CN112810801A - Control device, vertical take-off and landing aircraft and control method - Google Patents
Control device, vertical take-off and landing aircraft and control method Download PDFInfo
- Publication number
- CN112810801A CN112810801A CN202110260885.9A CN202110260885A CN112810801A CN 112810801 A CN112810801 A CN 112810801A CN 202110260885 A CN202110260885 A CN 202110260885A CN 112810801 A CN112810801 A CN 112810801A
- Authority
- CN
- China
- Prior art keywords
- frame box
- rotating shaft
- aircraft
- handle
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/04—Initiating means actuated personally
- B64C13/042—Initiating means actuated personally operated by hand
- B64C13/0421—Initiating means actuated personally operated by hand control sticks for primary flight controls
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention belongs to the technical field of flight control, and discloses a control device, a vertical take-off and landing aircraft and a control method, wherein in the control device, a lifting control mechanism is rotationally connected to a handle to control the aircraft to lift; the first rotating shaft is rotatably connected to the handle and is respectively positioned at two ends of the handle together with the lifting control mechanism, and the handle can control the aircraft to move horizontally relative to the rotation of the first rotating shaft; the transverse control mechanism rotates relative to the second rotating shaft and can control the aircraft to adjust the course; first frame box slides and is located the slide rail and in order to control aircraft translation from beginning to end, and under the rotor mode, the mechanism can drive first frame box and slide and return well along the direction of setting for of slide rail in the axial, and under the fixed wing mode, damping mechanism can hinder first frame box and slide along the direction of setting for of slide rail. The control device can control the aircraft in a rotor wing mode and a fixed wing mode, is simple in structure, can effectively avoid control errors of a pilot, and can save the physical power of the pilot.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a control device, a vertical take-off and landing aircraft and a control method.
Background
The VTOL aircraft has the characteristics of rotor aircraft and fixed wing aircraft concurrently, and its manipulation mode needs can adapt to the operating characteristics under two kinds of modes of rotor mode and fixed wing mode. The design purpose of the control device of the vertical take-off and landing aircraft is to meet the control concept and control logic of two modes, reduce control devices to reduce control load and avoid human errors caused by mode switching. The existing vertical take-off and landing aircraft is complex in structure, inconvenient to operate and large in physical consumption of pilots, and the existing operating device easily causes operating errors of the pilots.
Disclosure of Invention
The invention aims to provide an operating device, a vertical take-off and landing aircraft and an operating method, and aims to solve the problems that the vertical take-off and landing aircraft is complex in structure, inconvenient to operate, large in physical consumption of a pilot and prone to causing misoperation of the pilot due to the operating device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a steering apparatus for steering a VTOL aerial vehicle, the aerial vehicle having a rotor mode and a fixed-wing mode, comprising: the device comprises a handle, a lifting control mechanism, a transverse control mechanism, a course control mechanism, an axial centering mechanism and a damping mechanism;
in a fixed wing mode or a rotor wing mode, the lifting control mechanism is rotationally connected with the handle, and the lifting control mechanism can control the aircraft to lift and lower through rotating relative to the handle; the transverse control mechanism comprises a first rotating shaft, the first rotating shaft is rotatably connected to the handle and is respectively positioned at two ends of the handle together with the lifting control mechanism, and the handle can control the aircraft to translate left and right relative to the rotation of the first rotating shaft; the course control mechanism comprises a first frame box and a second rotating shaft which is rotatably arranged on the first frame box, the transverse control mechanism is rotatably connected to the second rotating shaft, and the transverse control mechanism rotates relative to the second rotating shaft and can control the aircraft to adjust the course; the axial manipulation mechanism comprises a slide rail, and the first frame box is slidably arranged on the slide rail to manipulate the aircraft to translate forwards and backwards;
follow the extending direction of slide rail, the axial go back well mechanism with damping mechanism set up respectively in the both ends of slide rail and equal transmission connect in first frame box, under the rotor mode, the axial goes back well mechanism and can drive first frame box is followed the direction of setting for of slide rail slides and goes back well, under the stationary vane mode, damping mechanism can hinder first frame box is followed the direction of setting for of slide rail slides.
Preferably, the axial manipulation mechanism further comprises a displacement sensor for monitoring a sliding distance of the first frame box along the slide rail.
