CN118683730A - Aircraft and its directional control devices - Google Patents

Abstract

The invention provides an aircraft and a direction control device thereof, wherein the direction control device comprises a mounting support, a left pedal connecting rod, a right pedal connecting rod, a left foot operation assembly of a left driver, a right foot operation assembly of a left driver, a left foot operation assembly of a right driver, a right foot operation assembly of a right driver, a rudder, a left pedal coordination pull rod, a right pedal coordination pull rod, a coordination rocker arm and an output pull rod; the second end of the left pedal coordination pull rod is hinged with the first end of the coordination rocker arm, and the second end of the right pedal coordination pull rod is hinged with the second end of the coordination rocker arm; the middle part of the coordination rocker arm is provided with a rocker arm middle hinge shaft extending in the vertical direction, and the coordination rocker arm can swing around the rocker arm middle hinge shaft; the two ends of the output pull rod are respectively hinged on the coordination rocker arm and the rudder. The direction control device can simultaneously realize the ground and water surface direction control of the amphibious aircraft, ensure the independence of the ground and water surface control, has simple structure, is safe and reliable, and simultaneously saves cost and weight.

Description

Aircraft and its directional control devices

Technical Field

The present invention relates to the field of aircraft, in particular to an aircraft and a direction control device thereof.

Background Art

How to achieve simple and safe operation of the ground and water direction control systems of amphibious aircraft without increasing the pilot's operation workload and psychological burden has always been a difficult problem to solve for amphibious aircraft.

In large amphibious aircraft, two sets of devices are generally used to operate ground direction control and water surface direction control respectively, or one set of devices is used to automatically control the water surface direction control function according to different control laws by measuring the pilot's heading control device.

However, in light amphibious aircraft, the above design will not only bring about problems of increased weight and uncontrollable costs, but also the system is complex and the probability of failure is high. Therefore, it cannot meet the requirements of ground and water surface directional control of light amphibious aircraft in terms of cost, weight and safety.

Summary of the invention

The first purpose of the present invention is to provide an aircraft directional control device, which can simultaneously realize the ground and water surface directional control of an amphibious aircraft, ensure the independence of ground and water surface control, have a simple structure, be safe and reliable, and save cost and weight.

A second object of the present invention is to provide an aircraft using the above-mentioned directional control device.

To achieve the above-mentioned first purpose, the present invention provides a direction control device, including a mounting support, a left pedal connecting rod, a right pedal connecting rod, a left driver's left foot operating assembly, a left driver's right foot operating assembly, a right driver's left foot operating assembly, a right driver's right foot operating assembly, a rudder, a left pedal coordination rod, a right pedal coordination rod, a coordination rocker arm and an output rod; the left pedal connecting rod and the right pedal connecting rod can be rotatably mounted on the mounting support; the left driver's left foot operating assembly and the right driver's left foot operating assembly are connected through the left pedal connecting rod, and the left driver's right foot operating assembly and the right driver's right foot operating assembly are connected through the right pedal connecting rod; the left The first end of the pedal coordination rod is connected to the left pedal connecting rod, the second end of the left pedal coordination rod is hinged to the first end of the coordination rocker arm, the first end of the right pedal coordination rod is connected to the right pedal connecting rod, the second end of the right pedal coordination rod is hinged to the second end of the coordination rocker arm, and the left pedal coordination rod and the right pedal coordination rod both extend along the front-back direction; a rocker arm middle hinge shaft extending in the vertical direction is provided in the middle part of the coordination rocker arm, and the coordination rocker arm can swing around the rocker arm middle hinge shaft; the two ends of the output rod are respectively hinged to the coordination rocker arm and the rudder, and the output rod is connected to a position close to the first end of the coordination rocker arm or close to the second end of the coordination rocker arm.

