CN219506218U - Aircraft handling assembly - Google Patents

Abstract

The utility model discloses an aircraft control assembly, which comprises a first control handle and a second control handle, wherein the first control handle comprises a first base, a first control piece and a lifting input structure, the first control piece is used for controlling the forward flight speed of an aircraft, and the lifting input structure is used for controlling the lifting of the aircraft in the height direction; the second control handle comprises a second base and a second control piece, the second control piece can move or rotate relative to the base along a first direction and also can move or rotate relative to the second base along a second direction, and the change amounts of the second control piece moving or rotating along the first direction and the second direction are respectively related to the rolling gesture and the pitching gesture of the aircraft; the second control piece is also provided with a yaw control structure. When the method is used for controlling the aircraft, the whole process from the vertical stage to the flight stage can not generate different control results due to one action, thereby being beneficial to avoiding improper operation caused by different modes of pilots and improving the flight safety.

Description

Aircraft handling assembly

Technical Field

The utility model belongs to the field of control of aircrafts, and particularly relates to an aircraft control assembly.

Background

The vertical take-off and landing fixed wing aircraft flies in a multi-rotor or helicopter hammering take-off and landing mode in a take-off stage, and flies in a fixed wing horizontal flight mode in a cruise plane flight stage. However, the fixed wing aircraft and the vertical take-off and landing aircraft have different control modes and different control habits: for example, fixed wing aircraft typically employ a joystick and foot pedals to maneuver the aircraft, a right hand lever to maneuver the aircraft attitude, a left hand lever to maneuver the aircraft throttle, and a foot pedal to maneuver the aircraft heading; and the vertical take-off and landing aircraft, the right hand lever controls the forward direction of the aircraft, the left hand lever controls the flying height of the aircraft, and the pedals or the left hand lever control the heading of the aircraft.

All middle and large-sized vertical take-off and landing fixed wing aircrafts at present adopt a staged control mode in order to be compatible with two flight modes; in the vertical take-off and landing stage, the aircraft is switched to a vertical flight mode through a mode switch, and the control mode of the aircraft is the same as that of the vertical aircraft; in the horizontal flight stage, the aircraft is switched to a fixed wing mode through a mode switch, and the flight control mode is the same as the fixed wing control mode. Since a traditional pilot generally exercises a lot on one type of aircraft, the maneuvering habits of the traditional pilot are also aimed at the type of aircraft, the switching of the two flight modes brings great maneuvering burden to the pilot, and in some emergency situations, the subconscious maneuvering of the pilot for long-term exercises can deal with a lot of emergency situations, while in two different modes, the pilot has no way to subconscious rapid emergency handling, and the improper maneuvering can bring disastrous results.

Disclosure of Invention

It is a primary object of the present utility model to provide an aircraft handling assembly that reduces the chance of pilot mishandling.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

an aircraft steering assembly comprising:

the first control handle comprises a first base, a first control piece movably arranged on the first base and a lifting input structure integrated on the first control piece, wherein the first control piece is used for controlling the forward flying speed of the aircraft, and the lifting input structure is used for controlling the lifting of the aircraft in the height direction; and

the second control handle comprises a second base and a second control piece arranged on the second base, the second control piece can move or rotate along a first direction relative to the base, the second control piece can move or rotate along a second direction relative to the second base, the change of the second control piece moving or rotating along the first direction is related to the rolling gesture of the aircraft, and the change of the second control piece moving or rotating along the second direction is related to the pitching gesture of the aircraft; the second control piece is also provided with a yaw control structure for controlling the yaw of the aircraft;

among the first and second operating handles, one of the operating handles is a left operating handle and the other operating handle is a right operating handle.

Optionally, the initial position of the first operating member is a first reference position, and the moving direction of the first operating member includes a first moving direction and a second moving direction that move along different directions of the first reference position;

the movement amount of the first control element moving towards the first moving direction is related to the increment of the forward flying speed of the aircraft, the movement amount of the control element moving towards the second moving direction is related to the decrement of the forward flying speed of the aircraft, and the first control element is further provided with a second sensor for measuring the movement amount and the movement direction of the first control element moving relative to the first base.

Optionally, the first control piece includes first portion of gripping and first connecting portion, first connecting portion mobilizable set up in on the first base, first portion of gripping can pitch rotation relative to first connecting portion, lift input structure is first portion of gripping with pitch rotation structure between the first connecting portion.

