CN103810917A - Arm changing type moment feedback control device of training plane - Google Patents
Arm changing type moment feedback control device of training plane Download PDFInfo
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- CN103810917A CN103810917A CN201410035001.XA CN201410035001A CN103810917A CN 103810917 A CN103810917 A CN 103810917A CN 201410035001 A CN201410035001 A CN 201410035001A CN 103810917 A CN103810917 A CN 103810917A
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Abstract
The invention provides an arm changing type moment feedback control device of a training plane. The arm changing type moment feedback control device comprises a mechanical system and a control system, wherein the mechanical system and the control system comprise a driving rod, a connection rod of the driving rod, two sets of arm changing mechanisms, a spring, a computer and a driving rod potentiometer, each of the arm changing mechanisms comprises a motor, a drive wheel, a gear, a screw rod, a screw rod bracket, a sliding block, a position feedback multiturn potentiometer and an installation bracket of the position feedback multiturn potentiometer, the motor drives the screw rod to rotate to change and combine spring force arms, and spring forces acted on the driving rod are matched with plane dynamic pressure data so as to obtain corresponding longitudinal operation forces during a flight process and stimulate a relationship between the longitudinal operation forces and control surface rotation angles and aerodynamic force. According to the arm changing type moment feedback control device of the training plane, zero moment point regulation is achieved, the driving rod can be controlled to stay at any longitudinal position, the moment of operation of the driving rod by the flight personnel is zero, the driving rod can be released to maintain current states, and driving fatigue can be relieved and eliminated, and high fidelity, stability and smoothness of force simulation of the driving rod are achieved; the arm changing type moment feedback control device is simple in structure, high in reliability and capable of improving training efficiency.
Description
Technical field
The present invention relates to schoolaeroplane flight simulation technical field, particularly relate to a kind of arm-type torque-feedback regulating device of change of schoolaeroplane.
Background technology
In elementary and basic trainer, jociey stick is to link together by the elevating rudder of mechanical mechanism and aircraft, and in flight course along with air speed and variation highly, the power acting on elevating rudder can be transmitted on jociey stick by mechanism again.Along with the opening in the low spatial domain of China, the personnel of application flight driving license constantly increase, and the effect of simulated training particularly highlights in flight training.But the longitudinal mechanism of jociey stick of existing schoolaeroplane flight simulator adopts damper to simulate mostly, can not be very true to nature force feedback process is provided.Its weak point is: moment variations scope is little, and complete manipulation process can not be provided; Moment variations is discontinuous, makes aircrew have to correct and handle custom on true aircraft, causes training effectiveness to decline; Moment variations speed is slow, may cause aircrew to handle excessive, affects flight safety; Lack simulation elevating rudder trim (point of zero moment adjusting) process, can not alleviate and eliminate aircrew's driving fatigue.
Summary of the invention
The object of the invention is to solve the deficiency of the above-mentioned analog form of schoolaeroplane flight simulator, a kind of arm-type torque-feedback regulating device of change of schoolaeroplane is provided.