As can be seen from the above scheme, when turning left, the left driver steps forward on the left driver's left foot operating assembly or the right driver steps forward on the right driver's left foot operating assembly, and the rudder deflects the aircraft to the left and deflects to the left. When turning right, the left driver steps forward on the left driver's right foot operating assembly or the right driver steps forward on the right driver's right foot operating assembly, and the rudder deflects the aircraft to the right and deflects to the left. By arranging the left foot pedal connecting rod and the right foot pedal connecting rod, the left and right drivers can coordinate the operation, and the left and right drivers can always keep the same operation. In addition, the left foot pedal connecting rod and the right foot pedal connecting rod are connected to the coordination rocker arm through the left foot pedal coordination rod and the right foot pedal coordination rod, when the left foot pedals forward, the right foot moves backward, and vice versa, the right foot pedals forward and the left foot moves backward, so as to realize the coordinated action of the left and right feet, the coordination rocker arm transmits the driver's operating force and displacement to the rudder through the output rod at the same time, realizes the control of the ground or water surface direction, and when the operation is inconsistent, the left and right foot pedal coordination rods act on the coordination rocker arm, and the uncoordinated operation is offset under the action of the coordination rocker arm. The aircraft's directional control device can simultaneously realize the ground and water surface directional control of the amphibious aircraft, ensuring the independence of ground and water surface control. It has a simple structure, is safe and reliable, and saves cost and weight.

A preferred solution is that the direction control device also includes a left foot pedal limiter and a right foot pedal limiter, and the left foot pedal limiter and the right foot pedal limiter are both located on the rear side of the coordinating rocker arm and are both arranged close to the coordinating rocker arm; the left foot pedal coordinating pull rod and the coordinating rocker arm are hinged through a first end hinge shaft, and the right foot pedal coordinating pull rod and the coordinating rocker arm are hinged through a second end hinge shaft; in the left and right directions, the left foot pedal limiter is located between the middle hinge shaft of the rocker arm and the first end hinge shaft, and the right foot pedal limiter is located between the middle hinge shaft of the rocker arm and the second end hinge shaft, and the left foot pedal limiter and the right foot pedal limiter limit the swing angle of the coordinating rocker arm.

It can be seen that the left foot pedal limiter and the right foot pedal limiter are both installed on the aircraft's fuselage structure. When the pilot pedals forward with his left foot/right foot, the left foot pedal limiter/right foot pedal limiter contacts the limit surface of the coordinating rocker arm when it reaches the extreme position, limiting the deflection of the coordinating rocker arm, and then limiting the control displacement and force output, thereby limiting the pilot's over-control.

A preferred solution is that the left foot pedal connecting rod includes a left foot pedal transverse axis, a left foot pedal support axis for the left driver, a left foot pedal support axis for the right driver and a left foot pedal connecting piece; the left foot pedal transverse axis extends along the left and right directions, and the left foot pedal support axis for the left driver and the left foot pedal support axis for the right driver are respectively arranged at both ends of the left foot pedal transverse axis and both extend upward from the left foot pedal transverse axis; the left foot pedal transverse axis and the left foot pedal coordination rod are connected through the left foot pedal connecting piece, the upper end of the left foot pedal connecting piece is fixedly connected to the left foot pedal transverse axis, and the lower end of the left foot pedal connecting piece is hinged to the left foot pedal coordination rod.

A preferred solution is that the right foot pedal connecting rod includes a right foot pedal transverse axis, a left driver's right foot pedal support axis, a right driver's right foot pedal support axis and a right foot pedal connecting piece; the right foot pedal transverse axis extends along the left and right directions, the left driver's right foot pedal support axis and the right driver's right foot pedal support axis are respectively arranged at both ends of the right foot pedal transverse axis and both extend upward from the right foot pedal transverse axis; the right foot pedal transverse axis and the right foot pedal coordination rod are connected through the right foot pedal connecting piece, the upper end of the right foot pedal connecting piece is fixedly connected to the right foot pedal transverse axis, and the lower end of the right foot pedal connecting piece is hinged to the right foot pedal coordination rod.

A preferred solution is that the left foot operating assembly of the left driver includes a left foot actuator cylinder and a left foot pedal structure, and the right foot operating assembly of the left driver includes a right foot actuator cylinder and a right foot pedal structure; the left foot actuator cylinder and the right foot actuator cylinder both include a cylinder body, a push rod and an outer spring; the cylinder body of the left foot actuator cylinder is fixed to the left foot pedal connecting rod, and the cylinder body of the right foot actuator cylinder is fixed to the right foot pedal connecting rod; the push rod is telescopically inserted into the cylinder body, the outer end of the push rod extends out of the cylinder body, and the outer spring is located outside the cylinder body and is sleeved on the push rod.