Optionally, the first control piece includes relative fixed connection's first portion of gripping and first connecting portion, first connecting portion rotatable set up in on the first base, lift input structure is lift input element, lift input element set up in on the first portion of gripping.

Optionally, the lifting input element is provided with a first stirring part, the initial position of the first stirring part is taken as a second reference position, and the first stirring part comprises a first stirring direction and a second stirring direction which are stirred along different directions of the second reference position;

the poking amount of the poking part poked in the first poking direction is related to the climbing parameter of the aircraft, and the poking amount of the poking part poked in the second poking direction is related to the descending parameter of the aircraft.

Optionally, the lifting input element is a potentiometer capable of being pushed and stirred, the position of the first stirring part in the pushing direction comprises a first initial position and a first pushing position, and when the first stirring part is pushed to the first pushing position, the altitude balancing of the aircraft is cleared;

optionally, the lifting input element is configured with a first sensor for measuring the poking amount of the poking part, and a button for controlling the aircraft altitude trimming cleaning after being pressed is integrated on the first control piece.

Optionally, the yaw control structure includes a yaw input element integrated on the second control piece, the yaw input element has a second stirring portion, an initial position of the second stirring portion is used as a third reference position, and the second stirring portion includes a third stirring direction and a fourth stirring direction which are stirred along different directions of the third reference position;

the poking amount poked by the second poking part in the third poking direction is related to the left yaw speed/left yaw acceleration/left yaw angle of the left yaw of the aircraft, and the poking amount poked by the second poking part in the fourth poking direction is related to the right yaw speed/right yaw acceleration/right yaw angle of the right yaw of the aircraft.

Optionally, the yaw input element is a potentiometer that can be pushed and stirred, the position of the second stirring part in the pushing direction includes a second initial position and a second pushing position, and when the second stirring part is pushed to the second pushing position, the yaw trimming of the aircraft is cleared.

Optionally, the second control piece includes the second connecting portion and the second portion of gripping that are connected, the second portion of gripping can be relative the second connecting portion is along the third direction rotation, the second portion of gripping is relative the rotation angle of second connecting portion correlates the yaw gesture of aircraft.

Optionally, a connection joint is arranged between the base and the second control element, the connection joint comprises a first low pair and a second low pair, so that the second control element can move or rotate along a first direction along with the first low pair relative to the base, and the second control element can move or rotate along a second direction along with the second low pair relative to the second base;

wherein the second control member is further provided with a third sensor for measuring the amount of change of the second control member with the first low-pair movement or rotation; the second control element is further provided with a fourth sensor for measuring the change in the movement or rotation of the second control element with the fourth lower pair.

When the aircraft control assembly is used for controlling the vertical take-off and landing fixed wing aircraft, the lifting of the aircraft can be controlled through the lifting control structure of the first control handle in the vertical take-off and landing stage, after the aircraft enters the flat flight stage, the flying gesture of the aircraft is controlled through the control structure of the second control handle, the forward flying speed of the aircraft is controlled through the speed control structure of the first control handle in both the vertical take-off and landing stage and the flat flight stage, and different control results cannot be generated due to one action in the whole process from the vertical stage to the flying stage, so that the aircraft is beneficial to avoiding improper operation caused by different modes of pilots and improving the flying safety.

Drawings

FIG. 1 is a schematic structural view of an exemplary aircraft handling assembly of the present utility model;

FIG. 2 is a schematic illustration of an exemplary configuration of the first joystick of FIG. 1;

FIG. 3 is another exemplary structural schematic view of the first joystick of FIG. 1;

FIG. 4 is a schematic illustration of an exemplary configuration of a locking mechanism in the first lever;

FIG. 5 is a schematic illustration of an exemplary configuration of the second joystick of FIG. 1;

FIG. 6 is another exemplary schematic illustration of the second joystick of FIG. 1;

FIG. 7 is a schematic view of the second operating handle of FIG. 5 with the panel and seal cover removed

FIG. 8 is a view of the relationship between the connecting rod segment of the second manipulator and the base of FIG. 7 (the base being partially cut away);

FIG. 9 is an exploded view of FIG. 7;

fig. 10 is a schematic structural view of a manipulation handle of still another example of the second manipulation handle of fig. 1.