Preferably, the handle comprises a handle body and a first connecting rod fixedly connected to the handle body, the lifting operating mechanism comprises an operating rod and two second connecting rods fixedly connected to two ends of the operating rod respectively, the other ends of the two second connecting rods are rotatably connected to the handle body respectively, and the first rotating shaft is rotatably connected to the first connecting rod.
Preferably, the operating device further comprises a first angle sensor and a lifting and centering mechanism, the first angle sensor is used for monitoring the rotation angle of the operating lever relative to the handle body, the lifting and centering mechanism is arranged in the handle body and is in transmission connection with one of the second connecting rods, and the lifting and centering mechanism can drive the operating lever to rotate back.
Preferably, the transverse control mechanism further comprises a second frame box, the second frame box is provided with two opposite and spaced first through holes, the first connecting rod is provided with a second through hole, and the first rotating shaft sequentially penetrates through one of the first through holes, the second through hole and the other first through hole and is rotatably connected with the second frame box.
Preferably, the operating device further comprises a second angle sensor and a transverse centering mechanism, the second angle sensor is used for monitoring the rotating angle of the first connecting rod relative to the first rotating shaft, the transverse centering mechanism is arranged on the side wall of the second frame box and is in transmission connection with the first rotating shaft, and the transverse centering mechanism can drive the first rotating shaft to rotate back.
Preferably, the first frame box is provided with a third through hole, the second frame box is further provided with a fourth through hole, and the second rotating shaft sequentially penetrates through the third through hole and the fourth through hole and is rotatably connected to the second frame box.
Preferably, the operating device further comprises a third angle sensor and a heading centering mechanism, the third angle sensor is used for monitoring the rotation angle of the second frame box relative to the second rotating shaft, the heading centering mechanism is arranged on the bottom wall of the second frame box and is in transmission connection with the second rotating shaft, and the heading centering mechanism can drive the second rotating shaft to rotate in a centering manner.
A vertical take-off and landing aircraft comprises the control device.
A control method is based on the vertical take-off and landing aircraft and comprises the following steps:
when the lifting control mechanism rotates relative to the handle, the aircraft is controlled to lift;
when the handle rotates relative to the first rotating shaft, the aircraft is controlled to translate left and right;
when the transverse control mechanism rotates relative to the second rotating shaft, the aircraft is controlled to adjust the course;
when the first frame box slides along the slide rail, the aircraft is operated to translate back and forth;
switching to the rotor mode;
the axial centering mechanism controls the first frame box to be centered when driving the first frame box to slide along the set direction of the slide rail;
switching to a fixed wing mode;
the damping mechanism blocks the first frame box from sliding along the set direction of the slide rail.
The invention has the beneficial effects that:
the invention aims to provide a control device, a vertical take-off and landing aircraft and a control method, which are used for controlling the vertical take-off and landing aircraft, wherein the control device comprises a handle, a lifting control mechanism, a transverse control mechanism, a course control mechanism, an axial centering mechanism and a damping mechanism; the lifting control mechanism is rotationally connected with the handle, and the lifting control mechanism can control the aircraft to lift by rotating relative to the handle; the transverse control mechanism comprises a first rotating shaft, the first rotating shaft is rotatably connected to the handle and is respectively positioned at two ends of the handle together with the lifting control mechanism, and the handle can control the aircraft to move horizontally relative to the first rotating shaft in a rotating manner; the course control mechanism comprises a first frame box and a second rotating shaft which is rotatably arranged on the first frame box, the transverse control mechanism is rotatably connected to the second rotating shaft, and the transverse control mechanism rotates relative to the second rotating shaft and can control the aircraft to adjust the course; the axial control mechanism comprises a sliding rail, the first frame box is located on the sliding rail in a sliding mode to enable the sliding rail to move back and forth in order to control the aircraft, the axial centering mechanism and the damping mechanism are arranged at two ends of the sliding rail respectively and are connected to the first frame box in a transmission mode, the axial centering mechanism can drive the first frame box to slide and return in the set direction of the sliding rail in a rotor mode, and the damping mechanism can block the first frame box from sliding in the set direction of the sliding rail in a fixed wing mode. When the aircraft is in a fixed wing mode, the control device can control the aircraft to realize lifting, left-right translation, front-back translation and course adjustment, and when the aircraft is in a rotor wing mode, the control device can also control the aircraft to realize lifting, left-right translation, front-back translation and course adjustment; meanwhile, in the rotor mode, the axial centering mechanism can drive the first frame box to slide and center along the set direction of the sliding rail, so that the first frame box can effectively center in the rotor mode, and in the fixed-wing mode, the damping mechanism can provide friction force to prevent the first frame box from sliding along the set direction of the sliding rail, so that the aircraft can normally run in the fixed-wing mode.
