CN209388519U - Rocking bar manipulates load device and rocking bar simulator - Google Patents
Rocking bar manipulates load device and rocking bar simulator Download PDFInfo
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- CN209388519U CN209388519U CN201821436306.1U CN201821436306U CN209388519U CN 209388519 U CN209388519 U CN 209388519U CN 201821436306 U CN201821436306 U CN 201821436306U CN 209388519 U CN209388519 U CN 209388519U
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Abstract
The utility model relates to a kind of rocking bar manipulation load device and rocking bar simulators, including shell, rotation mechanism for wind, the luffing mechanism for connecting rotation mechanism for wind and the rocking bar mounting base for connecting luffing mechanism；Rotation mechanism for wind includes the rolling force piece being mounted on shell and the rolling supporting element for connecting rolling force piece, and rolling force piece is for driving rolling supporting element to swing；Luffing mechanism includes the pitching force piece connecting with rolling supporting element and the elevation support elements for connecting pitching force piece, and pitching force piece is for driving elevation support elements to swing；Rocking bar mounting base connects elevation support elements.This rocking bar manipulation load device directly drives elevation support elements swing by pitching force piece, to drive rocking bar mounting base swing；It directly drives rolling supporting element by rolling force piece to swing, so that rocking bar mounting base be driven to swing；Different rocking bars is connected by rocking bar mounting base, improves the interchangeability and validity of rocking bar.Present apparatus structure is simple, easy to maintain, improves the sense of reality of virtual reality.
Description
Technical field
The utility model relates to robot human-computer interaction technique fields, manipulate more particularly to a kind of simple rocking bar of structure
Load device and rocking bar simulator.
Background technique
In actual airplane, control load system is the on-line equipment of aircraft.Due to the flying ring of aircraft
Border is complicated, and state of flight variation is more, and the variation of the flight parameters such as pitch angle, roll angle, angle of rudder reflection and flying speed is fast, is loaded into behaviour
Aerodynamic force on vertical pole, pedal changes fastly, and pilot will judge rapidly by the variation of steering force and execute corresponding behaviour
Make.For the training of aircraft handling student, the safety of prototype training and economic benefit are all excessively poor, it is therefore desirable to have specially for this
The flight simulator of door simulates the steering force sense of actual airplane.
Flight simulation refers to through computer software and external hardware device come to each encountered in real world flight
Kind of element, for example, air force, meteorology, geographical environment, flight operation device, flight electronic device, battle flight weapon device,
Ground flying guidance etc. synthetically carries out analogue simulation in a computer, and carries out flight simulation behaviour by external hardware device
One things of control and flight sense organ feedback.Manipulate important interface of the load device as aircraft human-computer interaction, main function
It is to provide the manipulation interface of aircraft and feeds back the steering force sense of pilot driver aircraft.In order to effectively improve aircraft handling student
Training effectiveness, the static state and dynamic force sense that manipulation load simulation device is simulated with respect to the sense of prototype steering force must have height to force
True degree.
Currently, spring loads are simulated by the way of or used in the power sense of flight simulator, pass through the bullet of various rigidity
The simulation of steering force is realized in spring combination；Or hydraulic servo control load system is used, it realizes the power sense compared with high fidelity and adds
It carries；Or the mode of motor acceleration and deceleration device.But the form that spring loads are fixed due to it, it can not be to different flight state
Dynamic force sense carry out realistic simulation, and hydraulic servo control load system due to hydraulic pipeline leakage, frictional resistance etc. influence,
Power sense effect is unstable when subtle slow operation, and the mode of motor acceleration and deceleration device will lead to the simulation of power bar and have some setbacks, and lacks true
Solidity, these three control load systems are difficult to set up accurate manipulation load model, fidelity with actually differ greatly.
Utility model content
Based on this, it is necessary in view of the above-mentioned problems, providing the rocking bar manipulation load device that a kind of structure is simple, fidelity is high
And rocking bar simulator.
A kind of rocking bar manipulation load device, including shell, rotation mechanism for wind, the luffing mechanism for connecting rotation mechanism for wind and connection
The rocking bar mounting base of luffing mechanism；The rotation mechanism for wind includes rolling force piece and the connection rolling installed on the housing
The rolling supporting element of force piece, the rolling force piece is for driving rolling supporting element to swing；The luffing mechanism includes and institute
It states the pitching force piece of rolling supporting element connection and connects the elevation support elements of pitching force piece, the pitching force piece is used for
Elevation support elements are driven to swing；The rocking bar mounting base connects elevation support elements.
