclosed herein has been made in consideration of the above points, and its purpose is to reduce the size of an aircraft flight simulator.

[0006] The aircraft control simulator disclosed herein includes a control member rotatable in both directions about a first axis, and a reaction force generating unit having an elastic member that is displaced by the rotation of the control member to generate a control reaction force for the control member. The reaction force generating unit further includes a transmission member, a first arm, and a second arm. The transmission member is connected to the control member and rotates together with the control member. When rotation of the control member in one direction is transmitted via the transmission member, the first arm rotates about a second axis extending in the same direction as the first axis, thereby displacing the elastic member. When rotation of the control member in the other direction is transmitted via the transmission member, the second arm rotates about a third axis extending in the same direction as the first axis, thereby displacing the elastic member.

[0007] According to the aircraft flight simulator described above, the size of the device can be reduced. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a left side view showing the schematic configuration of a flight simulator. [Figure 2] FIG. 2 is a schematic diagram showing the control stick of the flight simulator and its surrounding area as viewed from behind. [Figure 3] FIG. 3 is a cross-sectional view taken along line AA shown in FIG. [Figure 4] FIG. 4 is a cross-sectional view taken along the line BB shown in FIG. [Figure 5] FIG. 5 is a cross-sectional view taken along line CC shown in FIG. [Figure 6] FIG. 6 is a diagram corresponding to FIG. 5, showing an example of the operation of the reaction force generator. [Figure 7] FIG. 7 is a diagram corresponding to FIG. 5, showing an example of the operation of the reaction force generator. [Figure 8] FIG. 8 is a graph showing the steering force gradient. [Figure 9] FIG. 9 is a view equivalent to FIG. 5, showing an example of the operation of changing the neutral position. [Figure 10] FIG. 10 is a schematic diagram showing the rudder pedals of the flight simulator and their surroundings as viewed from the left side. [Figure 11] FIG. 11 is a cross-sectional view taken along the line AA shown in FIG. [Figure 12] FIG. 12 is a diagram corresponding to FIG. 11, showing an example of the operation of the reaction force generator. [Figure 13] FIG. 13 is a diagram showing a schematic configuration of a reaction force generator according to another embodiment. [Figure 14] FIG. 14 is a view corresponding to FIG. 13 showing an example of a change operation of the neutral position according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1 is a left side view showing a schematic configuration of a flight simulator 100. FIG.

[0010] The pilot control system 100 of this embodiment is a simulated pilot control system for an aircraft, and is used, for example, for simulated training of an aircraft using a VR space. That is, a pilot or co-pilot, who is a trainee, flies the aircraft in the VR space by operating the pilot control system 100. In this embodiment, the pilot control system 100 is used for simulated training of a helicopter.

[0011] As shown in FIG. 1, the flight simulator 100 includes a housing 1. The space above the housing 1 is a space where a trainee, a pilot or co-pilot, sits in a seat 2 and pilots the aircraft. The seat 2, a collective lever 3, rudder pedals 4, and a control stick 10 are mounted on a top plate 1a of the housing 1. The collective lever 3, rudder pedals 4, and control stick 10 are examples of control members. In this embodiment, for the sake of convenience in the following explanation, the up, down, front, back, left, and right directions of the trainee seated in the seat 2 are defined as the up-down direction, the front-back direction, and the left-right direction, respectively.

[0012] As an example, the collective lever 3 is provided on the left side of the seat 2. The collective lever 3 is used by a pilot or the like to raise or lower the aircraft and to control the aircraft's speed. In other words, by raising or lowering the collective lever 3, the collective lever 3 rotates around a rotation axis provided below the collective lever 3, and this rotational displacement is used as a control input value to cause the aircraft to rise or descend or change its speed.

[0013] The control stick 10 is provided in front of the seat 2 and is positioned between the feet of the pilot or the like. The control stick 10 is also called a cyclic stick and is configured to be tiltable in two directions, the forward / backward direction and the left / right direction. When the pilot or the like tilts the control stick 10 in the forward / backward direction, the nose of the aircraft moves up and down, causing the aircraft to ascend and descend. In other words, when the pilot or the like tilts the control stick 10 in the forward / backward direction, the forward / backward rotation axis provided below the control stick 10 rotates, and this rotational displacement serves as a control input value to cause the aircraft to pitch. When the pilot or the like tilts the control stick 10 in the left / right direction, the aircraft tilts left and right. In other words, when the pilot or the like tilts the control stick 10 in the left / right direction, the left / right rotation axis provided below the control stick 10 rotates, and this rotational displacement serves as a control input value to cause the aircraft to roll.

[0014] The rudder pedals 4 are located at the feet of the pilot, and one for each of the pilot's right and left feet is provided. The pilot operates the rudder pedals 4 by stepping on them with his or her feet to cause the aircraft to oscillate left and right. In other words, by rotating the rudder pedals 4, the aircraft performs a yawing motion.

[0015] In this way, the collective lever 3, rudder pedals 4 and control stick 10 are rotatable in both directions around a predetermined axis by the operation of the pilot or the like.

[0016] Fig. 2 is a schematic diagram showing the control stick 10 and its surroundings of the flight simulator 100 as viewed from behind. Fig. 3 is a cross-sectional view taken along line AA in Fig. 2. Fig. 4 is a cross-sectional view taken along line BB in Fig. 2. Fig. 5 is a cross-sectional view taken along line CC in Fig. 2.