Reference numerals illustrate:

100-a first manipulating handle;

110-a first base, 111-a guide hole;

120-first operating piece, 121-first holding part, 122-first connecting part, 123-locking hole;

131-a first toggle part;

140-locking mechanism, 141-locking piece;

200-a second manipulating handle;

210-a second base, 2101-a first mounting hole, 2102-a second mounting hole, 2103-a receiving space;

220-second manipulator, 221-second connection, 222-second grip, 2111-force input;

231-a second toggle part, 232-a third sensor, 233-a fourth sensor;

240-connecting joints, 241-first rotating members, 2411-first intermediate portions, 2412-first shaft sections, 242-second rotating members, 2421-second intermediate portions, 2422-second shaft sections, 2421 a-torque transmission grooves;

250-panel;

260-an elastic member;

270-sealing the cover;

280-protective cover.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the utility model.

It should be understood that the present utility model may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art. In the drawings, like numbers refer to like elements throughout.

Referring to fig. 1, the aircraft steering assembly of the present utility model comprises a first steering handle and a second steering handle 200, and referring to fig. 2 and 3, the first steering handle comprises a first base 110, a first steering member 120 movably arranged on the first base 110, and a lifting input structure integrated on the first steering member 120, wherein the first steering member 120 is used for controlling the forward flying speed of the aircraft, and the lifting input structure is used for controlling the lifting of the aircraft in the height direction; referring to fig. 5 to 10 in combination, the second manipulating handle 200 includes a second base 210 and a second manipulating member 220 disposed on the second base 210, the second manipulating member 220 being movable or rotatable with respect to the base in a first direction, the second manipulating member 220 being movable or rotatable with respect to the second base 210 in a second direction, a variation of the movement or rotation of the second manipulating member 220 in the first direction being related to a roll attitude of the aircraft, a variation of the movement or rotation of the second manipulating member 220 in the second direction being related to a pitch attitude of the aircraft; the second control member 220 is further provided with a yaw control structure for controlling yaw of the aircraft; of the first and second manipulating handles 200, one manipulating handle is a left manipulating handle and the other manipulating handle is a right manipulating handle.

When the aircraft control assembly is used for controlling the vertical take-off and landing fixed wing aircraft, in the vertical take-off and landing stage, the first control piece 120 is held, a lifting instruction is input by utilizing a lifting input structure, so that the lifting of the aircraft can be controlled, acting force is applied to the first control piece 120, the first control piece 120 executes corresponding movement in a corresponding direction, and the forward flight rate of the aircraft can be controlled; after entering the flat flight phase, the operator holds the second control member 220, and controls the roll of the aircraft as long as the second control member 220 is forced in the first direction, the second control member 220 is forced in the second direction to control the pitch of the aircraft, and the yaw control structure is used to control the yaw of the aircraft.

The aircraft control assembly does not generate different control results due to one action in the whole process from the vertical stage to the flight stage, is beneficial to avoiding improper operation caused by different modes of pilots, and improves flight safety.

Referring to fig. 1, the first steering handle is a left steering handle, the second steering handle 200 is a right steering handle, in the present utility model, "left steering handle" refers to a steering handle for the left hand of an operator to hold, and "right steering handle" refers to a steering handle for the right hand of an operator to hold, during the operation, the operator is located at the operation position, the left hand holds the left steering handle, and the right hand holds the right steering handle, so that the operation is convenient. In fig. 1, the first manipulating handle is located at the left side of the manipulating position, and the second manipulating handle 200 is located at the right side of the manipulating position; in actual implementation, the first manipulating handle is located at the right side of the manipulating position, and the second manipulating handle 200 is located at the left side of the manipulating position.

It should be noted that the aircraft handling assembly of the present utility model may be integrated on an aircraft for handling a manned aircraft, or may be integrated on a manipulator or a handling platform independently for handling an unmanned aircraft.

With respect to the first manipulating handle, it will be explained below how the first manipulating member 120 controls the front flying speed of the aircraft:

in some embodiments, referring to fig. 2 and 3, the initial position of the first manipulating member 120 is a first reference position, and the moving direction of the first manipulating member 120 includes a first moving direction and a second moving direction that move along different directions of the first reference position; the amount of movement of the first manipulator 120 in the first movement direction is related to an increment of the forward flight rate of the aircraft, the amount of movement of the manipulator in the second movement direction is related to a decrement of the forward flight rate of the aircraft, and the first manipulator 120 is further provided with a second sensor (not shown) for measuring the amount of movement and the movement direction of the first manipulator 120 relative to the first base 110.