The formation of the arm-type torque-feedback regulating device of change of a kind of schoolaeroplane of the present invention comprises mechanical system and control system;
Being constructed as follows of I, mechanical system: first connecting rod two ends are connected by screw bolt and nut and can rotate with the lower end of jociey stick and the mounting bracket lower end of change arm mechanism respectively;
The bottom of jociey stick is fixed on the first fixed support and can be rotated around this rotating shaft by the first rotating shaft;
The structure that first set becomes arm mechanism and the second cover change arm mechanism is identical, is symmetrically placed in respectively the both sides up and down of mounting bracket, rotates around the second rotating shaft;
first set becomes arm mechanismthe first slide block be threaded connection on the first leading screw, the first slide block can move up and down along the first leading screw;
The upper end of the first leading screw is connected with the bearing of the first leading screw upper bracket, and the first leading screw upper end extending shaft is connected with the first gear, and the first gear is connected with the second gear, and the second gear is connected on the axle of primary importance feedback potentiometer;
The lower end of the first leading screw is connected with the bearing on the first leading screw lower carriage, the first leading screw lower end extending shaft is connected with the first power wheel, the first power wheel is connected by the first driving belt with the second power wheel, the second power wheel is connected on the axle of the first motor, and the first motor is fixed on mounting bracket;
The first travel switch is connected with the first leading screw upper bracket, and the second travel switch is connected with the first leading screw lower carriage, and the first leading screw upper bracket, the first leading screw undercarriage are all fixed on mounting bracket;
One end of the first spring is connected on the first slide block, and the other end is connected to the top of spring base; The first spring is identical with the second spring;
the second cover becomes arm mechanismthe second slide block be threaded connection on the second leading screw, the second slide block can move up and down along the second leading screw;
The upper end of the second leading screw is connected with the bearing on the second leading screw upper bracket, the second leading screw upper end extending shaft is connected with the 3rd power wheel, the 3rd power wheel is connected by the second driving belt with the 4th power wheel, the 4th power wheel is connected on the axle of the second motor, and the second motor is fixed on mounting bracket;
The lower end of the second leading screw is connected with the bearing of the second leading screw lower carriage, and the second leading screw lower end extending shaft is connected with the 4th gear, and the 4th gear is connected with the 3rd gear, and the 3rd gear is connected on the axle of second place feedback potentiometer;
Fourth line journey switch is connected with the second leading screw upper bracket, and the second leading screw upper bracket is connected with mounting bracket;
Third trip switch is connected with the second leading screw lower carriage, and the second leading screw lower carriage is connected with mounting bracket;
One end of the second spring is connected on the second slide block, and the other end is connected to the bottom of spring base;
The middle part of mounting bracket is bearing seat, and the second rotating shaft is level and is placed in the bearing of bearing seat; One end of second connecting rod and the upper end of mounting bracket are rotationally connected and can be rotated by screw bolt and nut, the other end of second connecting rod is connected with the brush pole of the right-hand member of jociey stick potentiometer, and the left end of jociey stick potentiometer is connected by screw bolt and nut with the second fixed support.
A kind of arm-type torque-feedback regulating device of change of schoolaeroplane, when push-and-pull jociey stick, by first connecting rod transmission, can make mounting bracket drive first set to become arm mechanism rotates together with the second rotating shaft with the second cover change arm mechanism, drive the brush of jociey stick potentiometer to slide simultaneously, gather the voltage in push-and-pull jociey stick process.
The first slide block and the second slide block by thread bush on leading screw, when the first motor and the second motor difference independent rotation, drive respectively the first leading screw and the second leading screw to rotate through the first power wheel, the second power wheel and the 3rd power wheel, the 4th power wheel, thereby make the first slide block and the translation on leading screw respectively of the second inner slide; Feed back the brush axle rotation of potentiometer and second place feedback potentiometer simultaneously through the first gear, the second gear and the 3rd gear, the 4th gear driven primary importance, change resistance value, feed back magnitude of voltage thereby change position.Primary importance feeds back potentiometer and second place feedback potentiometer employing resistance is 10K Ω, the multiturn potentiometer that rotational travel 10 is enclosed.It is upper that one end of the first spring and the second spring hangs over spring base (36), is fixed; Its other end is hung on first slide block and the second slide block of the first leading screw and the second leading screw, moves with slide block.
the formation of II control system comprise (as shown in Figure 2)
:jociey stick potentiometer (38), trim microswitch (40), first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp, the first motor (12), the second motor (21), primary importance feed back potentiometer (6) and the second place feeds back potentiometer (29);
Trim microswitch (40) is arranged on the head of jociey stick (33), and has elasticity, pulls while pressure and connects, and looses one's grip and disconnects; Jociey stick potentiometer (38), trim microswitch (40) are all connected with first interface, first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp connect in turn, and amplifier also becomes the primary importance feedback potentiometer (6) of arm mechanism with first set and the second place of the second cover change arm mechanism feeds back potentiometer (29), the first motor (12), the second motor (21) is connected;
Wherein, the output voltage of jociey stick potentiometer (38) is defeated by the first interface (be called for short mould and enter amount) of computing machine (41) as analog quantity, the voltage signal of trim microswitch (40) is given the first interface (abbreviation intake) of computing machine (41) as switching value; Computing machine (41) is a switching value (the abbreviation amount of outputing) and two analog quantitys (being called for short mould output) through the second interface output, the amount of outputing is for controlling trimmer neutral position signal lamp, and mould output is used for controlling respectively the first motor (12), the second motor (21).