[0017] The flight simulator 100 includes the collective lever 3, rudder pedals 4, and control stick 10 described above, as well as a reaction force generator 20 and a neutral position changer 30 provided corresponding to the rotation axis of each of these control members. All reaction force generators 20 and neutral position changers 30 have the same basic configuration. In this example, the reaction force generator 20 and neutral position changer 30 corresponding to the control stick 10 will be described. Two reaction force generators 20 and neutral position changers 30 corresponding to the control stick 10 are provided, one for tilting in the forward / backward direction and one for tilting in the left / right direction. In this example, the reaction force generator 20 and neutral position changer 30 for tilting in the forward / backward direction of the control stick 10 will be described. In this example, since the collective lever 3 and the rudder pedal 4 each have one rotation axis, there is also one reaction force generating unit 20 and one neutral position changing unit 30 corresponding to each of the collective lever 3 and the rudder pedal 4.

[0018] A part of the control stick 10, the reaction force generating unit 20, and the neutral position changing unit 30 are housed in the housing 1. The same applies to the reaction force generating unit 20 and the neutral position changing unit 30 corresponding to the collective lever 3 and the rudder pedals 4.

[0019] The control stick 10 is rotatable in both directions around the axis X1. The control stick 10 is an axial member that extends in the vertical direction. More specifically, the control stick 10 penetrates the top panel 1a and is provided across the inside and outside of the housing 1. The axis X1 is an example of a first axis.

[0020] A shaft 12 having an axis X1 is provided at the lower end of the control stick 10. Specifically, the shaft 12 is a member extending in the left-right direction. The shaft 12 penetrates the lower end of the control stick 10 and is fixed to the control stick 10. In other words, the control stick 10 is unable to rotate relative to the shaft 12. Thus, the control stick 10 is configured to rotate integrally with the shaft 12 in both directions around the axis X1. In other words, the control stick 10 and the shaft 12 are rotatable in the front-rear direction around the axis X1. The shaft 12 is rotatably supported by a bearing or the like.

[0021] 1, the control stick 10 is provided with an operation switch 11. The operation switch 11 is used by a pilot or the like to instruct a predetermined change operation to a neutral position change unit 30, which will be described later.

[0022] The reaction force generator 20 is a mechanism that generates a control reaction force when a pilot or the like operates the control stick 10, and also a mechanism that returns the control stick 10 to a position where the control stick 10 naturally stops when the pilot or the like releases his or her hands from the control stick 10, i.e., to a neutral state. In this example, the neutral state when described for each configuration state refers to a state in which both a first arm 23 and a second arm 24, which will be described later, are in contact with the transmission member 22, as shown in Figures 2 to 5. Hereinafter, the state in which both the first arm 23 and the second arm 24 are in contact with the transmission member 22 will be referred to as the neutral state.

[0023] 5, the reaction force generator 20 has a tension spring 26 that is displaced by the rotation of the control stick 10 to generate a control reaction force for the control stick 10. Furthermore, the reaction force generator 20 has a transmission member 22, a first arm 23, and a second arm 24.

[0024] The transmission member 22 is connected to the control stick 10 and rotates together with the control stick 10. The transmission member 22 transmits the rotation of the control stick 10 to the first arm 23 or the second arm 24.

[0025] Specifically, the transmission member 22 is a rod-shaped member extending in the same direction as the shaft 12, i.e., in the left-right direction. In this example, the shape of a cross section of the transmission member 22 perpendicular to the axis is circular. The reaction force generating unit 20 further includes a connecting member 21 that connects the transmission member 22 to the shaft 12. In this example, the connecting member 21 is a rod-shaped member extending in the up-down direction. The connecting member 21 has one end, that is, an upper end, connected to one end of the shaft 12, and the other end, that is, a lower end, connected to one end of the transmission member 22. More specifically, the shaft 12 and the transmission member 22 are connected to extend in opposite left-right directions from the connecting member 21. In this example, as shown in FIG. 2 , the shaft 12 is connected to the connecting member 21 so as to extend rightward, and the transmission member 22 is connected to the connecting member 21 so as to extend leftward. In other words, the connecting member 21 is located between the shaft 12 and the transmission member 22 in the direction in which the shaft 12 and the transmission member 22 extend.

[0026] In this way, the transmission member 22 and the shaft 12 are connected via the connecting member 21, and the transmission member 22 is connected to the control stick 10 via the connecting member 21 and the shaft 12. Therefore, the transmission member 22 rotates integrally with the control stick 10 in both directions around the axis X1. More specifically, the transmission member 22 rotates around the axis X1 as the rotation of the control stick 10.

[0027] When rotation of the control stick 10 in one direction is transmitted via the transmission member 22, the first arm 23 rotates about an axis X2 extending in the same direction as the axis X1, displacing the tension spring 26. When rotation of the control stick 10 in the other direction is transmitted via the transmission member 22, the second arm 24 rotates about an axis X2 extending in the same direction as the axis X1, displacing the tension spring 26. The axis X2 corresponds to the second axis and the third axis. In other words, in this example, the second axis and the third axis are mutually shared by the axis X2. Hereinafter, the first arm 23 and the second arm 24 will be simply referred to as arms 23, 24 when there is no need to distinguish between them.