For example, the first moving direction may be a direction in which the first manipulating member 120 is pushed to move forward (a direction corresponding to the left of the drawing sheet in fig. 3), and the second moving direction may be a direction in which the first manipulating member 120 is pulled to move backward (a direction corresponding to the right of the drawing sheet in fig. 3), that is, the forward flying rate of the aircraft may be increased (that is, acceleration) by pushing the first manipulating member 120 forward, the forward flying rate of the aircraft may be decreased (that is, deceleration) by pulling the first manipulating member 120 backward, and the manipulation is convenient. Of course, in the practical implementation process, the first moving direction and the second moving direction can also adopt other directions instead of adopting a mode of front-back rotation, but the front-back direction is used as the moving direction to be more ergonomic, which is also beneficial to the pilot to control the aircraft more intuitively, so that the pilot can adapt to the control handle quickly.

In some embodiments, the first base 110 is further provided with a locking mechanism, and the locking position of the first operating member 120 moving from the first reference position to the second moving direction includes a first locking position; when the first operating member 120 is moved in the second direction by the external force, the first operating member 120 is locked in the first locking position by the locking mechanism. In this structure, when the forward flying speed is reduced during the flying of the aircraft, the first manipulating member 120 is manipulated to rotate or move in the second moving direction.

In other embodiments, referring to fig. 4, a locking mechanism is also provided on the first base 110, and the locking position of the first operating member 120 moving from the first reference position to the second moving direction includes a first locking position and a second locking position, where the first locking position is located between the second locking position and the first reference position.

In fig. 4, the locking mechanism includes two sets of locking structures, the two sets of locking structures are a first locking structure and a second locking structure, the first locking structure corresponds to a first locking position, the second locking structure corresponds to a second locking position, each set of locking structure includes a guide hole 111, a locking member 141 and an elastic member, the guide hole 111 is formed on the first base 110, the locking member 141 is movably limited in the guide hole 111, the moving position of the locking member 141 along the guide hole 111 includes a locking position and an unlocking position, the elastic member is used for driving the locking member 141 to be kept in the locking position, and the first operating member 120 is provided with a locking hole 123 for the locking member 141 to be inserted.

When the first operating member 120 is not located at the first locking position or the second locking position, the locking member 141 is located at the unlocking position; when the first operating member 120 reaches the first locking position along the second moving direction, the locking member 141 of the first locking structure is pushed into the locking hole 123 under the action of the corresponding elastic member, so that the first operating member 120 is locked in the first locking position; if the first operating member 120 is driven to move along the second moving direction, the locking member 141 is pushed out of the locking hole 123, see fig. 4, and when the first operating member 120 reaches the second locking position, the locking member 141 of the second locking structure is pushed into the locking hole 123 under the action of the corresponding elastic member, so that the first operating member 120 is locked at the first locking position.

For the first manipulating handle, a manner in which the lift input structure is adopted will be described in detail as follows:

in some embodiments, referring to fig. 2, the first manipulating member 120 includes a first holding portion 121 and a first connecting portion 122 that are fixedly connected to each other, the first connecting portion 122 is rotatably disposed on the first base 110, and the lifting input structure is a lifting input element, and the lifting input element is disposed on the first holding portion 121. At this time, a lift command is input through the lift input element to control the lift of the aircraft.

In other embodiments, referring to fig. 4, the first manipulating member 120 includes a first holding portion 121 and a first connecting portion 122, the first connecting portion 122 is movably disposed on the first base 110, the first holding portion 121 can pitch and rotate relative to the first connecting portion 122, and the lifting input structure is a pitch and rotation structure between the first holding portion 121 and the first connecting portion 122. When the control is performed, the first holding part 121 is rotated by holding the pitching, so that the control on the lifting of the aircraft is realized.

When the lifting input element is used to control the lifting of the aircraft, in some embodiments, referring to fig. 2, the lifting input element is provided with a first stirring portion 131, an initial position of the first stirring portion 131 is taken as a second reference position, and a stirring direction of the first stirring portion 131 comprises a first stirring direction and a second stirring direction which are stirred along different directions of the second reference position; the poking amount poked by the poking part in the first poking direction is related to the climbing parameter of the aircraft, and the poking amount poked by the poking part in the second poking direction is related to the descending parameter of the aircraft. The first control handle of the aircraft can perform lifting control of the aircraft only by poking the first poking part 131, the first control piece 120 can be held by hand in the control process, poking of the first poking part 131 is controlled by utilizing the thumb, the ergonomics are compounded, and the control is convenient.

In fig. 2, the first poking direction is an upward poking direction obliquely upwards, which corresponds to climbing of the aircraft, and the second poking direction is a downward poking direction obliquely downwards, which corresponds to descending of the aircraft, so that the operation experience is visual.