Drawings
FIG. 1 is a schematic view of a portion of an exemplary embodiment of an operator;
FIG. 2 is an exploded view of an operator provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an operating device according to an embodiment of the present invention.
In the figure:
1. a handle; 11. a handle body; 12. a first link; 121. a second through hole;
2. a lifting control mechanism; 21. a joystick; 22. a second link;
31. a first rotating shaft; 32. a second frame box; 321. a first through hole; 322. a fourth via hole;
41. a first frame box; 411. a third through hole; 42. a second rotating shaft;
51. a slide rail;
61. an axial centering mechanism; 62. a damping mechanism;
7. a lifting and centering mechanism;
8. a transverse centering mechanism;
9. a course centering mechanism;
10. a housing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The invention provides a control device, a vertical take-off and landing aircraft and a control method, as shown in figures 1-3, the control device is used for controlling the vertical take-off and landing aircraft and comprises a handle 1, a lifting control mechanism 2, a transverse control mechanism, a course control mechanism, an axial centering mechanism 61 and a damping mechanism 62; the lifting control mechanism 2 is rotationally connected with the handle 1, and the lifting control mechanism 2 can control the aircraft to lift by rotating relative to the handle 1; the transverse control mechanism comprises a first rotating shaft 31, the first rotating shaft 31 is rotatably connected to the handle 1 and is respectively positioned at two ends of the handle 1 together with the lifting control mechanism 2, and the aircraft can be controlled to move horizontally by the rotation of the handle 1 relative to the first rotating shaft 31; the course control mechanism comprises a first frame box 41 and a second rotating shaft 42 which is rotatably arranged on the first frame box 41, the transverse control mechanism is rotatably connected to the second rotating shaft 42, and the transverse control mechanism rotates relative to the second rotating shaft 42 to control the aircraft to adjust the course; the axial control mechanism includes a slide rail 51, the first frame box 41 is located in the slide rail 51 in a sliding manner to control the aircraft to move back and forth, and along the extending direction of the slide rail 51, the axial centering mechanism 61 and the damping mechanism 62 are respectively arranged at two ends of the slide rail 51 and are in transmission connection with the first frame box 41, in a rotor mode, the axial centering mechanism 61 can drive the first frame box 41 to slide and return along the set direction of the slide rail 51, and in a fixed wing mode, the damping mechanism 62 can block the first frame box 41 from sliding along the set direction of the slide rail 51. When the aircraft is in a fixed wing mode, the control device can control the aircraft to realize lifting, left-right translation, front-back translation and course adjustment, and when the aircraft is in a rotor wing mode, the control device can also control the aircraft to realize lifting, left-right translation, front-back translation and course adjustment; meanwhile, in the rotor mode, the axial centering mechanism 61 can drive the first frame box 41 to slide and center along the set direction of the slide rail 51, so as to ensure that the first frame box 41 can effectively center in the rotor mode, and in the fixed-wing mode, the damping mechanism 62 can provide friction to prevent the first frame box 41 from sliding along the set direction of the slide rail 51, so that the aircraft can normally run in the fixed-wing mode.
Optionally, as shown in fig. 1 and 2, the axial manipulation mechanism further includes a displacement sensor for monitoring the sliding distance of the first frame box 41 along the slide rail 51. In this embodiment, the operating device further includes a central processing unit, specifically, the displacement sensor monitors the sliding distance of the first frame box 41 along the sliding rail 51, in the rotor mode, the displacement sensor sends a signal to the central processing unit, the central processing unit controls the axial centering mechanism 61 to work according to the signal sent by the displacement sensor, and the axial centering mechanism 61 drives the first frame box 41 to slide and center along the set direction of the sliding rail 51; under the fixed wing mode, the displacement sensor sends the signal to central processing unit, and central processing unit controls damping mechanism 62 work according to the signal that displacement sensor sent, and damping mechanism 62 hinders first frame box 41 and slides along the direction of setting for of slide rail 51 to make the aircraft can normally travel in the fixed wing mode, can effectively avoid the pilot to appear manipulating the mistake under two kinds of flight modes, can save pilot's physical power.