[0028] The first arm 23 and the second arm 24 are members extending in the vertical direction. The first arm 23 and the second arm 24 are arranged side by side in the left-right direction. The first arm 23 and the second arm 24 are formed into an inverted L shape when viewed in the left-right direction. The first end portions 23a, 24a of the first arm 23 and the second arm 24, which are the upper ends, i.e., the portions corresponding to the horizontal bars of the L, overlap in the left-right direction. The portions of the first arm 23 and the second arm 24 other than the first end portions 23a, 24a, i.e., the portions corresponding to the vertical bars of the L, do not overlap in the left-right direction. In other words, the first arm 23 and the second arm 24 are arranged so that the portions other than the first end portions 23a, 24a are adjacent to each other in the rotational direction. In this example, the rotational direction is the front-to-back direction.

[0029] The first arm 23 and the second arm 24 are provided rotatably around the axis X2. Specifically, a common shaft 25 having the axis X2 is provided at the first ends 23a, 24a of the first arm 23 and the second arm 24. Specifically, the shaft 25 is a member extending in the left-right direction. The shaft 25 is provided to penetrate the first ends 23a, 24a of the arms 23, 24. The arms 23, 24 are provided rotatably with respect to the shaft 25. In other words, the first arm 23 and the second arm 24 are rotatable in the front-rear direction. Furthermore, in this example, the axis X2 is coaxial with the axis X1.

[0030] Each of the first arm 23 and the second arm 24 has two recesses: a first recess 23c, 24c and a second recess 23d, 24d. The first recesses 23c, 24c and the second recesses 23d, 24d are provided on surfaces facing each other in the front-rear direction in portions of the first arm 23 and the second arm 24 other than the first ends 23a, 24a. The first recesses 23c, 24c and the second recesses 23d, 24d are provided in order from top to bottom on the arms 23, 24. That is, in this example, the second recesses 23d, 24d are located below the first recesses 23c, 24c. The first recess 23c of the first arm 23 and the first recess 24c of the second arm 24 face each other in the front-rear direction, and the second recess 23d of the first arm 23 and the second recess 24d of the second arm 24 face each other in the front-rear direction.

[0031] The first recesses 23c, 24c are formed, for example, in a semicircular shape when viewed in the left-right direction. The first recesses 23c, 24c are formed in a shape that allows the outer periphery of the transmission member 22 to fit into them in the neutral state. In this example, the cross section of the transmission member 22 perpendicular to the axis is circular, so the first recesses 23c, 24c are formed in a semicircular shape. However, if the cross section of the transmission member 22 perpendicular to the axis is, for example, rectangular, the first recesses 23c, 24c are also formed in a rectangular shape. With this configuration, the first arm 23 and the second arm 24 rotate as the rotation of the control stick 10 is transmitted via the transmission member 22. For example, when the control stick 10 rotates rearward, as shown in FIG. 6, the transmission member 22 rotates around the axis X1 in the same rotational direction as the control stick 10, and the rotation of the transmission member 22 causes the first arm 23 to rotate around the axis X2. Furthermore, when the control stick 10 rotates forward, as shown in Fig. 7, the transmission member 22 rotates around the axis X1 in the same rotational direction as the control stick 10, and the rotation of the transmission member 22 causes the second arm 24 to rotate around the axis X2. The second recesses 23d, 24d are formed, for example, in a semicircular shape when viewed in the left-right direction. The second recesses 23d, 24d are formed in a shape that allows a restricting member 34 of the neutral position changer 30, which will be described later, to fit into them when in the neutral state shown in Fig. 5.

[0032] The tension spring 26 is an example of an elastic member, and is a coil spring. The tension spring 26 is connected to the first arm 23 and the second arm 24. More specifically, the tension spring 26 is connected to the first arm 23 and the second arm 24 via an attachment portion 27. A first end 26a of the tension spring 26 is connected to the first arm 23 via the attachment portion 27, and a second end 26b of the tension spring 26 is connected to the second arm 24 via the attachment portion 27.

[0033] As shown in FIG. 5, in this example, the mounting portion 27 includes a first member 27a, a second member 27b, and an adjustment member 27c. The first member 27a extends in the front-rear direction, which is perpendicular to the up-down direction in which the arms 23 and 24 extend. If the surfaces of the arms 23 and 24 facing each other in the front-rear direction are opposite the surfaces on which the first recesses 23c and 24c and the second recesses 23d and 24d are formed, the first member 27a is a so-called cantilevered rod-like member attached to the arms 23 and 24 so as to protrude outward in the front-rear direction from the arms 23 and 24. The second member 27b is a rod-like member that extends in the same up-down direction as the arms 23 and 24, with one end connected to the outer end of the first member 27a and the other end connected to the adjustment member 27c. For example, a screw hole penetrating in the front-rear direction is provided at the other end of the second member 27b, and the adjustment member 27c is screwed into the screw hole.

[0034] The adjustment member 27c is connected to the first end 26a and the second end 26b of the tension spring 26. The adjustment member 27c is, for example, an adjustment screw, and adjusts the overall length of the tension spring 26 in the neutral state. In other words, the neutral state is a state in which the transmission member 22 is fitted into the first recesses 23c, 24c of both the first arm 23 and the second arm 24.