The rocking bar manipulation load device of the utility model directly drives elevation support elements swing by pitching force piece, to drive
Rocking bar mounting base swing；It directly drives rolling supporting element by rolling force piece to swing, so that rocking bar mounting base or so be driven to put
It is dynamic；Different rocking bars is connected by rocking bar mounting base, improves the interchangeability and validity of rocking bar.This rocking bar manipulates load device knot
Structure is simple, easy to maintain, realizes human-computer interaction, improves the sense of reality of virtual reality.
The rolling force piece has the first fixing end and the first turning end in one of the embodiments,；Described first
Fixing end is fixedly connected with the shell, and first turning end is fixedly connected with one of the rolling supporting element far from pitching force piece
End.
The pitching force piece has the second fixing end and the second turning end in one of the embodiments,；Described second
Fixing end is fixedly connected with the described one end of rolling supporting element far from rolling force piece, and second turning end is fixedly connected with described bow
Face upward supporting element.
The luffing mechanism includes the pitching limit for connecting the elevation support elements side in one of the embodiments,
Part, the rotation mechanism for wind include the rolling locating part for connecting rolling supporting element side.
The pitching force piece is perpendicular to rolling force piece in one of the embodiments,；The pitching locating part connection
One end of the rolling supporting element, the rolling locating part connect the shell.
It in one of the embodiments, include cooling mechanism；The cooling mechanism is set to one end of shell.
It in one of the embodiments, include control mechanism；The control mechanism includes the master board for connecting shell, connects
It connects several interfaces of master board and connects the power switch of shell.
It in one of the embodiments, include fool-proof mechanism；The fool-proof mechanism includes connecting consolidating for the shell side
Reservation and the safety pin for wearing fixing seat.
It in one of the embodiments, include dust-proof mechanism；The dust-proof mechanism is sheathed on the rocking bar mounting base.
A kind of rocking bar simulator including above-mentioned rocking bar manipulation load device and connects shaking for above-mentioned rocking bar mounting base
Bar.
Detailed description of the invention
Fig. 1 is that the rocking bar of a preferred embodiment of the utility model manipulates the schematic perspective view of load device；
Fig. 2 is the structural schematic diagram in Fig. 1 in addition to coaming plate and dust-proof mechanism；
Fig. 3 is another angle schematic diagram of Fig. 2；
Fig. 4 is that the rocking bar provided in utility model embodiment manipulates a kind of rocking bar simulator application example of load device
Figure.
Attached drawing mark explanation:
Rocking bar manipulates load device 100；
Shell 10, the first loading plate 11, the second loading plate 12, coaming plate 13；
Rotation mechanism for wind 20, rolling force piece 21, rolling supporting element 22, rolling locating part 23, luffing mechanism 30, pitching power
Part 31, elevation support elements 32, pitching locating part 33, rocking bar mounting base 40, control mechanism 50, master board 51, interface 52, power supply
Switch 53, indicator light 54；
Fool-proof mechanism 60, fixing seat 61, safety pin 62, cooling mechanism 70, dust-proof mechanism 80；
Rocking bar simulator 200；
Rocking bar manipulates load device 100, rocking bar 210.
Specific embodiment
The utility model will be described more fully below for the ease of understanding the utility model,.But this is practical
It is novel to realize in many different forms, however it is not limited to embodiment described herein.On the contrary, providing these implementations
The purpose of example is to make the understanding of the disclosure of the utility model more thorough and comprehensive.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.
Load device 100, packet are manipulated referring to FIG. 1 to FIG. 4, for a kind of rocking bar of one better embodiment of the utility model
Include shell 10, rotation mechanism for wind 20, the luffing mechanism 30 for connecting rotation mechanism for wind 20 and the rocking bar mounting base for connecting luffing mechanism 30
40；Rotation mechanism for wind 20 includes the rolling force piece 21 installed on the housing 10 and the rolling supporting element for connecting rolling force piece 21
22, rolling force piece 21 is for driving rolling supporting element 22 to swing；Luffing mechanism 30 includes bowing with what rolling supporting element 22 was connect
It faces upward force piece 31 and connects the elevation support elements 32 of pitching force piece 31, pitching force piece 31 is for driving elevation support elements 32
It swings；Rocking bar mounting base 40 connects elevation support elements 32.This rocking bar manipulation load device 100 is directly driven by pitching force piece 31 bows
The swing of supporting element 32 is faced upward, to drive 40 swing of rocking bar mounting base；Rolling supporting element 22 is directly driven by rolling force piece 21
It swings, so that rocking bar mounting base 40 be driven to swing；Different rocking bars is connected by rocking bar mounting base 40, improves the mutual of rocking bar
Transsexual and validity.