Alternatively, as shown in fig. 1 to 3, the handle 1 includes a handle body 11 and a first link 12 fixedly connected to the handle body 11, the lifting operation mechanism 2 includes an operation lever 21 and two second links 22 fixedly connected to two ends of the operation lever 21, the other ends of the two second links 22 are rotatably connected to the handle body 11, and the first rotating shaft 31 is rotatably connected to the first link 12. The two second links 22 are fixedly connected to two ends of the operating lever 21, respectively, and it can be understood that the operating lever 21 can rotate relative to the handle body 11, rotate relative to the handle body 11 by operating the operating lever 21 to operate the lifting of the aircraft, and rotate relative to the first rotating shaft 31 by operating the second links 22 to operate the left-right translation of the aircraft.
Optionally, as shown in fig. 1 and fig. 2, the operating device further includes a first angle sensor for monitoring a rotation angle of the operating lever 21 relative to the handle body 11, and a lift-and-return mechanism 7 disposed in the handle body 11 and drivingly connected to one of the second connecting rods 22, wherein the lift-and-return mechanism 7 can drive the operating lever 21 to return to the neutral position. Specifically, through setting up first angle sensor, first angle sensor monitors the relative handle body 11 pivoted angle of second connecting rod 22, and first angle sensor is with signal transmission to central processing unit, and central processing unit goes up and down to go back mechanism 7 work according to the signal control that first angle sensor sent, goes up and down to go back mechanism 7 and drives second connecting rod 22 and rotate and go back well around handle body 11, simple structure, the manipulation of being convenient for. It can be understood that when the going-back mechanism 7 drives the second link 22 to rotate around the handle body 11, the operating rod 21 is driven to rotate around the handle body 11.
Optionally, as shown in fig. 1 and fig. 2, the transverse operating mechanism further includes a second frame box 32, two opposite and spaced first through holes 321 are disposed on the second frame box 32, the second through hole 121 is disposed on the first link 12, and the first rotating shaft 31 sequentially passes through one first through hole 321, the second through hole 121 and the other first through hole 321 and is rotatably connected to the second frame box 32. Rotate to realize first connecting rod 12 and connect in first pivot 31, first pivot 31 rotates and connects in second frame box 32, rotates through manipulating first connecting rod 12 relative first pivot 31 to control the aircraft and carry out left and right translation, simple structure, convenient operation can have the physical power of saving the pilot.
Optionally, as shown in fig. 1 and fig. 2, the manipulating device further includes a second angle sensor for monitoring the rotation angle of the first link 12 relative to the first rotating shaft 31, and a transverse centering mechanism 8 disposed on a side wall of the second frame box 32 and drivingly connected to the first rotating shaft 31, wherein the transverse centering mechanism 8 can drive the first rotating shaft 31 to rotate. Specifically, through setting up second angle sensor, second angle sensor monitors the relative first pivot 31 pivoted angle of first connecting rod 12 to with signal transmission to central processing unit, central processing unit transversely returns mechanism 8 work according to the signal control that second angle sensor sent, transversely returns mechanism 8 and drives first pivot 31 and rotate and return well relative second frame box 32, simple structure, the manipulation of being convenient for.
Alternatively, as shown in fig. 1 and 2, the first frame box 41 is provided with a third through hole 411, the second frame box 32 is further provided with a fourth through hole 322, and the second rotating shaft 42 sequentially passes through the third through hole 411 and the fourth through hole 322 and is rotatably connected to the second frame box 32. The second rotating shaft 42 is rotatably connected to the first frame box 41, and the first frame box 41 is operated to rotate relative to the second rotating shaft 42 so as to control the aircraft to adjust the course.