The "parameter" in the climbing parameter and the descent parameter herein may be a rate of change of the climbing rate or the ascent and descent rate.

In some embodiments, the lifting input element is a depressible and stimulable potentiometer, and the position of the first stirring portion 131 in the pressing direction includes a first initial position and a first hold-down position, and when the first stirring portion 131 is pressed to the first hold-down position, the altitude trim of the aircraft is cleared. At this time, the first control 120 integrates the function of aircraft altitude trimming zero, and when altitude trimming zero is performed, the mode does not need to be switched, which is also beneficial to reducing the probability of incorrect pilot operation.

It should be noted that in the practical implementation process, the depressible and stirable potentiometer may be an existing potentiometer, such as a tri-state sensor, and the specific structure is not an innovation point of the present disclosure, and will not be described herein.

In this way, the lifting input element is able to control the hovering of the aircraft in the altitude direction; in other embodiments, if the lift input element is not a depressible, wave-able potentiometer (not shown), a hover button may be integrated on the first manipulator 120 by which the aircraft is enabled to hover in the altitude direction. Of course, whatever the manner in which the aircraft is hovered in the altitude direction first during the transition from the vertical takeoff and landing phase to the flat flight phase, the transition between vertical takeoff and landing and flat flight is achieved.

In other embodiments (not shown), if the lift input element is not a potentiometer, nor a sensor, but is a pure structural element, the lift input element needs to be provided with a first sensor (not shown) for measuring the amount of the first dial 131 being toggled in the first toggle direction or the second toggle direction. In this case, the first sensor may be a rotary potentiometer, an angle encoder, or the like, as long as the amount of movement of the first movement portion 131 can be directly or indirectly detected.

In comparison to the second manipulating handle 200, the following embodiments will specifically describe a manner in which the gesture manipulation structure is disposed on the second manipulating handle:

in some embodiments, referring to fig. 10, the yaw manipulation structure includes a yaw input element integrated on the second manipulator 220, the yaw input element having a second toggle portion 231, the second toggle portion 231 including a third toggle direction and a fourth toggle direction toggled in different directions along the third reference position, with an initial position of the second toggle portion 231 as the third reference position; the amount of the second stirring portion 231 stirred in the third stirring direction is related to the left yaw speed, the left yaw acceleration or the left yaw angle of the left yaw of the aircraft, and the amount of the second stirring portion 231 stirred in the fourth stirring direction is related to the right yaw speed, the right yaw acceleration or the right yaw angle of the right yaw of the aircraft.

The second control handle 200 can control the yaw attitude only by pulling the second pulling part 231, and in the control process, the second control piece 220 can be held by hand, the pulling of the second pulling part 231 is controlled by the thumb, so that the control device accords with ergonomics and is convenient to control.

In some embodiments, the yaw input element is a depressible and toggle potentiometer, and the position of the second toggle portion 231 in the pressing direction includes a second initial position and a second depressed position, and when the second toggle portion 231 is depressed to the second depressed position, the yaw trim of the aircraft is cleared.

At this time, the second control handle 200 integrates the function of yaw trimming and zero clearing of the aircraft, and the mode does not need to be switched when the yaw trimming and zero clearing is performed, so that the probability of incorrect operation of the pilot is reduced.

In the practical implementation process, the depressible and stirable potentiometer may be an existing potentiometer, such as a tri-state sensor, and the specific structure is not an innovation point of the present disclosure, and will not be described herein.

In other embodiments, the yaw input element may also be a dial or knob rotatably disposed on the second control member 220, where a sensor for measuring a rotation angle of the dial or knob is disposed on the second control member 220, and yaw control is performed by correlating yaw parameters of the aircraft with data collected by the sensor.

In some embodiments, the third toggle direction is opposite to the fourth toggle direction. For example, in fig. 10, the third toggle direction is a toggle left direction, and the fourth toggle direction is a toggle right direction. In the actual implementation process, the third stirring direction and the fourth stirring direction can also correspond to other directions, for example, the third stirring direction can also be a direction of stirring right, and the fourth stirring direction can also be a direction of stirring left; for another example, the third toggle direction may be a toggle-up or toggle-down direction, and the fourth toggle direction may be a toggle-up or toggle-up direction. Of course, the actual toggle directions of the third toggle direction and the fourth toggle direction are preferably consistent with the existing control handle as much as possible, and the pilot is more beneficial to quick adaptation.