As shown in Figures 1 and 2, in the present embodiment, shell 10 includes the first loading plate 11, parallel with the first loading plate 11
The coaming plate 13 of the second loading plate 12 and connection the first loading plate 11 and the second loading plate 12 that are arranged；Optionally, the first loading plate
11 one end is equipped with several heat dissipation ventholes；Second loading plate 12 is equipped with several heat dissipation air inlets far from one end of heat dissipation venthole
Hole.Rolling force piece 21 has the first fixing end and the first turning end；First fixing end is fixedly connected with shell 10, the first turning end
It is fixedly connected with one end of rolling supporting element 22, rolling supporting element 22 is made to obtain the torque in rolling direction；Optionally, the first turning end
For mover, the first fixing end is stator；First fixing end connects the second loading plate 12.Further, rotation mechanism for wind 20 includes connecting
The rolling locating part 23 of 22 side of rolling supporting element is connect, rolling locating part 23 is triangular in shape close to one end of rolling supporting element 22；
When rolling supporting element 22 abuts rolling locating part 23, rolling locating part 23 limits the further movement of rolling supporting element 22.Please
Together refering to Fig. 3, pitching force piece 31 has the second fixing end and the second turning end；Second fixing end is fixedly connected with rolling support
The one end of part 22 far from rolling force piece 21, the second turning end connect elevation support elements 32, provide pitching to elevation support elements 32
The swing and torque in direction constrain the swing in rolling direction；Optionally, the second turning end is mover, and the second fixing end is stator.
Further, luffing mechanism 30 includes the pitching locating part 33 of connection 32 side of elevation support elements, and pitching locating part 33 is close to bow
The one end for facing upward supporting element 32 is triangular in shape；When elevation support elements 32 abut pitching locating part 33, the limitation of pitching locating part 33 is bowed
Face upward the further movement of supporting element 32.
In order to limit the movement of elevation support elements 32 and rolling supporting element 22, elevation support elements 32 and pitching locating part 33
The angular range of angle is -40 °~40 °, the angular range of the angle of rolling supporting element 22 and rolling locating part 23 is -40 °~
40°.Optionally, the angular range of the angle of elevation support elements 32 and pitching locating part 33 is -20 °~20 °, to limit pitching
The moving range of supporting element 32 is -20 °~20 °；The angular range of the angle of rolling supporting element 22 and rolling locating part 23 is-
20 °~20 °, so that the moving range for limiting rolling supporting element 22 is -20 °~20 °.Optionally, elevation support elements 32 and rolling
Supporting element 22 is L-shaped；Pitching force piece 31 and rolling force piece 21 are brushless motor, the form directly driven using brushless motor
It is connect with external rocking bar, does not use reduction gearing and other mechanical driving devices, fidelity of simulation is high；Pitching force piece 31 with
The equal built-in angular sensing part (not shown) of rolling force piece 21 and encoder (not shown), angular transducer are dynamic for acquiring pitching
The angle of the first turning end rotation of the second turning end and rolling force piece 21 of power part 31, code device signal is as control simulation
The main signal source of the posture of device.Further, brushless motor has used vector control technology, compared to the electricity of sine wave control
Machine has apparent advantage, torque smooth no mutation of the motor in commutation on run stability and torque smoothly change.One
In specific embodiment, pitching force piece 31 is perpendicular to rolling force piece 21；In other embodiments, pitching force piece 31 and rolling
Force piece 21 is arranged in parallel.Optionally, pitching locating part 33 connects one end of rolling supporting element 22, and rolling locating part 23 connects shell
Body 10.Further, pitching locating part 33 is set to one end that rolling supporting element 22 connects rolling force piece 21, rolling locating part
The coaming plate 13 of 23 connection shells 10.In other embodiments, pitching locating part 33 connects the first turning end of rolling force piece 21,
First loading plate 11 of the connection shell 10 of rolling locating part 23.