It can be seen that under this setting, the driver's foot pedal is directly linked to the push rod of the actuator. When braking or steering is required, one only needs to step on the pedal to retract the push rod and then achieve braking, which further simplifies the system structure and is more in line with the applicability requirements of light aircraft.

A further solution is that the left foot pedal structure and the right foot pedal structure both include a foot pedal and a footrest plate, the foot pedal is located on the front side of the corresponding foot pedal plate and above the corresponding foot pedal plate; the foot pedal is hinged to the outer end of the push rod through a pedal hinge shaft, and the foot pedal is forced to swing around the pedal hinge shaft to cause the push rod to contract and the outer spring to compress; the footrest plate of the left foot pedal structure is hinged to the left foot pedal connecting rod through the left pedal plate hinge shaft, and the footrest plate of the right foot pedal structure is hinged to the right foot pedal connecting rod through the right pedal plate hinge shaft, and the left pedal plate hinge shaft, the right pedal plate hinge shaft and the pedal hinge shaft are arranged in parallel.

It can be seen that the left pedal structure and the right pedal structure can simultaneously realize functions such as ground braking, ground steering and water surface steering. There are fewer operating parts, which further simplifies the aircraft structure and reduces the aircraft cost and weight.

A further solution is that the foot pedal and the corresponding footrest plate are an integrated structure.

It can be seen that the integrated design is easier for the driver to operate.

A preferred solution is that the direction control device further comprises a water rudder, which is connected to the rudder and can move between a position of extending the rudder and a position of retracting the rudder.

It can be seen that by connecting the water rudder to the rudder, when on the water surface, the water rudder is driven to extend, and the direction of the aircraft on the water surface can be controlled by the pilot operating the left foot operating component or the right foot operating component forward.

A preferred solution is that a locking ear is provided on one of the left pedal connecting rod and the right pedal connecting rod, and a locking hole is provided on the other of the left pedal connecting rod and the right pedal connecting rod, and the direction control device also includes a locking pin, which passes through the locking ear and the locking hole in sequence to fix the left pedal connecting rod and the right pedal connecting rod.

It can be seen that the rudder control system locking device composed of a locking ear and a locking hole is provided in the cockpit, and the locking pin passes through the locking ear and the locking hole on the left pedal connecting rod and the right pedal connecting rod at the same time, thereby locking the entire system. This can prevent the control surface and the control system transmission mechanism from being damaged due to gusts of wind when the aircraft is parked on the ground or on the water. When taking off, the pilot must first release the rudder control system locking device, that is, remove the locking pin, before he can control the direction and brake.

To achieve the above second objective, the present invention provides an aircraft, comprising the above directional control device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a structural diagram of an embodiment of a direction control device of the present invention.

FIG. 2 is a structural diagram of a left foot control mechanism and a right foot control mechanism in an embodiment of a direction control device of the present invention.

FIG. 3 is a structural diagram of a coordination rod, a coordination rocker arm and an output rod in an embodiment of a direction control device of the present invention.

FIG. 4 is a structural diagram of a left foot operating mechanism in an embodiment of a direction control device of the present invention.

FIG. 5 is a structural diagram of a rudder and a water rudder in an embodiment of a directional control device of the present invention, in which the water rudder is in an extended position.

The present invention is further described below in conjunction with the accompanying drawings and embodiments.

DETAILED DESCRIPTION

1 to 3 , the aircraft of this embodiment is a light amphibious aircraft, which includes an aircraft body 1 and a direction control device 2 .

The direction control device 2 includes a mounting bracket 21, a left pedal connecting rod 33, a right pedal connecting rod 43, a left driver's left foot operating assembly 31, a left driver's right foot operating assembly 41, a right driver's left foot operating assembly 32, a right driver's right foot operating assembly 42, a rudder 51, a water rudder 52, a left pedal coordination rod 61, a right pedal coordination rod 62, a coordination rocker arm 7 and an output rod 8.