In still other embodiments, referring to fig. 5 to 9, the second manipulating member 220 includes a second connecting portion 221 and a second holding portion 222 that are connected, the second holding portion 222 is capable of rotating in a third direction relative to the second connecting portion 221, and a rotation angle of the second holding portion 222 relative to the second connecting portion 221 correlates to a yaw attitude of the aircraft.

The control of the yaw attitude can be performed only by rotating the second holding part 222 along the third direction, and the control is convenient.

For example, in some embodiments, the third direction refers to a direction in which the second grip portion 222 rotates relative to the second connection portion 221. When the yaw attitude is controlled, the second holding part 222 is held, and the yaw attitude is controlled only by twisting the second holding part 222, so that the yaw attitude is controlled, and the human engineering is met.

In some embodiments, a first acquisition element for measuring the rotation angle between the second grip portion 222 and the second connection portion 221 is arranged between the second grip portion 222 and the second connection portion 221, and data acquired by the first acquisition element is related to the yaw attitude of the aircraft. In an actual implementation process, the first acquisition element may be a potentiometer or an angle encoder.

In some embodiments, referring to fig. 7-9 in combination, a connection joint 240 is disposed between the second base 210 and the second manipulator 220, the connection joint 240 connects the second base 210 and the second manipulator 220, the connection joint 240 includes a first low pair and a second low pair, such that the second manipulator 220 can move or rotate in a first direction relative to the base, and the second manipulator 220 can move or rotate in a second direction relative to the base.

The following examples will illustrate the first low pair and the second low pair, namely, how to control roll and pitch attitude:

in some embodiments, referring to fig. 7 to 9 in combination, the second manipulator 220 is further configured with a third sensor 232, and the third sensor 232 is configured to measure an amount of change in the second manipulator 220 with the first low pair of movements or rotations; the second manipulator 220 is further provided with a fourth sensor 233, and the fourth sensor 233 is configured to measure a change in the second manipulator 220 with the second low-pair movement or rotation.

It should be noted that, the amount of change in the movement or rotation of the first low pair may be divided into two cases, where if the first low pair is a movement pair, the amount of change indicates that the stroke of the second manipulating member 220 relative to the second base 210 in the first direction is changed, and if the first low pair is a rotation pair, the amount of change indicates that the second manipulating member 220 is rotated relative to the second base 210 in the first direction. In an actual implementation, the third sensor 232 may be a rotary potentiometer, an angle encoder, or the like, so long as the travel change or the rotation angle of the second control member 220 moving along the first direction can be directly or indirectly collected.

It should be noted that, the amount of change in the movement or rotation of the second low pair may be divided into two cases, where if the second low pair is a movement pair, the amount of change indicates a change in the stroke of the second operating member 220 relative to the second base 210 in the second direction, and if the second low pair is a rotation pair, the amount of change indicates a rotation angle of the second operating member 220 relative to the second base 210 in the second direction. In an actual implementation process, the fourth sensor 233 may be a rotary potentiometer, an angle encoder, or the like, as long as the stroke change or the rotation angle of the second manipulation member 220 moving along the second direction can be directly or indirectly acquired. In an actual implementation process, the fourth sensor 233 may be a rotary potentiometer, an angle encoder, or the like, as long as the stroke change or the rotation angle of the second manipulation member 220 moving along the second direction can be directly or indirectly acquired.

In some embodiments, the first low pair is a lateral revolute pair or a lateral shifting pair; the second low pair is a longitudinal revolute pair or a longitudinal movable pair.

That is, on the premise that the first direction is transverse and the second direction is longitudinal, in the actual implementation process, four situations may exist: the first is that the first low pair and the second low pair are both revolute pairs; the second is that the first low pair and the second low pair are both mobile pairs; the third is that the first low pair is a revolute pair and the second low pair is a movable pair; the fourth is that the first low pair is a moving pair and the second low pair is a rotating pair.

The "lateral" herein refers to the left-right direction and the "longitudinal" herein refers to the front-rear direction for the operator who manipulates the second manipulating handle 200. In addition, although not mentioned in the above description, the second manipulation member 220 and the second base 210 have therebetween an elastic member 260 for urging the second manipulation member 220 to be maintained at the corresponding initial position, and the elastic member 260 may be a compression spring or the like.