For the ease of installing external rocking bar, rocking bar mounting base 40 is convexly equipped in coaming plate 13, and one end of the rocking bar mounting base 40 connects
External rocking bar is connect, the other end connects the one end of elevation support elements 32 far from pitching force piece 31, realizes that external rocking bar and rocking bar are pacified
It fills seat 40 to separate, improves the interchangeability of external rocking bar, the rocking bar shape of corresponding true type can be simulated.In order to control equipment,
It includes control mechanism 50 that this rocking bar, which manipulates load device 100,；Control mechanism 50 includes the master board 51 of connection shell 10, connection
Several interfaces 52 of master board 51 and the power switch 53 for connecting shell 10.Optionally, first carrying of the connection of master board 51
The inside of plate 11, each interface 52 are set to 51 lower section of master board, and power switch 53 is set to the first loading plate 11.Further
Power interface, USB interface and bus interface is arranged in ground, control mechanism 50；Power interface is used for pitching force piece 31 and rolling
Force piece 21 provides driving force；USB interface connect output in equipment different platform with external PC host computer by HID protocol
General control force；Bus interface realizes the interconnection between equipment and equipment, uses simultaneously for more equipment.Power switch 53
For controlling the folding of electrical source of power, also switchs and use as the emergency-off under case of emergency.In order to remind operator's equipment
Operating state, control mechanism 50 include connection shell 10 indicator light 54；Optionally, indicator light 54 is connected to the first loading plate
11。
Accidentally touching rocking bar mounting base 40 in order to prevent causes equipment to operate, and it includes fool proof machine that this rocking bar, which manipulates load device 100,
Structure 60；Fool-proof mechanism 60 includes the fixing seat 61 of connection 10 side of shell and the safety pin 62 for wearing fixing seat 61.Optionally,
Fixing seat 61 connects the second loading plate 12 close to one end of elevation support elements 32.When lock state, safety pin 62 wears fixing seat
The side of elevation support elements 32 is inserted into after 61；When use state, mounting pin 62 is detached into elevation support elements 32.In order to dissipate in time
Heat extends the service life of equipment, and it includes cooling mechanism 70 that this rocking bar, which manipulates load device 100, and cooling mechanism 70 is set to shell
One end of body 10.Optionally, cooling mechanism 70 is heat emission fan, and the first loading plate of the cooling mechanism 70 connection 11 is close to heat dissipation outlet
One end of mouth.Air is flowed into from heat dissipation air inlet, then the hot gas in shell 10 is discharged outside from heat dissipation gas outlet.In order to prevent
Dust or other impurities are fallen into shell 10, and it includes dust-proof mechanism 80 that this rocking bar, which manipulates load device 100,；Dust-proof mechanism 80 is arranged
In rocking bar mounting base 40, the dust-proof mechanism 80 is tapered, and the lesser one end of length connects rocking bar mounting base 40, length biggish one
The outside of end connection coaming plate 13.
Also referring to Fig. 4, the rocking bar to provide in the utility model embodiment manipulates a kind of rocking bar mould of load device 100
The exemplary application map of quasi- device 200.On the basis of the above embodiments, in a kind of alternative embodiment, rocking bar simulator 200 is wrapped
It includes rocking bar manipulation load device 100 and connects the rocking bar 210 of rocking bar mounting base.
When manipulating load device 100 using this rocking bar, external rocking bar is mounted in rocking bar mounting base 40, connection is external
PC host computer and power supply after, by safety pin 62 extract elevation support elements 32；Then, the rocking bar outside operator's movement, the letter
It number is input in the control program of PC host computer by USB interface；On the other hand, when the model power of simulator, Route guiding power
And when manpower operating force collective effect, fusion power is generated by dynamic system model and weighting power convergence strategy, passes through acquisition
Displacement parameter of the external rocking bar in the case where melting force action, then resolved by algorithm and pitching force piece 31 and pitching power are provided respectively
32 driving moments, it is final to guide rocking bar movement.Meanwhile the encoder and pitching power 32 codings of pitching force piece 31
Device obtains location information and rotary speed information of the rocking bar in pitch orientation and rolling direction component motion respectively, and measured information passes through
USB interface is input in the control program of PC host computer.Measured information is used as simulator system in the control program of PC host computer
The input of system model participates in model emulation and calculates, and obtains the fusion power of subsequent time, finally obtains pitching force piece 31 and rolling
The rotational angle and rotary speed information of 21 subsequent time of rotatory force part.According to rotary speed information to pitching force piece 31 and rolling force piece
21 carry out PWM control, and the revolving speed of encoder real-time detection pitching force piece 31 and rolling force piece 21 finally enables rocking bar anti-
It presents specific power sense and reaches specified position at a given speed, be supplied to the true FORCE FEEDBACK impression of operator.Work as fusion
When power makes rocking bar do periodic motion, movement can be analyzed to pitching movement and rolling movement.The pitching force piece of luffing mechanism 30
31 drive elevation support elements 32 to swing around the central axis of pitching force piece 31, so that rocking bar be driven to do pitching movement；Meanwhile it rolling
The rolling force piece 21 of rotation mechanism 20 drives rolling supporting element 22, pitching force piece 31 and elevation support elements 32 around rolling force piece
21 central axis is swung, so that rocking bar be driven to do rolling movement.The resultant motion of two kinds of periodic motions ultimately forms rocking bar
Special exercise track.