Suppose in-flight speed and highly constant, when jociey stick (33) is during in neutral position, the first spring (34) and all states in suitable stretching of the second spring (35), its elastic force equates, the moment that they act on the second rotating shaft (15) also equates.
Awing, in the time of pilot's post-tensioning or stick-forword movement (33), can find out from Fig. 1, this will make mounting bracket (14) and be arranged on all parts clockwise or counterclockwise rotation around the second rotating shaft (15) above it, thereby make the first spring (34) or the second spring (35) relatively stretch or shrink, the difference of two elastic force forms moment of elasticity to the second rotating shaft (15), to revolt operating torque.In the time that operating torque equals moment of elasticity and moment of friction, jociey stick (33) rests on a certain position.Draw or push away in the process of jociey stick, the voltage gathering by jociey stick potentiometer (38), calculates lifting rudder face corner, draw or to push away the angle of jociey stick larger, lifting rudder face corner is also larger, and moment of elasticity is just larger, therefore simulates the relation of steering force and rudder face corner.
The aerodynamic force of aircraft is to be simulated by the flying quality module of computing machine.In the time that aircraft true speed is zero, aerodynamic force is that zero, the first slide block (1) and the second slide block (25) are all parked in the innermost end near the second rotating shaft (15), arm of force minimum now, even push-and-pull jociey stick (33), its moment of elasticity is also very little.In the time that aircraft true speed is non-vanishing, aerodynamic force is also non-vanishing; True speed is larger, or atmospheric density is larger, two aerodynamic force mould outputs of computer export are also larger, these two mould outputs drive respectively the first motor (12) and the second motor (21) to drive the first leading screw (2) and the second leading screw (23) to rotate after amplifier amplifies, and then drive respectively the first slide block (1) and the second slide block (25) to move laterally, the arm of force increases, and moment also just increases; The brush that the first motor (12) and the second motor (21) also drive primary importance to feed back potentiometer (6) and second place feedback potentiometer (29) simultaneously moves, when its feedback voltage signal equates with mould output, motor stall, it is motionless that the first slide block (1) and the second slide block (25) remain on certain position; Be that aerodynamic force is larger, the arm of force and moment are also just larger.Like this, even if the push-and-pull angle of jociey stick (33) remains unchanged, if aerodynamic force is larger, will increase operating torque, could with moment of elasticity balance, thereby simulated steering force and aerodynamic relation.
In addition; the first travel switch, the second travel switch and third trip switch, fourth line journey switch have also been installed respectively in the two ends of the first leading screw (2) and the second leading screw (23); when the first slide block and the second slide block movement are when near extreme position; the first travel switch (7), the second travel switch (9) and third trip switch (24), fourth line journey switch (22) disconnect the first motor (12), the second motor (21) circuit, to protect motor and gear train.
2. point of zero moment regulates
If aircraft flies so that a certain speed is flat, assumed initial state is that jociey stick (33) has pulled back certain angle, at this moment become arm mechanism and also turned clockwise an angle, the first slide block (1) and the second slide block (25) a certain centre position in leading screw respectively, and two arm of forces equate, but the elastic force of the first spring (34) is larger, the elastic force of the second spring (35) is smaller, pilot's operating torque just in time with moment of elasticity balance.
In the time that pilot pulls trim microswitch (40) downwards, open into signal and give computing machine (41), computing machine (41) is just exported two mould outputs, drive respectively the first motor (12) and the second motor (21) to rotate, the first slide block (1) and the second slide block (25) are all moved downward, the arm of force of the second spring (35) increases, and the elastic force of the second spring (35) increases, and the arm of force of the first spring (34) reduces, the elastic force of the first spring (34) reduces, its effect is to help pilot to draw jociey stick (33), and pilot just can Song Dianli.In the time that trim microswitch (40) has been connected a period of time, two arm of forces differ to a certain extent, and Liang Zu mechanism moment of elasticity is just in time equal, and at this moment pilot just can loose one's grip completely, still remain on current location and become arm mechanism, laid down pilot's manipulation load.
beneficial effect:the arm-type torque-feedback regulating device of change of a kind of schoolaeroplane of the present invention comprises mechanical system and control system.Having point of zero moment regulates.Routing motion by two slide blocks on leading screw, can control jociey stick and rest on longitudinal any position, and the moment that now aircrew operates the joystick is zero.Can unclamp jociey stick, jociey stick keeps standing state, thereby alleviates and eliminated driving fatigue.