[0035] In this manner, the tension spring 26 is connected to the first arm 23 and the second arm 24, so that when the first arm 23 and the second arm 24 are rotated by the transmission member 22, the tension spring 26 is displaced. For example, as shown in FIG. 6 , when the first arm 23 is rotated by the transmission member 22, the first end 26a of the tension spring 26 is pulled, causing the tension spring 26 to extend. At this time, the elastic force of the tension spring 26 causes the second arm 24 to rotate in a direction toward the first arm 23, but the rotation is restricted by the restricting member 34, which will be described later, and therefore the second arm 24 does not rotate. Also, as shown in FIG. 7 , when the second arm 24 is rotated by the transmission member 22, the second end 26b of the tension spring 26 is pulled, causing the tension spring 26 to extend. At this time, the elastic force of the tension spring 26 causes the first arm 23 to rotate in a direction toward the second arm 24, but the rotation is restricted by the restricting member 34, which will be described later, and therefore the first arm 23 does not rotate. When the pilot or other person takes their hands off the control stick 10 or relaxes their grip, the elastic force of the tension spring 26 causes the first arm 23 and the second arm 24 to approach each other, and they enter a neutral state.

[0036] In this example, as shown in Fig. 5, the first end 26a and the second end 26b of the tension spring 26 are connected to the outside of the arms 23, 24. Therefore, even if the length of the arms 23, 24 in the front-to-rear direction is small, the length of the tension spring 26 can be increased. This makes it possible to prevent the tension spring 26 from being plastically deformed when the rotation angle of the arms 23, 24 from the neutral state is large. Moreover, because the tension spring 26 is attached by the first member 27a and the second member 27b, which are rod-shaped members, without increasing the size of the arms 23, 24, the weight of the reaction force generator 20 can be prevented from increasing.

[0037] 5, the first end 26a and the second end 26b of the tension spring 26 are hook-shaped, and the tension spring 26 is connected to the adjustment member 27c by hooking the first end 26a and the second end 26b into openings provided in the adjustment member 27c. By replacing the tension spring 26, the desired steering reaction force can be easily obtained.

[0038] The elastic force of the extended tension spring 26 acts as a control reaction force on the control stick 10 via the arms 23, 24 and the transmission member 22. In this way, the tension spring 26 is displaced by the rotation of the control stick 10, generating a control reaction force for the control stick 10.

[0039] In this way, in reaction force generator 20, the rotation of control stick 10 is transmitted by transmission member 22 to rotate first arm 23 and second arm 24, thereby displacing tension spring 26 and generating a steering reaction force. Therefore, compared to a mechanism in which a steering reaction force is generated by displacing an elastic member as a result of a rod being displaced in its axial direction by rotation of the control stick, the operating space for first arm 23, second arm 24, etc. required to generate a steering reaction force is reduced. This allows for the reaction force generator 20 to be made smaller.

[0040] The first arm 23 and the second arm 24 are biased in a direction toward each other by the tension spring 26. More specifically, when the first arm 23 and the second arm 24 are closest to each other, i.e., when the overall length of the tension spring 26 is at its shortest, the tension spring 26 is configured to have a predetermined biasing force, i.e., elastic force. In other words, the overall length of the tension spring 26 in the neutral state is set to be longer than its natural length.

[0041] FIG. 8 is a graph showing the steering force gradient. The steering angle is, for example, the rotation angle of the control stick 10 from the neutral position and neutral state, and the steering force is, for example, the force used to steer the control stick 10 and corresponds to the steering reaction force. The steering force gradient shown by the dotted line in FIG. 8 is the steering force gradient when the total length of the tension spring 26 in the neutral state is set to its natural length, while the steering force gradient shown by the solid line in FIG. 8 is the steering force gradient when the total length of the tension spring 26 in the neutral state is set longer than its natural length. As shown in FIG. 8, by setting the total length of the tension spring 26 in the neutral state longer than its natural length, a breakout force, i.e., a predetermined biasing force at the neutral position, can be ensured compared to when the total length of the tension spring in the neutral state is set to its natural length. By ensuring the breakout force, the aircraft will not move and stability at the neutral position can be achieved even if a pilot or other person unintentionally applies a small force to the control stick 10. Furthermore, when an autopilot system such as AFCS is installed, it is necessary to detect the exact neutral position, but by ensuring breakout force, the detection of the neutral position becomes clear and the pilot is made aware of the point at which to switch to manual control. This allows the aircraft to maintain a trimmed state and fly stably.

[0042] The predetermined biasing force of the tension spring 26 in the neutral state is adjusted by adjusting the overall length of the tension spring 26 with the adjustment member 27c. In other words, the adjustment member 27c is an example of an adjustment mechanism that adjusts the predetermined elastic force of the tension spring 26. For example, if the overall length of the tension spring 26 is increased with the adjustment member 27c, the predetermined biasing force increases. In this example, a threaded hole penetrating in the front-to-rear direction is provided at the other end of the second member 27b, and the adjustment member 27c, which is an adjustment screw, is screwed into this threaded hole. Therefore, by rotating the adjustment member 27c, the overall length of the tension spring 26 can be increased or decreased.

[0043] In addition, in the reaction force generating unit 20, the first arm 23, the second arm 24 and the transmission member 22 are integrally formed so as to be rotatable about the axis X2.

[0044] The neutral position changing unit 30 is a mechanism that adjusts the trim of the aircraft. Trim adjustment refers to adjusting the neutral position of the control stick 10 so that the pilot can control the aircraft and fly it stably. In this example, the position of the control stick 10 when the trim adjustment results in a trim state in which all external forces acting on the aircraft, such as aerodynamic forces and engine output, are balanced, is referred to as the neutral position. When the control stick 10 is in the neutral position, the steering force of the control stick 10 is zero.

[0045] Neutral position changing unit 30 has a restricting member 34 provided between first arm 23 and second arm 24. Restricting member 34 restricts rotation of first arm 23 and second arm 24 in directions that bring them closer to each other, thereby causing the biasing force of tension spring 26 to act on control stick 10 when first arm 23 or second arm 24 is rotated by transmission member 22. In addition, neutral position changing unit 30 changes the neutral position of control stick 10 by rotationally moving restricting member 34 about axis X3.