This rocking bar manipulation load device 100 can be applied to the force feedback behaviour of various (flight, space capsule, ship) simulators
Vertical platform；It is equally applicable for the control of unmanned aerial vehicle station, unmanned plane by number biography (height, meet by aircraft flight parameter by speed
The parameters such as angle, yaw angle, overload, vibration, steering engine drift angle) pass back to ground control cabinet, pass through algorithm real-time resolving unmanned plane
Aerodynamic parameter, drive rocker movement.In unmanned plane automatic driving mode, rocking bar can become in real time with the rudder degree of bias of unmanned plane
Change；Can produce vibration signal in unmanned plane stall makes the faint vibration of rocking bar, exists for terrestrial operation person's direct feel unmanned plane
Aerial control and state of flight increases unmanned plane during flying safety, unmanned plane operator is enable to have realized man-machine drive
The feeling sailed.
The rocking bar manipulation load device 100 of the utility model directly drives elevation support elements 32 by pitching force piece 31 and swings,
To drive 40 swing of rocking bar mounting base；It directly drives rolling supporting element 22 by rolling force piece 21 to swing, so that band shakes
Bar mounting base 40 swings；Different rocking bars is connected by rocking bar mounting base 40, improves the interchangeability and validity of rocking bar.This
Rocking bar manipulation 100 structure of load device is simple, easy to maintain, realizes human-computer interaction, improves the sense of reality of virtual reality.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (10)
1. a kind of rocking bar manipulates load device, which is characterized in that including shell, rotation mechanism for wind, the pitching machine for connecting rotation mechanism for wind
Structure and the rocking bar mounting base for connecting luffing mechanism；The rotation mechanism for wind include installation rolling force piece on the housing and
The rolling supporting element of rolling force piece is connected, the rolling force piece is for driving rolling supporting element to swing；The luffing mechanism
It is dynamic including the pitching force piece being connect with the rolling supporting element and the elevation support elements for connecting pitching force piece, the pitching
Power part is for driving elevation support elements to swing；The rocking bar mounting base connects elevation support elements.
2. rocking bar according to claim 1 manipulates load device, which is characterized in that the rolling force piece has first to consolidate
Fixed end and the first turning end；First fixing end is fixedly connected with the shell, and first turning end is fixedly connected with the rolling
Turn the one end of supporting element far from pitching force piece.
3. rocking bar according to claim 1 manipulates load device, which is characterized in that the pitching force piece has second to consolidate
Fixed end and the second turning end；Second fixing end is fixedly connected with the described one end of rolling supporting element far from rolling force piece, institute
It states the second turning end and is fixedly connected with the elevation support elements.
4. rocking bar according to claim 1 manipulates load device, which is characterized in that the luffing mechanism includes described in connection
The pitching locating part of elevation support elements side, the rotation mechanism for wind include the rolling limit for connecting rolling supporting element side
Part.
5. rocking bar according to claim 4 manipulates load device, which is characterized in that the pitching force piece is perpendicular to rolling
Force piece；The pitching locating part connects one end of the rolling supporting element, and the rolling locating part connects the shell.
6. rocking bar according to claim 1 manipulates load device, which is characterized in that including cooling mechanism；The heat dissipation machine
Structure is set to one end of shell.
7. rocking bar according to claim 1 manipulates load device, which is characterized in that including control mechanism；The control machine
Structure includes the master board for connecting shell, connects several interfaces of master board and connect the power switch of shell.
8. rocking bar according to claim 1 manipulates load device, which is characterized in that including fool-proof mechanism；The fool proof machine
Structure includes the fixing seat for connecting the shell side and the safety pin for wearing fixing seat.
9. rocking bar according to claim 1 manipulates load device, which is characterized in that including dust-proof mechanism；The dust-proof machine
Structure is sheathed on the rocking bar mounting base.
10. a kind of rocking bar simulator, which is characterized in that the rocking bar manipulation load dress including any one of claims 1 to 9
Set and connect the rocking bar of the rocking bar mounting base.
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| CN201821436306.1U CN209388519U (en) | 2018-08-31 | 2018-08-31 | Rocking bar manipulates load device and rocking bar simulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821436306.1U CN209388519U (en) | 2018-08-31 | 2018-08-31 | Rocking bar manipulates load device and rocking bar simulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108922310A (en) * | 2018-08-31 | 2018-11-30 | 珠海高斯科技有限公司 | Rocking bar manipulates load device and rocking bar simulator |
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- 2018-08-31 CN CN201821436306.1U patent/CN209388519U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108922310A (en) * | 2018-08-31 | 2018-11-30 | 珠海高斯科技有限公司 | Rocking bar manipulates load device and rocking bar simulator |
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