The arm-type torque-feedback regulating device of change of a kind of schoolaeroplane of the present invention has realized the high fidelity of control force emulation and has stablized level and smooth requirement.This device has scientific structure design, rational in infrastructure, computer control, and reliability is high, and the demand that cost is low, meet flight training completely, has improved training effectiveness.
Accompanying drawing explanation
Fig. 1 is the formation schematic diagram of the mechanical system of the arm-type torque-feedback regulating device of the change of a kind of schoolaeroplane of the present invention.
Fig. 2 is the formation schematic diagram of the control system of the arm-type torque-feedback regulating device of the change of a kind of schoolaeroplane of the present invention.
Fig. 3 is the software flow pattern of the arm-type torque-feedback regulating device of the change of a kind of schoolaeroplane of the present invention.
Embodiment
Being constructed as follows of embodiment 1 I, mechanical system (as shown in Figure 1): as shown in Figure 1, first connecting rod (30) two ends are rotationally connected and can be rotated by screw bolt and nut with the lower end of jociey stick (33) and mounting bracket (14) lower end that becomes arm mechanism respectively;
The bottom of jociey stick (33) is fixed on the first fixed support (32) above by the first rotating shaft (31) and can rotates around this rotating shaft;
The structure that first set becomes arm mechanism and the second cover change arm mechanism is identical, is symmetrically placed in respectively the both sides up and down of mounting bracket (14), rotates around the second rotating shaft (15);
first set becomes arm mechanismthe first slide block (1) be threaded connection at the first leading screw (2) above, the first slide block can move up and down along the first leading screw;
The upper end of the first leading screw (2) is connected with the bearing of the first leading screw upper bracket (3), the first leading screw upper end extending shaft is connected with the first gear (4), the first gear (4) is connected with the second gear (5), and the second gear (5) is connected on the axle of primary importance feedback potentiometer (6);
The lower end of the first leading screw (2) is connected with the bearing on the first leading screw lower carriage (8), the first leading screw lower end extending shaft is connected with the first power wheel (10), the first power wheel (10) is connected by the first driving belt (13) with the second power wheel (11), the second power wheel (11) is connected on the axle of the first motor (12), and the first motor (12) is fixed on mounting bracket (14);
The first travel switch (7) is connected with the first leading screw upper bracket (3), and the second travel switch (9) is connected with the first leading screw lower carriage (8), and the first leading screw upper bracket (3), the first leading screw undercarriage (8) are all fixed on mounting bracket (14);
It is upper that one end of the first spring (34) is connected to the first slide block (1), and the other end is connected to the top of spring base (36); The first spring (34) is identical with the second spring (1);
the second cover becomes arm mechanismthe second slide block (25) be threaded connection at the second leading screw (23) above, the second slide block can move up and down along the second leading screw;
The upper end of the second leading screw (23) is connected with the bearing on the second leading screw upper bracket (20), the second leading screw upper end extending shaft is connected with the 3rd power wheel (17), the 3rd power wheel (17) is connected by the second driving belt (18) with the 4th power wheel (19), the 4th power wheel (19) is connected on the axle of the second motor (21), and the second motor (21) is fixed on mounting bracket (14);
The lower end of the second leading screw (23) is connected with the bearing of the second leading screw lower carriage (26), the second leading screw lower end extending shaft is connected with the 4th gear (28), the 4th gear (28) is connected with the 3rd gear (27), and the 3rd gear (27) is connected on the axle of second place feedback potentiometer (29);
Fourth line journey switch (22) is connected with the second leading screw upper bracket (20), and the second leading screw upper bracket (20) is connected with mounting bracket (14);
Third trip switch (24) is connected with the second leading screw lower carriage (26), and the second leading screw lower carriage (26) is connected with mounting bracket (14);
It is upper that one end of the second spring (35) is connected to the second slide block (25), and the other end is connected to the bottom of spring base (36);
The middle part of mounting bracket (14) is bearing seat (16), and the second rotating shaft (15) is level and is placed in the bearing of bearing seat (16); One end of second connecting rod (39) is connected by screw bolt and nut and can rotates with the upper end of mounting bracket (14), the other end of second connecting rod (39) is connected with the brush pole of the right-hand member of jociey stick potentiometer (38), and the left end of jociey stick potentiometer (38) is connected by screw bolt and nut with the second fixed support (37).