Optionally, as shown in fig. 1 and fig. 2, the manipulating device further includes a third angle sensor for monitoring the angle of rotation of the second frame box 32 relative to the second rotating shaft 42, and a heading centering mechanism 9, the heading centering mechanism 9 is disposed on the bottom wall of the second frame box 32 and is drivingly connected to the second rotating shaft 42, and the heading centering mechanism 9 can drive the second rotating shaft 42 to rotate. Specifically, through setting up third angle sensor, third angle sensor monitors the relative second pivot 42 pivoted angle of second frame box 32 to with signal transmission to central processing unit, central processing unit transversely returns mechanism 8 work according to the signal control that third angle sensor sent, transversely returns mechanism 8 and drives first pivot 31 and rotate and return well relative second frame box 32, simple structure, the manipulation of being convenient for.
A vertical take-off and landing aircraft comprises the control device.
In the present embodiment, as shown in fig. 3, a housing 10 is further included. The case 10 is used to house the manipulation device, so that the manipulation device can be protected and the aesthetic appearance of the manipulation device can be improved.
A method of manipulation, comprising the steps of:
when the lifting control mechanism 2 rotates relative to the handle 1, the aircraft is controlled to lift. Specifically, one end of each of the two second links 22 is fixedly connected to each of the two ends of the control lever 21, the other end of each of the two second links 22 is rotatably connected to the handle body 11, and the control lever 21 is rotated relative to the handle body 11 to control the aircraft to ascend and descend; first angle sensor monitors the relative handle body 11 pivoted angle of second connecting rod 22, and first angle sensor sends signal transmission to central processing unit, and central processing unit goes up and down to go back mechanism 7 work according to the signal control that first angle sensor sent, goes up and down to go back mechanism 7 and drives second connecting rod 22 and rotate around handle body 11 and go back well.
When the handle 1 rotates relative to the first rotating shaft 31, the aircraft is operated to translate left and right. Specifically, the handle 1 comprises a handle body 11 and a first link 12 fixedly connected to the handle body 11, the first link 12 is rotatably connected to a first rotating shaft 31, and the first link 12 is operated relative to the first rotating shaft 31 to operate the aircraft to translate left and right; the second angle sensor monitors the rotation angle of the first connecting rod 12 relative to the first rotating shaft 31 and sends a signal to the central processing unit, the central processing unit controls the transverse centering mechanism 8 to work according to the signal sent by the second angle sensor, and the transverse centering mechanism 8 drives the first rotating shaft 31 to rotate relative to the second frame box 32 and to be centered.
When the transverse steering mechanism rotates relative to the second rotating shaft 42, the aircraft is steered to adjust the heading. Specifically, the transverse rotating mechanism comprises a second frame box 32, a second rotating shaft 42 is rotatably connected to the second frame box 32, and the second frame box 32 is operated to rotate relative to the second rotating shaft 42 so as to operate the aircraft to adjust the heading; the third angle sensor monitors the rotation angle of the second frame box 32 relative to the second rotating shaft 42 and sends a signal to the central processing unit, the central processing unit controls the course centering mechanism 9 to work according to the signal sent by the third angle sensor, and the course centering mechanism 9 drives the second frame box 32 to rotate relative to the second rotating shaft 42 and to be centered.
The first frame box 41 operates the aircraft to translate fore and aft as it slides along the slide rails 51. Specifically, in the extending direction of the slide rail 51, the first frame box 41 is operated to slide along the slide rail 51 to operate the aircraft to translate back and forth.
When the rotor mode is switched, the axial centering mechanism 61 drives the first frame box 41 to slide along the set direction of the slide rail 51, and controls the first frame box 41 to center. Specifically, the displacement sensor monitors the sliding distance of the first frame box 41 along the set direction of the slide rail 51, the displacement sensor sends a signal to the central processing unit, the central processing unit controls the axial centering mechanism 61 to work according to the signal sent by the displacement sensor, and the axial centering mechanism 61 drives the first frame box 41 to slide along the slide rail 51 and to be centered.