The mounting bracket 21 is fixed on the body 1, and is used to provide support for the left foot control mechanism 3 and the right foot control mechanism 4 of the left and right drivers. The left foot control mechanism 3 includes a left foot operating component 31 of the left driver, a left foot operating component 32 of the right driver and a left pedal connecting rod 33. The right foot control mechanism 4 includes a right foot operating component 41 of the left driver, a right foot operating component 42 of the right driver and a right pedal connecting rod 43.

The left foot pedal connecting rod 33 and the right foot pedal connecting rod 43 can be rotatably mounted on the mounting support 21, the left driver's left foot operating assembly 31 and the right driver's left foot operating assembly 32 are connected via the left foot pedal connecting rod 33, the left driver's right foot operating assembly 41 and the right driver's right foot operating assembly 42 are connected via the right foot pedal connecting rod 43, the first end of the left foot pedal coordination rod 61 is connected to the left foot pedal connecting rod 33, the second end of the left foot pedal coordination rod 61 is hinged to the first end of the coordination rocker arm 7, the first end of the right foot pedal coordination rod 62 is connected to the right foot pedal connecting rod 43, the second end of the right foot pedal coordination rod 62 is hinged to the second end of the coordination rocker arm 7, and the left foot pedal coordination rod 61 and the right foot pedal coordination rod 62 both extend in the front-to-back direction.

The left pedal connecting rod 33 includes a left pedal transverse axis 331, a left pedal support axis 332 for the left driver, a left pedal support axis 333 for the right driver, and a left pedal connecting member 334. The left pedal transverse axis 331 extends in the left-right direction, the left pedal support axis 332 for the left driver and the left pedal support axis 333 for the right driver are respectively arranged at both ends of the left pedal transverse axis 331 and both extend upward from the left pedal transverse axis 331, the left pedal transverse axis 331 and the left pedal coordination rod 61 are connected through the left pedal connecting member 334, the upper end of the left pedal connecting member 334 is fixedly connected to the left pedal transverse axis 331, and the lower end of the left pedal connecting member 334 is hinged to the left pedal coordination rod 61.

The right pedal connecting rod 43 includes a right pedal transverse axis 431, a left driver right pedal support axis 432, a right driver right pedal support axis 433 and a right pedal connecting member 434. The right pedal transverse axis 431 extends in the left-right direction, and the left driver right pedal support axis 432 and the right driver right pedal support axis 433 are respectively arranged at both ends of the right pedal transverse axis 431 and both extend upward from the right pedal transverse axis 431. The right pedal transverse axis 431 and the right pedal coordination rod 62 are connected through the right pedal connecting member 434, the upper end of the right pedal connecting member 434 is fixedly connected to the right pedal transverse axis 431, and the lower end of the right pedal connecting member 434 is hinged to the right pedal coordination rod 62.

The left-foot operating assembly 31 of the left driver includes a left-foot actuator cylinder 311 and a left foot pedal structure 312, and the right-foot operating assembly 41 of the left driver includes a right-foot actuator cylinder (not shown) and a right foot pedal structure 412. The left-foot actuator cylinder 311 and the right-foot actuator cylinder both include a cylinder body 301, a push rod 302 and an outer spring 303. The cylinder body 301 of the left-foot actuator cylinder 311 is fixed on the left-driver left-foot pedal support shaft 332 of the left-foot pedal connecting rod 33, and the cylinder body of the right-foot actuator cylinder is fixed on the left-driver right-foot pedal support shaft 432 of the right-foot pedal connecting rod 43. The push rod 302 is telescopically inserted into the cylinder body 301 of the corresponding fully automatic cylinder, and the outer end of the push rod 302 extends out of the cylinder body 301. The outer spring 303 is located outside the cylinder body 301 and is sleeved on the push rod 302. The two ends of the outer spring 303 are respectively abutted against the cylinder body 301 and the corresponding foot pedal 401.

The left pedal structure 312 and the right pedal structure 412 both include a pedal 401 and a footrest plate 402. The pedal 401 and the corresponding footrest plate 402 are an integrated structure. The pedal 401 is located at the front side of the corresponding footrest plate 402 and above the corresponding footrest plate 402. The pedal 401 is hinged to the outer end of the push rod 302 through a pedal hinge shaft 403. The pedal 401 is subjected to force and swings around the pedal hinge shaft 403 to shrink the push rod 302 and compress the outer spring 303. The pedal plate 402 of the left pedal structure 312 is hinged to the left driver's left pedal support shaft 332 through a left pedal hinge shaft 404. The pedal plate 402 of the right pedal structure 412 is hinged to the right pedal connecting rod 43 through a right pedal hinge shaft 405. The left pedal hinge shaft 404, the right pedal hinge shaft and the pedal hinge shaft 403 are arranged in parallel.