For easy understanding, when the second manipulating handle 200 is used to manipulate the attitude of the aircraft, the second grip 222 is gripped, the second manipulating member 220 is moved leftwards or rightwards by shaking the second manipulating member 220 leftwards or rightwards, and the third sensor 232 can measure the corresponding rotation angle; by rocking the second manipulating member 220 forward or backward, the second manipulating member 220 rotates forward or backward, and the fourth sensor 233 can measure the corresponding rotation angle; turning the second grip 222 to the left or right, the corresponding first acquisition element being able to measure the respective turning angle; the aircraft control center obtains the rotation angle measured by the third sensor 232, the rotation angle measured by the fourth sensor 233 and the twisting angle measured by the first acquisition element to control the roll, pitch and yaw of the aircraft, so that attitude control is realized.

In order to further understand how the first low pair and the second low pair respond to the manipulation action of the manipulator, a description will be given below of a way in which the first low pair and the second low pair are both revolute pairs.

In some embodiments, referring to fig. 7 to 9 in combination, the first lower pair is a transverse revolute pair, the first lower pair includes a first mounting hole 2101 and a first rotary member 241, the first mounting hole 2101 is formed on the second base 210 and extends along a longitudinal direction of the second base 210, the first rotary member 241 has a first shaft section 2412 cooperatively mounted in the first mounting hole 2101, and the third sensor 232 is used for measuring a rotation angle of the first rotary member 241 in the first mounting hole 2101; the second lower pair is a longitudinal revolute pair, the second lower pair comprises a second mounting hole 2102 and a second rotating member 242, the second mounting hole 2102 is formed in the second base 210 and extends along the transverse direction of the second base 210, the second rotating member 242 is provided with a second shaft section 2422 which is matched and mounted in the second mounting hole 2102, and the fourth sensor 233 is used for measuring the rotation angle of the second rotating member 242 in the second mounting hole 2102; the first rotating member 241 is rotatably connected to the second operating member 220 about an axis extending in the transverse direction, and a torque transmission structure is provided between the second rotating member 242 and the second operating member 220.

In the actual implementation, another way may be adopted, namely: the second rotating member 242 is rotatably connected to the second operating member 220 about an axis extending in the longitudinal direction, and a torque transmission structure is provided between the first rotating member 241 and the second operating member 220.

In some embodiments, see fig. 9, the torque transmission structure includes a torque transmission groove 2421a provided on the corresponding rotating member and a force input portion 2111 provided on the second operating member 220, the force input portion 2111 being fitted into the torque transmission groove 2421 a; the width of the torque transmission groove 2421a matches the width of the force input portion 2111 in the torque transmission direction; the torsion groove 2421a has a long side direction perpendicular to the torsion direction so that the force input portion 2111 can swing in the torsion groove 2421a by the driving of the second manipulation member 220. For example, in fig. 9, the torque transmission groove 2421a is disposed on the second rotating member 242.

In some embodiments, referring to fig. 8 and 9, the second base 210 includes a body and a receiving space 2103 opened on the body; the first rotating member 241 spans the second base 210 along the longitudinal direction, the first rotating member 241 has a first middle portion 2411 disposed in the accommodating space 2103, the first shaft segments 2412 are longitudinally distributed on two sides of the first middle portion 2411, and the first middle portion 2411 has a hollow through slot for the force input portion 2111 to penetrate; the second rotating member 242 longitudinally spans the second base 210 along the transverse direction, the second rotating member 242 has a second middle portion 2421, the second shaft sections 2422 are laterally distributed on two sides of the second middle portion 2421, and the torque transmission grooves 2421a are disposed on the second middle portion 2421. In this way, the forces of the first rotating member 241 and the second rotating member 242 are balanced.

In some embodiments, referring to fig. 7-9 in combination, the third sensor 232 is a first rotary potentiometer mounted between the second base 210 and the first shaft segment 2412; the fourth sensor 233 is a second rotary potentiometer mounted between the second base 210 and the second shaft section 2422.

In some embodiments, referring to fig. 6, a panel 250 is disposed on the second base 210, the elastic member 260 is disposed between the second base 210 and the second holding portion 222, a sealing cover 270 is further disposed between the panel 250 and the second holding portion 222, and a protective cover 280 is further disposed outside the second base 210, referring to fig. 5. Advantageously, the connection knuckle 240 is better protected, improving the life of the handle.