The mode is switched to the fixed-wing mode, and the damping mechanism 62 blocks the first frame case 41 from sliding in the setting direction of the slide rail 51. Specifically, the displacement sensor monitors the sliding distance of the first frame box 41 along the direction opposite to the set direction of the slide rail 51, the displacement sensor sends a signal to the central processing unit, the central processing unit controls the damping mechanism 62 to operate according to the signal sent by the displacement sensor, and the damping mechanism 62 hinders the first frame box 41 from sliding along the direction opposite to the set direction of the slide rail 51, so that the aircraft can normally run in the fixed wing mode.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A steering apparatus for steering a VTOL aerial vehicle, the aerial vehicle having a rotor mode and a fixed-wing mode, comprising: the device comprises a handle (1), a lifting control mechanism (2), a transverse control mechanism, a course control mechanism, an axial centering mechanism (61) and a damping mechanism (62);
in a fixed wing mode or a rotor wing mode, the lifting control mechanism (2) is rotationally connected with the handle (1), and the lifting control mechanism (2) can control the aircraft to lift by rotating relative to the handle (1); the transverse control mechanism comprises a first rotating shaft (31), the first rotating shaft (31) is rotatably connected to the handle (1) and is respectively positioned at two ends of the handle (1) together with the lifting control mechanism (2), and the aircraft can be controlled to translate left and right by the rotation of the handle (1) relative to the first rotating shaft (31); the course control mechanism comprises a first frame box (41) and a second rotating shaft (42) which is rotatably arranged on the first frame box (41), the transverse control mechanism is rotatably connected to the second rotating shaft (42), and the transverse control mechanism rotates relative to the second rotating shaft (42) to control the aircraft to adjust the course; the axial manipulation mechanism comprises a sliding rail (51), and the first frame box (41) is slidably positioned on the sliding rail (51) to manipulate the aircraft to translate forwards and backwards;
follow the extending direction of slide rail (51), axial go back in mechanism (61) with damping mechanism (62) set up respectively in the both ends of slide rail (51) and all transmission connect in first frame box (41), under the rotor mode, axial go back in mechanism (61) can drive first frame box (41) are followed slide rail (51) set for the direction slip and go back in, under the fixed wing mode, damping mechanism (62) can hinder first frame box (41) are followed slide rail (51) set for the direction slip.
2. The handling device according to claim 1, wherein the axial handling mechanism further comprises a displacement sensor for monitoring the distance the first frame box (41) slides along the slide (51).
3. The operating device according to claim 1, wherein the handle (1) comprises a handle body (11) and a first connecting rod (12) fixedly connected to the handle body (11), the lifting operating mechanism (2) comprises an operating rod (21) and two second connecting rods (22) fixedly connected to two ends of the operating rod (21), the other ends of the two second connecting rods (22) are respectively and rotatably connected to the handle body (11), and the first rotating shaft (31) is rotatably connected to the first connecting rod (12).
4. The operating device according to claim 3, further comprising a first angle sensor for monitoring the angle of rotation of the operating lever (21) relative to the handle body (11), and a lift-and-return mechanism (7), wherein the lift-and-return mechanism (7) is disposed in the handle body (11) and is drivingly connected to one of the second links (22), and wherein the lift-and-return mechanism (7) is capable of driving the operating lever (21) to return.
5. The operating device according to claim 3, wherein the transverse operating mechanism further comprises a second frame box (32), the second frame box (32) is provided with two opposite and spaced first through holes (321), the first connecting rod (12) is provided with a second through hole (121), and the first rotating shaft (31) sequentially passes through one of the first through holes (321), the second through hole (121) and the other first through hole (321) and is rotatably connected with the second frame box (32).
6. The handling device according to claim 5, characterised in that it further comprises a second angle sensor for monitoring the angle of rotation of said first link (12) with respect to said first rotation axis (31), and a transversal centering mechanism (8), said transversal centering mechanism (8) being arranged on a side wall of said second frame box (32) and being drivingly connected to said first rotation axis (31), said transversal centering mechanism (8) being able to drive said first rotation axis (31) to rotate back.
7. The handling device according to claim 5, wherein said first box (41) is provided with a third through hole (411), said second box (32) is further provided with a fourth through hole (322), and said second shaft (42) passes through said third through hole (411) and said fourth through hole (322) in sequence and is rotatably connected to said second box (32).