Referring to Fig. 4, a rocker arm middle hinge shaft 71 is provided at the midpoint of the length direction of the coordination rocker arm 7, and the coordination rocker arm 7 is hinged to the body 1 through the rocker arm middle hinge shaft 71. The coordination rocker arm 7 is arranged horizontally and can swing around the rocker arm middle hinge shaft 71. The two ends of the output pull rod 8 are respectively hinged to the coordination rocker arm 7 and the rudder 51, and the output pull rod 8 is connected to a position close to the first end of the coordination rocker arm 7, and the output pull rod 8, the left pedal coordination pull rod 61 and the coordination rocker arm 7 are hinged through the first end hinge shaft 72, and the first end hinge shaft 72 passes through the output pull rod 8, the left pedal coordination pull rod 61 and the coordination rocker arm 7 in the vertical direction, and the right pedal coordination pull rod 62 is hinged to the coordination rocker arm 7 through the second end hinge shaft 73, and the first end hinge shaft 72, the second end hinge shaft 73 and the rocker arm middle hinge shaft 71 all extend in the vertical direction.

The direction control device 2 further includes a left pedal stopper 91 and a right pedal stopper 92, both extending in the front-rear direction. The left pedal stopper 91 and the right pedal stopper 92 are both screws and fixed to the machine body. The left pedal stopper 91 and the right pedal stopper 92 are both located at the rear side of the coordination rocker arm 7 and are both arranged close to the coordination rocker arm 7. In the left-right direction, the left pedal stopper 91 is located between the middle hinge shaft 71 of the rocker arm and the first end hinge shaft 72, and the right pedal stopper 92 is located between the middle hinge shaft 71 of the rocker arm and the second end hinge shaft 73. The left pedal stopper 91 and the right pedal stopper 92 limit the swing angle of the coordination rocker arm 7. The left foot pedal limiter 91 and the right foot pedal limiter 92 are both installed on the aircraft body 1 structure. When the pilot steps forward with his left foot, the left foot pedal limiter 91 contacts the first limit surface 74 of the coordination rocker arm 7 when it reaches the limit position. When the pilot steps forward with his right foot, the right foot pedal limiter 92 contacts the second limit surface 75 of the coordination rocker arm 7 when it reaches the limit position, thereby limiting the deflection of the coordination rocker arm 7, and then limiting the control displacement and force output, thereby limiting the pilot's over-control.

A locking lug 34 is provided on the left pedal transverse axis 331 of the left pedal link 33, and a locking hole (not shown) is provided on the left driver's right pedal support axis 432 of the right pedal link 43. The direction control device 2 also includes a locking pin 430, which passes through the locking lug 34 and the locking hole in a direction parallel to the right pedal transverse axis 431 to fix the left pedal link 33 and the right pedal link 43. The rudder control system locking device composed of the locking lug 34 and the locking hole is provided in the cockpit. The locking pin 430 passes through the locking lug 34 on the left pedal link 33 and the locking hole on the right pedal link 43 at the same time, thereby locking the entire system, which can prevent the control surface and the control system transmission mechanism from being damaged due to the impact of gusts when the aircraft is parked on the ground or on the water. When taking off, the pilot must first release the rudder control system locking device, that is, remove the locking pin 430, before the direction and brake control can be performed. The specific oil circuit control method for the left driver to brake through the left driver's left foot operating component 31 and the left driver's right foot operating component 41 can be found in the patent document with announcement number CN118182827B.

Referring to FIG. 5 , the water rudder 52 is connected to the rudder 51 and can move between a position where the rudder 51 is extended and a position where the rudder 51 is retracted. A receiving chamber 511 is provided in the rudder 51, and one side of the water rudder 52 is hinged to the rudder 51. When the water rudder 52 is in the retracted position, the water rudder 52 is located in the receiving chamber 511, and when the water rudder 52 is in the extended position, the water rudder 52 is located outside the receiving chamber 511. By connecting the water rudder 52 to the rudder 51, when the rudder is on the water surface, a driving member such as a motor drives the water rudder 52 to rotate and extend the rudder 51, and at the same time, the driver can realize the surface direction control by operating the left foot operating component or the right foot operating component to push forward.