A kind of arm-type torque-feedback regulating device of change of schoolaeroplane, when push-and-pull jociey stick (33), by first connecting rod (30) transmission, can make mounting bracket (14) drive first set to become arm mechanism rotates together with the second rotating shaft (15) with the second cover change arm mechanism, drive the brush of jociey stick potentiometer (38) to slide simultaneously, gather the voltage in push-and-pull jociey stick process.
The first slide block (1) and the second slide block (25) are enclosed within respectively on the first leading screw (2) by screw thread, (25 and second on leading screw (23) for the second slide block, when the first motor (12) and the second motor (21) difference independent rotation, drive respectively the first leading screw and the second leading screw to rotate through the first power wheel (10), the second power wheel (11) and the 3rd power wheel (17), the 4th power wheel (19), thereby make the first slide block (1) and the second slide block (25) upper mobile at the first leading screw (2) and the second leading screw (23) respectively; Drive primary importance to feed back potentiometer (6) and the second place to feed back the brush axle rotation of potentiometer (29) through the one the first gears (4), the second gear (5), the 3rd gear (27), the 4th gear (28) simultaneously, change resistance value, feed back magnitude of voltage thereby change position.Primary importance feeds back potentiometer (6) and second place feedback potentiometer (29) employing resistance is 10K Ω, the multiturn potentiometer that rotational travel 10 is enclosed.It is upper that one end of the first spring (34) and the second spring (35) hangs over spring base (36), is fixed; Its other end is hung on first slide block (1) and the second slide block (25) of the first leading screw (2) and the second leading screw (23), respectively with the first slide block (1) and the second slide block (25) motion.
being constructed as follows of II control system:as shown in Figure 2, jociey stick potentiometer (38), trim microswitch (40), first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp, the first motor (12), the second motor (21), primary importance feed back potentiometer (6) and second place feedback potentiometer (29);
Trim microswitch (40) is arranged on the head of jociey stick (33), and has elasticity, pulls while pressure and connects, and looses one's grip and disconnects; Jociey stick potentiometer (38), trim microswitch (40) are all connected with first interface, first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp connect in turn, and amplifier also becomes the primary importance feedback potentiometer (6) of arm mechanism with first set and the second place of the second cover change arm mechanism feeds back potentiometer (29), the first motor (12), the second motor (21) is connected;
Wherein, the output voltage of jociey stick potentiometer (38) is defeated by the first interface (be called for short mould and enter amount) of computing machine (41) as analog quantity, the voltage signal of trim microswitch (40) is given the first interface (abbreviation intake) of computing machine (41) as switching value; Computing machine (41) is a switching value (the abbreviation amount of outputing) and two analog quantitys (being called for short mould output) through the second interface output, the amount of outputing is for controlling trimmer neutral position signal lamp, and mould output is used for controlling respectively the first motor (12), the second motor (21).
Suppose in-flight speed and highly constant, when jociey stick (33) is during in neutral position, the first spring (34) and all states in suitable stretching of the second spring (35), its elastic force equates, the moment that they act on the second rotating shaft (15) also equates.
Awing, in the time of pilot's post-tensioning or stick-forword movement (33), can find out from Fig. 1, this will make mounting bracket (14) and be arranged on all parts clockwise or counterclockwise rotation around the second rotating shaft (15) above it, thereby make the first spring (34) or the second spring (35) relatively stretch or shrink, the difference of two elastic force forms moment of elasticity to the second rotating shaft (15), to revolt operating torque.In the time that operating torque equals moment of elasticity and moment of friction, jociey stick (33) rests on a certain position.Draw or push away in the process of jociey stick, the voltage gathering by jociey stick potentiometer (38), calculates lifting rudder face corner, draw or to push away the angle of jociey stick larger, lifting rudder face corner is also larger, and moment of elasticity is just larger, therefore simulates the relation of steering force and rudder face corner.
The aerodynamic force of aircraft is to be simulated by the flying quality module of computing machine (41).In the time that aircraft true speed is zero, aerodynamic force is that zero, the first slide block (1) and the second slide block (25) are all parked in the innermost end near the second rotating shaft (15), arm of force minimum now, even push-and-pull jociey stick (33), its moment of elasticity is also very little.In the time that aircraft true speed is non-vanishing, aerodynamic force is also non-vanishing; True speed is larger, or atmospheric density is larger, two aerodynamic force mould outputs of computer export are also larger, these two mould outputs drive respectively the first motor (12) and the second motor (21) to drive the first leading screw (2) and the second leading screw (23) to rotate after amplifier amplifies, and then drive respectively the first slide block (1) and the second slide block (25) to move laterally, the arm of force increases, and moment also just increases; The brush that the first motor (12) and the second motor (21) also drive primary importance to feed back potentiometer (6) and second place feedback potentiometer (29) simultaneously moves, when its feedback voltage signal equates with mould output, motor stall, it is motionless that the first slide block (1) and the second slide block (25) remain on certain position; Be that aerodynamic force is larger, the arm of force and moment are also just larger.Like this, even if the push-and-pull angle of jociey stick (33) remains unchanged, if aerodynamic force is larger, will increase operating torque, could with moment of elasticity balance, thereby simulated steering force and aerodynamic relation.
In addition; the first travel switch, the second travel switch and third trip switch, fourth line journey switch have also been installed respectively in the two ends of the first leading screw (2) and the second leading screw (23); when the first slide block and the second slide block movement are when near extreme position; the first travel switch (7), the second travel switch (9) and third trip switch (24), fourth line journey switch (22) disconnect the first motor (12), the second motor (21) circuit, to protect motor and gear train.
Computing machine (41) runs software program (software flow as shown in Figure 3); Introduce this software program below:
Does step 130, judge that V1 adds V2 and is less than V3? if so,
2. point of zero moment regulates
If aircraft flies so that a certain speed is flat, assumed initial state is that jociey stick (33) has pulled back certain angle, at this moment become arm mechanism and also turned clockwise an angle, the first slide block (1) and the second slide block (25) a certain centre position in leading screw respectively, and two arm of forces equate, but the elastic force of the first spring (34) is larger, the elastic force of the second spring (35) is smaller, pilot's operating torque just in time with moment of elasticity balance.
In the time that pilot pulls trim microswitch (40) downwards, open into signal and give computing machine (41), computing machine (41) is just exported two mould outputs, drive respectively the first motor (12) and the second motor (21) to rotate, the first slide block (1) and the second slide block (25) are all moved downward, the arm of force of the second spring (35) increases, and the elastic force of the second spring (35) increases, and the arm of force of the first spring (34) reduces, the elastic force (34) of the first spring reduces, its effect is to help pilot to draw jociey stick (33), and pilot just can Song Dianli.In the time that trim microswitch (40) has been connected a period of time, two arm of forces differ to a certain extent, and Liang Zu mechanism moment of elasticity is just in time equal, and at this moment pilot just can loose one's grip completely, still remain on current location and become arm mechanism, laid down pilot's manipulation load.