[0046] Specifically, the neutral position changing unit 30 includes a brake device 31, a shaft 32, a connecting member 33, and a restricting member .

[0047] The shaft 32 has an axis X3 and is rotatable about the axis X3. In this example, the axis X3 is coaxial with the axis X2 and corresponds to the fourth axis. The shaft 32 is a member extending in the left-right direction. The restricting member 34 is a rod-shaped member extending in the same direction as the shaft 32, i.e., in the left-right direction. In this example, the cross-section of the restricting member 34 perpendicular to the axis is circular, but may be other cross-sectional shapes such as rectangular. The connecting member 33 connects the shaft 32 and the restricting member 34. In this example, the connecting member 33 is a rod-shaped member extending in the up-down direction. One end, i.e., an upper end, of the connecting member 33 is connected to one end of the shaft 32, and the other end, i.e., a lower end, is connected to one end of the restricting member 34.

[0048] More specifically, the shaft 32 and the restricting member 34 are connected so as to extend in opposite left and right directions from the connecting member 33. In this example, as shown in Fig. 2, the shaft 32 is connected so as to extend leftward from the connecting member 33, and the restricting member 34 is connected so as to extend rightward from the connecting member 33. In other words, the connecting member 33 is located between the shaft 32 and the restricting member 34 in the direction in which the shaft 32 and the restricting member 34 extend.

[0049] The restricting member 34 configured in this manner is rotatable about the axis X3 integrally with the shaft 32 and the connecting member 33. More specifically, the restricting member 34 is rotatable about the axis X3.

[0050] A shaft 32 is connected to the brake device 31. The brake device 31 is, for example, an electromagnetic type. The brake device 31 is switchable between a restraint state in which the rotational movement of the shaft 32 is restrained and a release state in which the rotational movement of the shaft 32 is released. When the brake device 31 is switched to the restraint state, the rotational movement of the restricting member 34 is restrained, as shown in FIGS. 6 and 7 . Therefore, in this state, the rotation of the first arm 23 and the second arm 24 in a direction toward each other is restricted by the restricting member 34. Therefore, in response to the rotation of the control stick 10, one of the first arm 23 and the second arm 24 rotates, while the rotation of the other is restricted by the restricting member 34 fitted in the second recesses 23d, 24d. This displaces the tension spring 26, generating a control reaction force.

[0051] Furthermore, when the brake device 31 is released, the restricting member 34 is released and becomes rotatable about the axis X3. The rotation of the restricting member 34 about the axis X3 changes the neutral position of the control stick 10. In other words, the neutral position changing unit 30 switches the brake device 31 to the released state to release the rotational movement of the shaft 32, thereby moving the restricting member 34 about the axis X3.

[0052] For example, when rotating the control stick 10 backward, pressing the operation switch 11 once switches the brake device 31 to the released state. This causes the first arm 23 to rotate around the axis X2 by the transmission member 22, as shown in FIG. 9 . At this time, the restricting member 34 is in an unconstrained state, so the second arm 24 is pulled toward the first arm 23 by the elastic force F of the tension spring 26 and rotates together with the restricting member 34 around the axis X2. In other words, the second arm 24 is rotated by the elastic force F of the tension spring 26, and the rotation of the second arm 24 rotates the restricting member 34 around the axis X3. Furthermore, when the brake device 31 switches to the released state, the reaction force generating unit 20 allows the first arm 23, the second arm 24, the transmission member 22, and the tension spring 26 to rotate together around the axis X2 as a unit.

[0053] When the operation switch 11 is then released, the brake device 31 switches to the restrained state. This stops the rotation of the regulating member 34, and the position of the regulating member 34 is fixed. The position of the control stick 10 at this time becomes the new neutral position. In this way, the neutral position of the control stick 10 is changed.

[0054] The pilot simulator 100 also includes an approach state detection sensor 40 that detects whether the first arm 23 and the second arm 24 are in a neutral state based on the proximity state between them, such as the distance, angle, or whether or not there is contact between them. The approach state detection sensor 40 may be any sensor that can detect the proximity state between the first arm 23 and the second arm 24. In this example, the approach state detection sensor 40 is a position detection sensor that is provided on one of the first arm 23 and the second arm 24. In this example, the approach state detection sensor 40 is provided on the second arm 24. More specifically, the approach state detection sensor 40 is attached to the second end 24b, which is the lower end of the second arm 24. The position detection sensor is, for example, a contact-type sensor that detects contact with the second end 23b of the first arm 23. This detection makes it possible to determine whether the control stick 10 is in a neutral state.

[0055] Fig. 10 is a schematic diagram showing the rudder pedal 4 and its surrounding area of ​​the pilot simulator 100 as viewed from the left side. Fig. 11 is a cross-sectional view taken along line AA shown in Fig. 10. Fig. 12 is a view equivalent to Fig. 11, showing an example of the operation of the reaction force generator 20.

[0056] The following describes the connection between the rudder pedals 4 and the reaction force generating units 20 and neutral position changing units 30 corresponding to the rudder pedals 4. In the case of the rudder pedals 4, unlike the control stick 10 and collective lever 3, which are other control members, the rotation axis of the rudder pedals 4 and the connecting member 21 of the reaction force generating units 20 are connected via a link mechanism 42. Here, we will explain the differences from the case of the control stick 10 described above. Hereinafter, when the rudder pedals 4 for the left and right feet are to be distinguished from each other, they will be referred to as the left pedal 4A and the right pedal 4B, respectively.