As can be seen from the above, when the left-turning operation is performed, the left driver steps forward on the left driver's left foot operating assembly or the right driver steps forward on the right driver's left foot operating assembly, and the rudder deflects the aircraft to the left and deflects to the left. When the right-turning operation is performed, the left driver steps forward on the left driver's right foot operating assembly or the right driver steps forward on the right driver's right foot operating assembly, and the rudder deflects the aircraft to the right and deflects to the left. By arranging the left foot pedal connecting rod and the right foot pedal connecting rod, the left and right drivers can coordinate the operation, and the left and right drivers can always keep the same operation. In addition, the left foot pedal connecting rod and the right foot pedal connecting rod are connected to the coordination rocker arm through the left foot pedal coordination rod and the right foot pedal coordination rod, when the left foot pedals forward, the right foot moves backward, and vice versa, the right foot pedals forward and the left foot moves backward, so as to realize the coordinated action of the left and right feet, and the coordination rocker arm transmits the driver's operating force and displacement to the rudder through the output rod at the same time, realizes the control of the ground or water surface direction, and when the operation is inconsistent, the left and right foot pedal coordination rods act on the coordination rocker arm, and the uncoordinated operation is offset under the action of the coordination rocker arm. The aircraft's directional control device can simultaneously realize the ground and water surface directional control of the amphibious aircraft, ensuring the independence of ground and water surface control. It has a simple structure, is safe and reliable, and saves cost and weight.

In addition, a locking lug may be provided on the right pedal connecting rod, and a locking hole may be provided on the left pedal connecting rod. The number and position of the locking lugs and the number and position of the locking holes may be changed as required. The right driver's left foot operating assembly and the right driver's right foot operating assembly may also have the same structure as the left driver's left foot operating assembly, that is, both include an actuator and a pedal structure. The output pull rod may also be connected to a position close to the second end of the coordination rocker arm. The above changes can also achieve the purpose of the present invention.

Finally, it should be emphasized that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims (10)

1. The direction control device is characterized by comprising a mounting support, a left pedal connecting rod, a right pedal connecting rod, a left foot operation assembly of a left driver, a right foot operation assembly of a left driver, a left foot operation assembly of a right driver, a right foot operation assembly of a right driver, a rudder, a left pedal coordination pull rod, a right pedal coordination pull rod, a coordination rocker arm and an output pull rod;

the left pedal connecting rod and the right pedal connecting rod are rotatably arranged on the mounting support;

The left foot operation assembly of the left driver is connected with the left foot operation assembly of the right driver through the left pedal connecting rod, and the right foot operation assembly of the left driver is connected with the right foot operation assembly of the right driver through the right pedal connecting rod;

The first end of the left pedal coordination pull rod is connected with the left pedal connecting rod, the second end of the left pedal coordination pull rod is hinged with the first end of the coordination rocker arm, the first end of the right pedal coordination pull rod is connected with the right pedal connecting rod, the second end of the right pedal coordination pull rod is hinged with the second end of the coordination rocker arm, and the left pedal coordination pull rod and the right pedal coordination pull rod extend along the front-rear direction;

The middle part of the coordination rocker arm is provided with a rocker arm middle hinge shaft extending in the vertical direction, and the coordination rocker arm can swing around the rocker arm middle hinge shaft;

the two ends of the output pull rod are respectively hinged to the coordination rocker arm and the rudder, and the output pull rod is connected to a position close to the first end of the coordination rocker arm or the second end of the coordination rocker arm.