The above embodiments are merely illustrative of the principles of the present utility model and its effectiveness, and are not intended to limit the utility model. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the utility model. Accordingly, it is intended that all equivalent modifications and variations of the utility model be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. An aircraft handling assembly comprising:

the device comprises a first control handle, a second control handle and a lifting input structure, wherein the first control handle comprises a first base, a first control piece movably arranged on the first base and the lifting input structure is integrated on the first control piece and is used for controlling the forward flying speed of an aircraft, and the lifting input structure is used for controlling the lifting of the aircraft in the height direction; and

the second control handle comprises a second base and a second control piece arranged on the second base, the second control piece can move or rotate along a first direction relative to the base, the second control piece can move or rotate along a second direction relative to the second base, the change of the second control piece moving or rotating along the first direction is related to the rolling gesture of the aircraft, and the change of the second control piece moving or rotating along the second direction is related to the pitching gesture of the aircraft; the second control piece is also provided with a yaw control structure for controlling the yaw of the aircraft;

among the first and second operating handles, one of the operating handles is a left operating handle and the other operating handle is a right operating handle.

2. The aircraft handling assembly of claim 1, wherein: the initial position of the first control piece is a first reference position, and the moving direction of the first control piece comprises a first moving direction and a second moving direction which move along different directions of the first reference position;

the movement amount of the first control element moving towards the first moving direction is related to the increment of the forward flying speed of the aircraft, the movement amount of the control element moving towards the second moving direction is related to the decrement of the forward flying speed of the aircraft, and the first control element is further provided with a second sensor for measuring the movement amount and the movement direction of the first control element moving relative to the first base.

3. The aircraft handling assembly of claim 1, wherein: the first control piece comprises a first holding part and a first connecting part, the first connecting part is movably arranged on the first base, the first holding part can rotate in a pitching mode relative to the first connecting part, and the lifting input structure is a pitching rotation structure between the first holding part and the first connecting part.

4. The aircraft handling assembly of claim 1, wherein: the first control piece comprises a first holding part and a first connecting part which are fixedly connected relatively, the first connecting part is rotatably arranged on the first base, the lifting input structure is a lifting input element, and the lifting input element is arranged on the first holding part.

5. The aircraft handling assembly of claim 4, wherein: the lifting input element is provided with a first stirring part, the initial position of the first stirring part is taken as a second reference position, and the first stirring part comprises a first stirring direction and a second stirring direction which are stirred along different directions of the second reference position;

the poking amount of the poking part poked in the first poking direction is related to the climbing parameter of the aircraft, and the poking amount of the poking part poked in the second poking direction is related to the descending parameter of the aircraft.

6. The aircraft handling assembly of claim 5, wherein:

the lifting input element is a potentiometer capable of being pressed and poked, the position of the first poking part in the pressing direction comprises a first initial position and a first pressing position, and when the first poking part is pressed to the first pressing position, the altitude balancing of the aircraft is cleared;

or (b)

The lifting input element is provided with a first sensor for measuring the poking quantity of the poking part, and a button for controlling the aircraft to trim and clean after being pressed is further integrated on the first control piece.

7. The aircraft handling assembly of claim 1, wherein: the yaw control structure comprises a yaw input element integrated on the second control piece, the yaw input element is provided with a second poking part, the initial position of the second poking part is used as a third reference position, and the second poking part comprises a third poking direction and a fourth poking direction poking along different directions of the third reference position;

the poking amount poked by the second poking part in the third poking direction is related to the left yaw speed/left yaw acceleration/left yaw angle of the left yaw of the aircraft, and the poking amount poked by the second poking part in the fourth poking direction is related to the right yaw speed/right yaw acceleration/right yaw angle of the right yaw of the aircraft.

8. The aircraft handling assembly of claim 7, wherein: the yaw input element is a potentiometer capable of being pressed and poked, the position of the second poking part in the pressing direction comprises a second initial position and a second pressing position, and when the second poking part is pressed to the second pressing position, the yaw trim of the aircraft is cleared.

9. The aircraft handling assembly of claim 7, wherein: the second control piece comprises a second connecting part and a second holding part which are connected, the second holding part can rotate along a third direction relative to the second connecting part, and the rotating angle of the second holding part relative to the second connecting part is related to the yaw attitude of the aircraft.

10. The aircraft handling assembly of claim 1, wherein:

a connecting joint is arranged between the base and the second control piece, the connecting joint comprises a first low pair and a second low pair, the second control piece can move or rotate along a first direction along with the first low pair relative to the base, and the second control piece can move or rotate along a second direction along with the second low pair relative to the second base;

wherein the second control member is further provided with a third sensor for measuring the amount of change of the second control member with the first low-pair movement or rotation; the second control element is further provided with a fourth sensor for measuring the change in the second control element with the second low-pair movement or rotation.