[0057] Like the control stick 10, the rudder pedals 4 are rotatable in both directions around the axis X1. A shaft 41 having the axis X1 is provided at the lower end of each of the left pedal 4A and the right pedal 4B. The shaft 41 is a member extending in the left-right direction. The shafts 41 of the left pedal 4A and the right pedal 4B are coaxial with each other. The shafts 41 are fixed to the left pedal 4A and the right pedal 4B, respectively. In other words, the rudder pedals 4 are unable to rotate relative to the shafts 41. Thus, the rudder pedals 4 rotate together with the shafts 41 in the forward-backward direction around the axis X1.

[0058] In this example, the link mechanism 42 has a first link 43, a second link 44, a third link 46, a fourth link 47, and two shafts 45, 48. Two first links 43 are provided, one for the left pedal 4A and one for the right pedal 4B. The first links 43 are members extending in the front-rear direction. One end of each of the two first links 43 is rotatably connected to the left pedal 4A and the right pedal 4B, respectively. The other end of each of the two first links 43 is rotatably connected to both ends of a second link 44. The second link 44 is a member extending in the left-right direction. A shaft 45 having an axis X11 is provided at the center of the second link 44. The second link 44 is rotatable around the axis X11, i.e., rotatable relative to the shaft 45. The shaft 45 is a member extending in the up-down direction.

[0059] The third link 46 is a member extending in the front-rear direction. One end of the third link 46 is rotatably connected to one end of the second link 44. In this example, one end of the third link 46 is connected to the end of the second link 44 on the side to which the first link 43 for the left pedal 4A is connected. The other end of the third link 46 is rotatably connected to the fourth link 47. The fourth link 47 is a member extending in the left-right direction. A shaft 48 having an axis X12 is provided at the end of the fourth link 47 opposite to the third link 46. The shaft 48 is a member extending in the up-down direction. The shaft 48 penetrates the fourth link 47 and is fixed to the fourth link 47. The fourth link 47 rotates together with the shaft 48 around the axis X12. In addition, one end of the shaft 48 is fixed to the connecting member 21 of the reaction force generating unit 20. In this example, the axis X12 is coaxial with the axis X2 of the arms 23 and 24. That is, in the case of this rudder pedal 4, unlike the case of the control stick 10 described above, the axis X1 and axis X2 are perpendicular to each other.

[0060] The connecting member 21 has one end connected to the shaft 48 and the other end connected to the transmission member 22. More specifically, the shaft 48 and the transmission member 22 are connected to extend in opposite directions from the connecting member 21. In this example, as shown in FIG. 10 , the shaft 48 is connected to extend downward from the connecting member 21, and the transmission member 22 is connected to extend upward from the connecting member 21. In other words, the connecting member 21 is located between the shaft 48 and the transmission member 22 in the direction in which the shaft 48 and the transmission member 22 extend. The shaft 48, the connecting member 21, and the transmission member 22 rotate integrally around the axis X12.

[0061] In this way, the shaft 41, which is the rotation axis of the rudder pedal 4, and the connecting member 21 of the reaction force generating unit 20 are connected via the link mechanism 42. As a result, in the case of the rudder pedal 4, as in the case of the control stick 10 described above, the transmission member 22 rotates in conjunction with the rotation of the rudder pedal 4, which is the control member, about the axis X1. More specifically, the transmission member 22 rotates about the axis X12. For example, as shown in FIG. 12, when the right pedal 4B is depressed, the second link 44 rotates about the axis X11, and accordingly, the connecting member 21 and the transmission member 22 rotate about the axis X12. As a result, for example, the second arm 24 rotates about the axis X2. In this way, even in the case of the rudder pedal 4 in which the axis X1 and the axis X2 are perpendicular to each other, the rotation of the rudder pedal 4 is transmitted by the transmission member 22, and the arms 23 and 24 rotate. The configurations and operations of the reaction force generating unit 20 and neutral position changing unit 30 of the rudder pedal 4 are the same as those of the control stick 10 described above.

[0062] As described above, the aircraft control simulator 100 includes the control stick 10, which is rotatable in both directions about the first axis (axis X1), and the reaction force generator 20, which has the tension spring 26 that is displaced by the rotation of the control stick 10, generating a control reaction force for the control stick 10. The reaction force generator 20 further includes a transmission member 22 that is connected to the control stick 10 and rotates together with the control stick 10, a first arm 23 that receives rotation of the control stick 10 in one direction via the transmission member 22, thereby rotating about the second axis (axis X2) and displacing the tension spring 26, and a second arm 24 that receives rotation of the control stick 10 in the other direction via the transmission member 22, thereby rotating about a third axis (axis X2) extending in the same direction as the second axis (axis X2), thereby displacing the tension spring 26.

[0063] According to this configuration, in the reaction force generator 20, the rotation of a control member such as the control stick 10 is transmitted by the transmission member 22 to rotate the first arm 23 and the second arm 24, thereby displacing the tension spring 26 and generating a control reaction force. Therefore, compared to a mechanism in which a control reaction force is generated by displacing an elastic member as a result of a rod being displaced in its axial direction by the rotation of the control stick, for example, it is possible to reduce the operating space of the first arm 23, the second arm 24, etc. required to generate a control reaction force. This makes it possible to reduce the size of the reaction force generator 20, and therefore the size of the control simulator 100.

[0064] In the aircraft pilot control simulator 100, the reaction force generating unit 20 is arranged so that the first arm 23 and the second arm 24 are adjacent to each other in the rotational direction and are biased by a tension spring 26 in a direction toward each other. The pilot control simulator 100 further includes a restricting member 34 provided between the first arm 23 and the second arm 24 to restrict the rotation of the first arm 23 and the second arm 24 in a direction toward each other, and a neutral position changing unit 30 that rotates the transmission member 22, the first arm 23, and the second arm 24 together about the first axis, the second axis, and the third axis to change the neutral position of the control stick 10, etc. by rotating the restricting member 34 about a fourth axis (axis X3) that extends in the same direction as the second axis (axis X2).

[0065] According to this configuration, when one of the first arm 23 and the second arm 24 is rotated by the transmission member 22, the rotation of the other is restricted by the restricting member 34, so that the tension spring 26 can be reliably displaced to generate a steering reaction force. The neutral position of the control stick 10 is changed by rotating the restricting member 34, so the neutral position can be changed easily. Furthermore, because the mechanism rotates the restricting member 34, the operating space of the neutral position changing unit 30 required to change the neutral position is reduced. This allows the neutral position changing unit 30, and ultimately the piloting simulator 100, to be made smaller.

[0066] In addition, in the aircraft flight simulator 100, the second axis and the third axis are a common axis (axis center X2).

[0067] This configuration can further reduce the operating space required for the first arm 23 and the second arm 24. This allows for further miniaturization of the device. Also, the number of parts in the reaction force generator 20 can be reduced.

[0068] In addition, in the aircraft flight simulator 100, the first axis (axis center X1) and the common axis (axis center X2) are coaxial.

[0069] According to this configuration, the required operating space for the transmission member 22 connected to the control stick 10 can also be reduced, thereby enabling the device to be made even more compact.

[0070] In addition, the aircraft simulator 100 further includes an approach state detection sensor 40 that detects the neutral state in which the first arm 23 and the second arm 24 are closest to each other based on the approach state between the first arm 23 and the second arm 24.

[0071] According to this configuration, since the neutral position can be detected based on the proximity state between the first arm 23 and the second arm 24, for example, the proximity state detection sensor 40 can be easily attached to the portions of the first arm 23 and the second arm 24 that approach each other. Also, since it is only necessary to detect that the first arm 23 and the second arm 24 have approached each other, the neutral position can be easily detected. Furthermore, since the proximity state detection sensor 40 is easy to attach, it is also easy to replace the proximity state detection sensor 40.

[0072] In addition, in the aircraft flight simulator 100, the tension spring 26 is connected between the first arm 23 and the second arm 24 so as to have a predetermined elastic force in the neutral state.

[0073] With this configuration, the tension spring 26 has a predetermined elastic force when the first arm 23 and the second arm 24 are closest to each other in the neutral state, so a breakout force can be ensured. By ensuring a breakout force, an appropriate control reaction force can be obtained from the start of control from the neutral position of the control stick 10. Therefore, a control feel closer to reality can be obtained in simulated training.

[0074] Furthermore, since breakout force can be ensured, the control stick 10 in the neutral position is less likely to be displaced by a slight external force such as vibration, etc. Therefore, the neutral position of the control stick 10 can be stably maintained.

[0075] In the aircraft piloting simulator 100, the reaction force generating unit 20 further includes an adjustment member 27c that adjusts the predetermined elastic force of the tension spring .

[0076] According to this configuration, the breakout force can be adjusted by adjusting the predetermined elastic force of the tension spring 26. Therefore, it is possible to obtain an appropriate breakout force according to the conditions of the simulated training.

[0077] Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology of the present disclosure is not limited to this and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above embodiment can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0078] For example, the pilot control system 100 can be used as a pilot control system for aircraft other than helicopters, and the pilot control system 100 can also be used as a pilot control system for moving objects other than aircraft.

[0079] Furthermore, the elastic member is one tension spring 26 connected to the first arm 23 and the second arm 24, but the technology of the present disclosure is not limited to this. For example, the elastic member may be a compression spring provided on the outer side of each of the first arm 23 and the second arm 24.

[0080] Furthermore, the proximity detection sensor 40 is not limited to a position detection sensor, and may be, for example, a non-contact sensor. As the non-contact sensor, for example, a distance sensor such as a laser is used, and the sensor may be provided at a location other than the lower end of the arms 23, 24 or at a location other than the arms 23, 24.

[0081] Although the second and third axes are a common axis, i.e., axis center X2, they may be separate axes. Furthermore, axis center X2, which is the common axis, and axis center X1, which is the first axis, do not have to be coaxial.

[0082] Furthermore, multiple adjustment members 27c may be provided in the vertical direction. By changing the adjustment member 27c that connects the first end 26a and the second end 26b of the tension spring 26, the steering force gradient can be changed without replacing the tension spring 26 itself.

[0083] Alternatively, a plurality of screw holes may be provided in the second member 27b, and the steering force gradient may be changed by changing the screw hole into which the adjustment member 27c is screwed.

[0084] Also, a mechanism may be provided to change the length of the arms 23, 24, the vertical distance from the axis X1 to the axis of the transmission member 22, and the vertical distance from the axis X3 to the axis of the regulating member 34. By changing the lengths and distances, the steering force gradient can be changed without replacing the tension spring 26 itself.

[0085] In addition, the reaction force generating unit 20 or the neutral position changing unit 30 can be applied to control members other than the collective lever 3, the rudder pedals 4, and the control stick 10, which have a rotation axis and for which it is desirable to generate a control reaction force, or which perform trim adjustment.

[0086] Furthermore, the configuration of the arms 23, 24 in the reaction force generator 20 may be changed as follows. Fig. 13 is a diagram showing a schematic configuration of the reaction force generator 20 according to another embodiment. Fig. 14 is a diagram corresponding to Fig. 13 showing an example of a neutral position changing operation according to another embodiment.

[0087] In this modified example, the two arms 23, 24 have different rotation centers when rotating while the neutral position is maintained and when rotating to change the neutral position. Each of the two arms 23, 24 has its own rotation center when rotating while the neutral position is maintained. Specifically, as shown in FIG. 13 , the first arm 23 is rotatable about an axis X4, and the second arm 24 is rotatable about an axis X5 different from the axis X4. A shaft 25a having the axis X4 is provided at the first end 23a of the first arm 23, and a shaft 25b having the axis X5 is provided at the first end 24a of the second arm 24. In this modified example, the axis X4 is an example of the second axis, and the axis X5 is an example of the third axis.

[0088] The reaction force generator 20 of this modified example has a base 28 that connects the first arm 23 and the second arm 24. The base 28 is a member that extends in the front-rear direction, and the first arm 23 and the second arm 24 are connected to both ends of the base 28, respectively. Specifically, shafts 25a and 25b are provided at both ends of the base 28, respectively. The shafts 25a and 25b may be fixed to the base 28 or may be rotatably provided. The base 28 is rotatable about an axis X6 that is different from the axes X4 and X5. A shaft 25c having the axis X6 is provided in the center of the base 28. In this configuration, when the base 28 rotates about the axis X6, the two arms 23 and 24 also rotate about the axis X6.

[0089] In the reaction force generator 20 configured in this manner, as shown in Figure 13, when the brake device 31 is in a braking state, the transmission member 22 rotates in response to the rotation of the control stick 10, and as a result, for example, the first arm 23 rotates around the axis X4. This displaces the tension spring 26, generating a steering reaction force. At this time, the rotation of the second arm 24 toward the first arm 23, i.e., the rotation of the second arm 24 around the axis X5, is restricted by the restricting member 34.

[0090] Furthermore, when the brake device 31 is released, the restricting member 34 is released and becomes rotatable. The rotation of the restricting member 34 changes the neutral position of the control stick 10. When the brake device 31 is switched to the released state while rotating the control stick 10, the restricting member 34 is released. Therefore, for example, the first arm 23 attempts to rotate around the axis X4 by the transmission member 22, while the second arm 24 is pulled toward the first arm 23 by the elastic force of the tension spring 26 and attempts to rotate around the axis X5. In other words, both the first arm 23 and the second arm 24 attempt to rotate together. As a result, as shown in FIG. 14 , the first arm 23 and the second arm 24 cannot rotate around the axis X4 and the axis X5, respectively, and instead rotate together with the base 28 around the axis X6. Then, as in the previous embodiment, the position of the restricting member 34 is fixed by switching the brake device 31 to the blocked state. In this way, the neutral position of the control stick 10 is changed. The other configurations, actions and effects are the same as those of the above embodiment.

[0091] Furthermore, two sets of the flight simulator 100 of the above embodiment may be prepared and placed side by side in the left-right direction, in which case both the pilot and co-pilot can carry out flight simulation training at the same time.

Claims

1. a control member rotatable in both directions about a first axis; a reaction force generating unit having an elastic member that is displaced by rotation of the control member and generates a control reaction force of the control member, The reaction force generator is a transmission member connected to the control member and rotating with the control member; a first arm that rotates about a second axis and displaces the elastic member when one-way rotation of the control member is transmitted via the transmission member; a second arm that rotates about a third axis extending in the same direction as the second axis and displaces the elastic member when the rotation of the control member in the other direction is transmitted via the transmission member, An aircraft piloting simulator, wherein the first arm and the second arm are members having a shape that extends in an up-down direction perpendicular to the second axis and the third axis, which are common axes, when the first arm and the second arm are in a neutral state in which the first arm and the second arm are closest to each other.

2. 2. The aircraft flight simulator according to claim 1, The reaction force generating unit is an aircraft simulator in which the first arm and the second arm are arranged adjacent to each other in the rotational direction and are biased in directions toward each other by the elastic member.

3. 3. The aircraft flight simulator according to claim 1, an aircraft simulator having a restricting member provided between the first arm and the second arm that restricts rotation of the first arm and the second arm in a direction in which they approach each other, and a neutral position changing unit that changes the neutral position of the control member by rotating the restricting member around a fourth axis that extends in the same direction as the second axis, thereby rotating the transmission member, the first arm, and the second arm together around the first axis, the second axis, and the third axis.

4. 3. The aircraft flight simulator according to claim 1, An aircraft flight simulator, wherein the first axis and the common axis are coaxial.

5. 3. The aircraft flight simulator according to claim 1, The aircraft flight simulator further comprises a proximity detection sensor that detects the neutral state based on a proximity state between the first arm and the second arm.

6. 3. The aircraft flight simulator according to claim 1, An aircraft flight simulator, wherein the elastic member is connected between the first arm and the second arm so as to have a predetermined elastic force in the neutral state.

7. 7. The aircraft flight simulator according to claim 6, The reaction force generating unit further includes an adjustment mechanism that adjusts the predetermined elastic force of the elastic member.

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