2. The directional control device according to claim 1, characterized in that:

the direction control device further comprises a left pedal limiting piece and a right pedal limiting piece, wherein the left pedal limiting piece and the right pedal limiting piece are positioned at the rear side of the coordination rocker arm and are arranged close to the coordination rocker arm;

The left pedal coordination pull rod is hinged with the coordination rocker arm through a first end hinge shaft, and the right pedal coordination pull rod is hinged with the coordination rocker arm through a second end hinge shaft;

In the left-right direction, the left pedal limiting piece is located between the rocker arm middle hinge shaft and the first end hinge shaft, the right pedal limiting piece is located between the rocker arm middle hinge shaft and the second end hinge shaft, and the left pedal limiting piece and the right pedal limiting piece limit the swing angle of the coordinated rocker arm.

3. The directional control device according to claim 1, characterized in that:

the left pedal connecting rod comprises a left pedal transverse shaft, a left pedal support shaft of a left driver, a left pedal support shaft of a right driver and a left pedal connecting piece;

the left pedal transverse shaft extends along the left-right direction, and the left pedal support shaft and the right pedal support shaft of the left driver are respectively arranged at two ends of the left pedal transverse shaft and extend upwards from the left pedal transverse shaft;

The left pedal cross shaft is connected with the left pedal coordination pull rod through the left pedal connecting piece, the upper end of the left pedal connecting piece is fixedly connected with the left pedal cross shaft, and the lower end of the left pedal connecting piece is hinged with the left pedal coordination pull rod.

4. A directional control device according to any one of claims 1 to 3, characterized in that:

The right pedal connecting rod comprises a right pedal transverse shaft, a left driver right pedal support shaft, a right driver right pedal support shaft and a right pedal connecting piece;

The right pedal cross shaft extends along the left-right direction, and the left driver right pedal support shaft and the right driver right pedal support shaft are respectively arranged at two ends of the right pedal cross shaft and extend upwards from the right pedal cross shaft;

the right pedal cross shaft is connected with the right pedal coordination pull rod through the right pedal connecting piece, the upper end of the right pedal connecting piece is fixedly connected with the right pedal cross shaft, and the lower end of the right pedal connecting piece is hinged with the right pedal coordination pull rod.

5. A directional control device according to any one of claims 1 to 3, characterized in that:

the left foot operation assembly of the left driver comprises a left foot actuator cylinder and a left pedal structure, and the right foot operation assembly of the left driver comprises a right foot actuator cylinder and a right pedal structure;

the left foot actuating cylinder and the right foot actuating cylinder comprise cylinder bodies, ejector rods and outer springs;

The cylinder body of the left foot actuating cylinder is fixed on the left pedal connecting rod, and the cylinder body of the right foot actuating cylinder is fixed on the right pedal connecting rod;

the ejector rod is inserted into the cylinder body in a telescopic manner, the outer end of the ejector rod extends out of the cylinder body, and the outer spring is positioned outside the cylinder body and sleeved on the ejector rod.

6. The directional control device according to claim 5, characterized in that:

the left pedal structure and the right pedal structure comprise pedals and pedal plates, and the pedals are positioned at the front sides of the corresponding pedal plates and above the corresponding pedal plates;

The pedal is hinged with the outer end of the ejector rod through a pedal hinge shaft, and the pedal is stressed to rotate and swing around the pedal hinge shaft so as to shrink the ejector rod and compress the outer spring;

The pedal plate of the left pedal plate structure is hinged with the left pedal connecting rod through a left pedal plate hinge shaft, the pedal plate of the right pedal plate structure is hinged with the right pedal connecting rod through a right pedal plate hinge shaft, and the left pedal plate hinge shaft, the right pedal plate hinge shaft and the pedal plate hinge shaft are arranged in parallel.

7. The directional control device according to claim 6, characterized in that:

the foot pedal and the corresponding foot pedal plate are of an integrated structure.

8. A directional control device according to any one of claims 1 to 3, characterized in that:

The directional control device further includes a water rudder coupled to the rudder and movable between a position extending from the rudder and a position retracting from the rudder.

9. A directional control device according to any one of claims 1 to 3, characterized in that:

One of the left pedal connecting rod and the right pedal connecting rod is provided with a locking lug, the other one of the left pedal connecting rod and the right pedal connecting rod is provided with a locking hole, the direction control device further comprises a locking bolt, and the locking bolt sequentially penetrates through the locking lug and the locking hole to fix the left pedal connecting rod and the right pedal connecting rod.

10. Aircraft, characterized by comprising a directional control device according to any of claims 1 to 9.