Claims (2)
1. the arm-type torque-feedback regulating device of the change of schoolaeroplane, is characterized in that comprising mechanical system and control system;
Being constructed as follows of I, mechanical system: first connecting rod (30) two ends are connected by screw bolt and nut and can rotate with the lower end of jociey stick (33) and mounting bracket (14) lower end of change arm mechanism respectively;
The bottom of jociey stick (33) is fixed on the first fixed support (32) above by the first rotating shaft (31) and can rotates around this rotating shaft;
The structure that first set becomes arm mechanism and the second cover change arm mechanism is identical, is symmetrically placed in respectively the both sides up and down of mounting bracket (14), rotates around the second rotating shaft (15);
first set becomes arm mechanismthe first slide block (1) be threaded connection at the first leading screw (2) above, the first slide block can move up and down along the first leading screw;
The upper end of the first leading screw (2) is connected with the bearing of the first leading screw upper bracket (3), the first leading screw upper end extending shaft is connected with the first gear (4), the first gear (4) is connected with the second gear (5), and the second gear (5) is connected on the axle of primary importance feedback potentiometer (6);
The lower end of the first leading screw (2) is connected with the bearing on the first leading screw lower carriage (8), the first leading screw lower end extending shaft is connected with the first power wheel (10), the first power wheel (10) is connected by the first driving belt (13) with the second power wheel (11), the second power wheel (11) is connected on the axle of the first motor (12), and the first motor (12) is fixed on mounting bracket (14);
The first travel switch (7) is connected with the first leading screw upper bracket (3), and the second travel switch (9) is connected with the first leading screw lower carriage (8), and the first leading screw upper bracket (3), the first leading screw lower carriage (8) are all fixed on mounting bracket (14);
It is upper that one end of the first spring (34) is connected to the first slide block (1), and the other end is connected to the top of spring base (36); The first spring (34) is identical with the second spring (1);
the second cover becomes arm mechanismthe second slide block (25) be threaded connection at the second leading screw (23) above, the second slide block can move up and down along the second leading screw;
The upper end of the second leading screw (23) is connected with the bearing on the second leading screw upper bracket (20), the second leading screw upper end extending shaft is connected with the 3rd power wheel (17), the 3rd power wheel (17) is connected by the second driving belt (18) with the 4th power wheel (19), the 4th power wheel (19) is connected on the axle of the second motor (21), and the second motor (21) is fixed on mounting bracket (14);
The lower end of the second leading screw (23) is connected with the bearing of the second leading screw lower carriage (26), the second leading screw lower end extending shaft is connected with the 4th gear (28), the 4th gear (28) is connected with the 3rd gear (27), and the 3rd gear (27) is connected on the axle of second place feedback potentiometer (29);
Fourth line journey switch (22) is connected with the second leading screw upper bracket (20), and the second leading screw upper bracket (20) is connected with mounting bracket (14);
Third trip switch (24) is connected with the second leading screw lower carriage (26), and the second leading screw lower carriage (26) is connected with mounting bracket (14);
It is upper that one end of the second spring (35) is connected to the second slide block (25), and the other end is connected to the bottom of spring base (36);
The middle part of mounting bracket (14) is bearing seat (16), and the second rotating shaft (15) is level and is placed in the bearing of bearing seat (16);
One end of second connecting rod (39) is connected by screw bolt and nut and can rotates with the upper end of mounting bracket (14), the other end of second connecting rod (39) is connected with the brush pole of the right-hand member of jociey stick potentiometer (38), and the left end of jociey stick potentiometer (38) is connected by screw bolt and nut with the second fixed support (37).
2.
being constructed as follows of II control system: jociey stick potentiometer (38), trim microswitch (40), first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp, the first motor (12), the second motor (21), primary importance feed back potentiometer (6) and the second place feeds back potentiometer (29); Computing machine (41) operating software;
Trim microswitch (40) is arranged on the head of jociey stick (33), and has elasticity, pulls while pressure and connects, and looses one's grip and disconnects; Jociey stick potentiometer (38), trim microswitch (40) are all connected with first interface, first interface, computing machine (41), the second interface, amplifier, trimmer neutral position signal lamp connect in turn, and amplifier also becomes the primary importance feedback potentiometer (6) of arm mechanism with first set and the second place of the second cover change arm mechanism feeds back potentiometer (29), the first motor (12), the second motor (21) is connected;
Wherein, the output voltage of jociey stick potentiometer (38) is defeated by the first interface (be called for short mould and enter amount) of computing machine (41) as analog quantity, the voltage signal of trim microswitch (40) is given the first interface (abbreviation intake) of computing machine (41) as switching value; Computing machine (41) is a switching value (the abbreviation amount of outputing) and two analog quantitys (being called for short mould output) through the second interface output, the amount of outputing is for controlling trimmer neutral position signal lamp, and mould output is used for controlling respectively the first motor (12), the second motor (21).
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