8. The operating device according to claim 7, further comprising a third angle sensor and a heading centering mechanism (9), wherein the third angle sensor is used for monitoring the rotation angle of the second frame box (32) relative to the second rotating shaft (42), the heading centering mechanism (9) is arranged on the bottom wall of the second frame box (32) and is in transmission connection with the second rotating shaft (42), and the heading centering mechanism (9) can drive the second rotating shaft (42) to rotate back.
9. A VTOL aerial vehicle comprising the steering device of any one of claims 1-8.
10. A method of maneuvering, characterized in that the vtol aerial vehicle of claim 9, comprises the steps of:
when the lifting control mechanism (2) rotates relative to the handle (1), the aircraft is controlled to lift;
when the handle (1) rotates relative to the first rotating shaft (31), the aircraft is controlled to translate left and right;
when the transverse control mechanism rotates relative to the second rotating shaft (42), the aircraft is controlled to adjust the course;
the first frame box (41) is operated to translate back and forth when sliding along the sliding rail (51);
switching to the rotor mode;
when the axial centering mechanism (61) drives the first frame box (41) to slide along the set direction of the slide rail (51), the first frame box (41) is controlled to be centered;
switching to a fixed wing mode;
the damping mechanism (62) blocks the first frame case (41) from sliding in a set direction of the slide rail (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110260885.9A CN112810801A (en) | 2021-03-10 | 2021-03-10 | Control device, vertical take-off and landing aircraft and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110260885.9A CN112810801A (en) | 2021-03-10 | 2021-03-10 | Control device, vertical take-off and landing aircraft and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112810801A true CN112810801A (en) | 2021-05-18 |
Family
ID=75863084
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110260885.9A Pending CN112810801A (en) | 2021-03-10 | 2021-03-10 | Control device, vertical take-off and landing aircraft and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112810801A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114882760A (en) * | 2022-05-07 | 2022-08-09 | 北京领为军融科技有限公司 | Universal throttle platform base for air combat confrontation simulation training system |
-
2021
- 2021-03-10 CN CN202110260885.9A patent/CN112810801A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114882760A (en) * | 2022-05-07 | 2022-08-09 | 北京领为军融科技有限公司 | Universal throttle platform base for air combat confrontation simulation training system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101731010B1 (en) | Anti-torque tail rotor for a rotorcraft providing lift and propulsion in translation | |
| KR100919066B1 (en) | Remote control ornithopter | |
| EP2631173B1 (en) | Coaxial counter-rotating rotor system | |
| EP2464567B1 (en) | Tilt-rotor aircraft | |
| CN202115700U (en) | Integrated maneuvering system for airplane with V-shaped empennage | |
| CN104527975A (en) | Dual-redundancy propeller pitch sub-control operation system of coaxial type unmanned helicopter | |
| CN106794731A (en) | For the heading control loop and method of hybrid aerial and traffic above-ground delivery vehicle | |
| CA2856907C (en) | Rotorcraft rotor including primary pitch horns and secondary horns | |
| US2829721A (en) | Directional control system for rotary wing aircraft having contra-rotating load-carrying rotors | |
| JP5260779B1 (en) | Coaxial reversal unmanned helicopter | |
| CN102765482B (en) | Integrated V-shaped empennage maneuvering system for airplane | |
| EP1533012A1 (en) | Toy radio-controlled helicopter | |
| CN112810801A (en) | Control device, vertical take-off and landing aircraft and control method | |
| CN101134506A (en) | Helicopter rotor control mechanism | |
| CN205554580U (en) | Coaxial two rotor system of aircraft are with cycle distance and differential cycle apart from manipulation link | |
| CN214420696U (en) | Operating device and vertical take-off and landing aircraft | |
| JP2002316699A (en) | Coaxial reverse rotation type helicopter | |
| CN110539881B (en) | Unmanned autorotation gyroplane control system | |
| CN113443136A (en) | Tilting mechanism of multi-connecting-rod rotor aircraft and working method of tilting mechanism | |
| CN116788509A (en) | Tilting mechanism of rotor craft | |
| CN214420695U (en) | Aircraft control device and aircraft | |
| CN100391791C (en) | Unmanned helicopter operation system | |
| CN101941365B (en) | Personal triphibious transport tool | |
| CN208053623U (en) | A kind of operating mechanism of titling coaxial bispin wing aircraft | |
| CN1583511B (en) | Rotor blade and dual-rotor on wing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |