EP1601571A1 - Device for steering a vehicle - Google Patents

Device for steering a vehicle

Info

Publication number
EP1601571A1
EP1601571A1 EP03816238A EP03816238A EP1601571A1 EP 1601571 A1 EP1601571 A1 EP 1601571A1 EP 03816238 A EP03816238 A EP 03816238A EP 03816238 A EP03816238 A EP 03816238A EP 1601571 A1 EP1601571 A1 EP 1601571A1
Authority
EP
European Patent Office
Prior art keywords
control rod
control
drive element
pinion
handle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03816238A
Other languages
German (de)
French (fr)
Other versions
EP1601571B1 (en
Inventor
Jörg HENLE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wittenstein SE
Original Assignee
Wittenstein SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wittenstein SE filed Critical Wittenstein SE
Publication of EP1601571A1 publication Critical patent/EP1601571A1/en
Application granted granted Critical
Publication of EP1601571B1 publication Critical patent/EP1601571B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04792—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rotary control around the axis of the controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
    • G05G9/04796—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements for rectilinear control along the axis of the controlling member
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04777—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional push or pull action on the handle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04781—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional rotation of the controlling member
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/15—Intermittent grip type mechanical movement
    • Y10T74/1503—Rotary to intermittent unidirectional motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/19—Gearing
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20018—Transmission control
    • Y10T74/2003—Electrical actuator

Definitions

  • the invention relates to a device for controlling a vehicle, in particular a helicopter or a simulator with a handle, which can be moved linearly to control a drive device, in particular an engine or motor.
  • Such devices are known and used in a variety of forms and designs on the market. They are mainly used to control simulators and helicopters, but also any other vehicle or aircraft.
  • a handle can be moved essentially linearly, for example to actuate an engine, a motor or another drive device of a vehicle or an aircraft, or to a corresponding position or a set one To transmit the operating state in the form of signals to a flight simulator as the actual value.
  • a disadvantage of the conventional known devices is that they are large, complex and complex, in particular provided with differently complex rods, cables or the like. Particularly in the case of helicopter control and also for controlling flight simulators, these devices are expensive to purchase and complex to maintain.
  • the present invention has for its object to provide a device of the type mentioned, which eliminates the disadvantages mentioned and with which a device for precise control of vehicles, aircraft, in particular helicopters and flight simulators is possible in a simple and inexpensive manner, which is also a allows active force feedback to the handle.
  • This device should be able to be accommodated well in the case of limited installation spaces and increase safety during operation and minimize maintenance.
  • the linear movement of the handle is coupled with a rotary movement of a drive element.
  • a drive element is connected to a holding element, the drive element being formed from a control device, a connected electric motor and a gear connected to it.
  • a pinion is connected to the gear unit via a shaft, flange or the like (not shown here).
  • the electric motor or the drive element is preferably fixedly or releasably connected to the holding element, the pinion engaging through an opening of the holding element.
  • a carrier element Connected to the holding element is a carrier element, which is preferably formed from a base plate and laterally adjoining side flanges, the side flanges being firmly connected to the holding element.
  • Guide elements are used in the side flanges in corresponding recesses and, if necessary, as sliding or bearing shells.
  • a control rod is mounted such that it can move linearly along a control axis through this recess or through the guide elements.
  • the control rod is provided with corresponding rack areas which are in engagement with the toothing of the pinion.
  • a force sensor is provided at the end of the control rod, which has a handle for moving the control rod in the linear X direction.
  • the force sensor can be used to determine tensile and compressive forces that are exerted on the control rod by the handle using a human hand.
  • control rod If, for example, the control rod is to be moved downwards, it is pushed downwards by pressurization moves, a downward movement can be supported by the electric motor and the changed operating position is thereby detected in the control device.
  • this active control and controllability of the control rod and thus of the handle is important because, for example, the current, set position, for example during autopilot operation, is always displayed to the pilot, so that the pilot always has a feeling of the operating state in which it is Plane is located. This contributes significantly to the operational safety of a vehicle, in particular a helicopter or aircraft. This should also be within the scope of the present invention.
  • FIG. 1 shows a schematically illustrated perspective view of a device according to the invention for controlling a vehicle, in particular a helicopter;
  • FIG. 2 shows a schematically illustrated perspective view of the device according to FIG. 1 in a different position of use
  • Figure 3 is a schematically illustrated perspective view of the device according to Figures 1 and 2 with a handle placed on a force sensor.
  • a device Ri for controlling a vehicle, in particular a helicopter or a simulator, has a drive element 1 which can be releasably connected to a holding element 2.
  • the holding device 1 essentially consists of an electric motor 3 to which a control device 4 is connected at one end and a gear 5 is connected at the other end.
  • the transmission 5 preferably at least partially extends through an opening 6 on which a pinion 7 is seated at the end.
  • the pinion 7 is preferably provided with a toothing 8 only indicated here.
  • the holding element 2 is not shown here, is firmly connected to the vehicle, in particular the helicopter or its housing cells, or is part of a housing structure.
  • the pinion 7 can be driven in rotation about the central axis M by means of the electric motor 3 of the drive element 1.
  • a fixed or releasable connection to the holding element 2 is a support element 9, which is U-shaped with a base plate and side flanges 11.1, 11.2 adjoining it at the ends.
  • the two side flanges 11.1, 11.2 are spaced parallel to one another and are permanently or releasably connected to the holding element 2 on the end face.
  • Recessing recesses 12 are provided in the side flanges 11.1, 11.2, into which corresponding guide elements 13, designed as slide bushes or slide bearings, may be inserted.
  • a control rod 14 moves linearly back and forth along a control axis A in the X direction shown.
  • a force sensor 15 At the end of the control rod 14 there is a force sensor 15, which, as is particularly indicated in FIG. 3, has a handle 16 on it.
  • Control axis A and central axis M are preferably arranged perpendicular to one another, but lie in other planes.
  • the control axis A is offset from the center axis M of the drive element 1 so that a rack region 17 of the control rod 14, which is only indicated here, meshes with the pinion 7 attached to the transmission 5, and thereby a rotary movement of the pinion 7 with a linear movement of the control rod 14 along the control axis A is coupled.
  • control rod 14 can be driven actively via the drive element 1, with a drive correspondingly can be supported or controlled via the pressure or tension signals of the force sensor 15.
  • control rod 14 is shown in a different position of use and retracted into the carrier element 9.
  • the control rod 14 or the handle 16 and force sensor 15 can be moved upward again by pulling on a handle, not shown here, as indicated in FIG. 3. If the force sensor 15 is subjected to tension, for example when pulling upwards by means of the handle 16, then the electric motor 3 is activated on a control device or control (not shown here) and supports a corresponding linear movement of the control rod 14 by rotating the pinion 7.
  • Control rod 14 can grip, but others can
  • Rotational movement of the pinion 7 or a disc on a linear movement of the control rod 14 may be possible.
  • a rotational movement of a disk or the like can also be done, for example, by frictional engagement, via cable pulls or the like
  • Pinion 7 can be implemented in a linear movement of the control rod 14.
  • the invention is not restricted to this.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transmission Devices (AREA)
  • Mechanical Control Devices (AREA)

Abstract

The invention relates to a device for steering a vehicle, particularly a helicopter or even a simulator, comprising a handgrip (16) that can be moved in a manner that is linear to the drive of a drive device, particularly the power unit or motor. According to the invention, the linear motion of the handgrip (16) should be coupled with a rotational motion of a drive element (1).

Description

Vorrichtung zum Steuern eines Fahrzeuges Device for controlling a vehicle
Die Erfindung betrifft eine Vorrichtung zum Steuern eines Fahrzeuges, insbesondere Helikopters oder auch eines Simulators mit einem Handgriff, welcher linear zur Ansteuerung einer Antriebseinrichtung, insbesondere Triebwerkes oder Motors, bewegbar ist.The invention relates to a device for controlling a vehicle, in particular a helicopter or a simulator with a handle, which can be moved linearly to control a drive device, in particular an engine or motor.
Derartige Vorrichtungen sind in vielfältiger Form und Ausführung auf dem Markt bekannt und gebräuchlich. Sie dienen im wesentlichen zur Steuerung von Simulatoren und Helikoptern, aber auch von beliebigen anderen Fahrzeugen oder Flugzeugen. Dabei ist ein Handgriff im wesentlichen linear bewegbar, um beispielsweise ein Triebwerk, ein Motor oder eine sonstige Antriebseinrichtung eines Fahrzeuges oder eines Flugzeuges zu betätigen, oder um eine entsprechende Position bzw. einen eingestellten Betriebszustand in Form von Signalen einem Flugsimulator als Ist-Wert zu übermitteln.Such devices are known and used in a variety of forms and designs on the market. They are mainly used to control simulators and helicopters, but also any other vehicle or aircraft. In this case, a handle can be moved essentially linearly, for example to actuate an engine, a motor or another drive device of a vehicle or an aircraft, or to a corresponding position or a set one To transmit the operating state in the form of signals to a flight simulator as the actual value.
Bei den herkömmlichen bekannten Vorrichtungen ist nachteilig, dass diese gross, komplex und aufwendig, insbesondere mit unterschiedlich aufwendigen Gestängen, Seilzügen od. dgl. versehen sind. Insbesondere bei der Helikoptersteuerung und auch zur Steuerung von Flugsimulatoren sind diese Vorrichtungen teuer in der Anschaffung und aufwendig zu warten.A disadvantage of the conventional known devices is that they are large, complex and complex, in particular provided with differently complex rods, cables or the like. Particularly in the case of helicopter control and also for controlling flight simulators, these devices are expensive to purchase and complex to maintain.
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, eine Vorrichtung der eingangs genannten Art zu schaffen, welche die genannten Nachteile beseitigt und mit welcher auf einfache und kostengünstige Weise eine Vorrichtung zur exakten Steuerung von Fahrzeugen, Flugzeugen, insbesondere Helikoptern und Flugsimulatoren möglich ist, die auch eine aktive Kraftrückführung auf den Handgriff zulässt. Dabei soll diese Vorrichtung bei beschränkten Einbauräumen gut untergebracht werden können und eine Sicherheit im Betrieb erhöhen und einen Wartungsaufwand minimieren.The present invention has for its object to provide a device of the type mentioned, which eliminates the disadvantages mentioned and with which a device for precise control of vehicles, aircraft, in particular helicopters and flight simulators is possible in a simple and inexpensive manner, which is also a allows active force feedback to the handle. This device should be able to be accommodated well in the case of limited installation spaces and increase safety during operation and minimize maintenance.
Zur Lösung dieser Aufgabe führt, dass die lineare Bewegung des Handgriffes mit einer rotativen Bewegung eines Antriebselementes gekoppelt ist.To achieve this object, the linear movement of the handle is coupled with a rotary movement of a drive element.
Bei der vorliegenden Erfindung schliesst ein Antriebselement an ein Halteelement an, wobei das Antriebselement aus einer Regeleinrichtung, einem anschliessenden Elektromotor und daran anschliessendem Getriebe gebildet ist. An das Getriebe schliesst über eine hier nicht näher dargestellte Welle, Flansch od. dgl. ein Ritzel an. Vorzugsweise ist der Elektromotor bzw. das Antriebselement mit dem Halteelement fest oder wiederlösbar verbunden, wobei das Ritzel eine Öffnung des Haltelementes durchgreift .In the present invention, a drive element is connected to a holding element, the drive element being formed from a control device, a connected electric motor and a gear connected to it. A pinion is connected to the gear unit via a shaft, flange or the like (not shown here). The electric motor or the drive element is preferably fixedly or releasably connected to the holding element, the pinion engaging through an opening of the holding element.
An das Halteelement schliesst ein Trägerelement an, welches vorzugsweise aus einer Grundplatte und jeweils seitlich anschliessenden Seitenflanschen gebildet ist, wobei die Seitenflansche mit dem Halteelement fest verbunden sind.Connected to the holding element is a carrier element, which is preferably formed from a base plate and laterally adjoining side flanges, the side flanges being firmly connected to the holding element.
In den Seitenflanschen sind in entsprechenden Ausnehmungen und ggf. als Gleit- oder Lagerschalen Führungselemente eingesetzt.Guide elements are used in the side flanges in corresponding recesses and, if necessary, as sliding or bearing shells.
Durch diese Ausnehmung bzw. durch die Führungselemente ist eine Steuerstange linear entlang einer Steuerachse bewegbar gelagert. Die Steuerstange ist mit entsprechenden Zahnstangenbereichen versehen, die mit den Verzahnungen des Ritzels in Eingriff stehen.A control rod is mounted such that it can move linearly along a control axis through this recess or through the guide elements. The control rod is provided with corresponding rack areas which are in engagement with the toothing of the pinion.
Auf diese Weise lässt sich eine rotative Bewegung des Ritzels auf eine lineare Bewegung einer Steuerstange übertragen.In this way, a rotary movement of the pinion can be transferred to a linear movement of a control rod.
Wichtig ist bei der vorliegenden Erfindung, dass endseits der Steuerstange ein Kraftsensor vorgesehen ist, dem ein Handgriff zur Bewegung der Steuerstange in linearer X- Richtung aufsitzt.It is important in the present invention that a force sensor is provided at the end of the control rod, which has a handle for moving the control rod in the linear X direction.
Über den Kraftsensor lassen sich Zug- und Druckkräfte ermitteln, die mittels einer menschlichen Hand vom Handgriff auf die Steuerstange ausgeübt werden.The force sensor can be used to determine tensile and compressive forces that are exerted on the control rod by the handle using a human hand.
Soll die Steuerstange beispielsweise nach unten verfahren werden, so wird durch Druckbeaufschlagung diese nach unten bewegt, wobei eine Bewegung nach unten durch den Elektromotor unterstützt werden kann und die geänderte Betriebsposition in der Regeleinrichtung hierdurch erfasst wird.If, for example, the control rod is to be moved downwards, it is pushed downwards by pressurization moves, a downward movement can be supported by the electric motor and the changed operating position is thereby detected in the control device.
Auf diese Weise ist ein Rückschluss über die aktuelle Position der Vorrichtung, insbesondere der Steuerstange exakt möglich. Auf diese Weise lässt sich im Simulator der Betriebszustand oder auch im Fahrzeug der Betriebszustand, ob Halbgas, Dreiviertelgas oder Vollgas anzeigen. Dieses Signal kann auch zur Steuerung des Simulators verwendet werden.In this way, a conclusion about the current position of the device, in particular the control rod, is exactly possible. In this way, the operating status or the operating status in the vehicle, whether half-throttle, three-quarter throttle or full throttle, can be displayed in the simulator. This signal can also be used to control the simulator.
Insbesondere ist diese aktive Ansteuerung und Ansteuerbarkeit der Steuerstange und damit auch des Handgriffes von Bedeutung, da beispielsweise auch immer die aktuelle, eingestellte Position, beispielsweise bei Autopilotenbetrieb dem Piloten angezeigt wird, so dass der Pilot immer ein Gefühl dafür bekommt, in welchem Betriebszustand sich das Flugzeug befindet. Dies trägt erheblich zur Betriebssicherheit eines Fahrzeuges, insbesondere eines Helikopters oder Flugzeuges bei. Dies soll ebenfalls im Rahmen der vorliegenden Erfindung liegen. In particular, this active control and controllability of the control rod and thus of the handle is important because, for example, the current, set position, for example during autopilot operation, is always displayed to the pilot, so that the pilot always has a feeling of the operating state in which it is Plane is located. This contributes significantly to the operational safety of a vehicle, in particular a helicopter or aircraft. This should also be within the scope of the present invention.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnung; diese zeigt inFurther advantages, features and details of the invention result from the following description of preferred exemplary embodiments and from the drawing; this shows in
Figur 1 eine schematisch dargestellte perspektivische Ansicht auf eine erfindungsge ässe Vorrichtung zum Steuern eines Fahrzeuges, insbesondere eines Helikopters;1 shows a schematically illustrated perspective view of a device according to the invention for controlling a vehicle, in particular a helicopter;
Figur 2 eine schematisch dargestellte perspektivische Ansicht der Vorrichtung gemäss Figur 1 in einer anderen Gebrauchslage;FIG. 2 shows a schematically illustrated perspective view of the device according to FIG. 1 in a different position of use;
Figur 3 eine schematisch dargestellte perspektivische Ansicht der Vorrichtung gemäss den Figuren 1 und 2 mit auf einem Kraftsensor aufgesetztem Handgriff.Figure 3 is a schematically illustrated perspective view of the device according to Figures 1 and 2 with a handle placed on a force sensor.
Gemäss Figur 1 weist eine erfindungsgemässe Vorrichtung Ri zum Steuern eines Fahrzeuges, insbesondere eines Helikopters oder auch eines Simulators ein Antriebselement 1 auf, welches wiederlösbar mit einem Halteelement 2 verbindbar ist. Die Halteeinrichtung 1 besteht im wesentlichen aus einem Elektromotor 3, an welchem einends eine Regeleinrichtung 4 und andernends ein Getriebe 5 anschliesst. Vorzugsweise durchgreift zumindest teilweise das Getriebe 5 eine Öffnung 6, auf welchem endseits ein Ritzel 7 aufsitzt. Das Ritzel 7 ist vorzugsweise mit einer hier nur angedeuteten Verzahnung 8 versehen.According to FIG. 1, a device Ri according to the invention for controlling a vehicle, in particular a helicopter or a simulator, has a drive element 1 which can be releasably connected to a holding element 2. The holding device 1 essentially consists of an electric motor 3 to which a control device 4 is connected at one end and a gear 5 is connected at the other end. The transmission 5 preferably at least partially extends through an opening 6 on which a pinion 7 is seated at the end. The pinion 7 is preferably provided with a toothing 8 only indicated here.
Das Halteelement 2 ist hier nicht näher dargestellt, mit dem Fahrzeug, insbesondere mit dem Helikopter oder dessen Gehäusezellen fest verbunden oder Bestandteil einer Gehäusestruktur . Das Ritzel 7 ist um die Mittelachse M mittels des Elektromotors 3 des Antriebselementes 1 rotativ antreibbar.The holding element 2 is not shown here, is firmly connected to the vehicle, in particular the helicopter or its housing cells, or is part of a housing structure. The pinion 7 can be driven in rotation about the central axis M by means of the electric motor 3 of the drive element 1.
An das Halteelement 2 schliesst fest oder wiederlösbar ein Trägerelement 9 an, welches U-artig mit einer Grundplatte und jeweils endseits winklig daran anschliessenden Seitenflanschen 11.1, 11.2 gebildet ist. Die beiden Seitenflansche 11.1, 11.2 sind parallel zueinander beabstandet und stirnseitig mit dem Halteelement 2 fest oder wiederlösbar verbunden.A fixed or releasable connection to the holding element 2 is a support element 9, which is U-shaped with a base plate and side flanges 11.1, 11.2 adjoining it at the ends. The two side flanges 11.1, 11.2 are spaced parallel to one another and are permanently or releasably connected to the holding element 2 on the end face.
In den Seitenflanschen 11.1, 11.2 sind zueinander fluchtende Ausnehmungen 12 vorgesehen, in welche ggf. entsprechende Führungselemente 13, ausgebildet als Gleitbuchsen oder Gleitlager, eingesetzt sind. In diese Führungselementen 13, die lediglich im Seitenflansch 11.1 in Figur 1 angedeutet sind, greift linear entlang einer Steuerachse A in dargestellter X-Richtung hin und her bewegbar eine Steuerstange 14 ein. Endseits an die Steuerstange 14 schliesst ein Kraftsensor 15 an, welchem, wie es insbesondere in Figur 3 angedeutet ist, ein Handgriff 16 aufsitzt. Bevorzugt sind Steuerachse A und Mittelachse M zueinander lotrecht angeordnet, liegen jedoch in anderen Ebenen.Recessing recesses 12 are provided in the side flanges 11.1, 11.2, into which corresponding guide elements 13, designed as slide bushes or slide bearings, may be inserted. In these guide elements 13, which are only indicated in the side flange 11.1 in FIG. 1, a control rod 14 moves linearly back and forth along a control axis A in the X direction shown. At the end of the control rod 14 there is a force sensor 15, which, as is particularly indicated in FIG. 3, has a handle 16 on it. Control axis A and central axis M are preferably arranged perpendicular to one another, but lie in other planes.
Die Steuerachse A ist zur Mittelachse M des Antriebselementes 1 aussermittig versetzt, so dass ein hier nur angedeuteter Zahnstangenbereich 17 der Steuerstange 14 das dem Getriebe 5 aufgesetzte Ritzel 7 kämmt und hierdurch eine rotative Bewegung des Ritzels 7 mit einer linearen Bewegung der Steuerstange 14 entlang der Steuerachse A gekoppelt ist.The control axis A is offset from the center axis M of the drive element 1 so that a rack region 17 of the control rod 14, which is only indicated here, meshes with the pinion 7 attached to the transmission 5, and thereby a rotary movement of the pinion 7 with a linear movement of the control rod 14 along the control axis A is coupled.
Hierdurch lässt sich aktiv über das Antriebselement 1 die Steuerstange 14 antreiben, wobei ein Antrieb entsprechend über die Druck- oder Zugsignale des Kraftsensors 15 unterstützt bzw. gesteuert werden kann.As a result, the control rod 14 can be driven actively via the drive element 1, with a drive correspondingly can be supported or controlled via the pressure or tension signals of the force sensor 15.
In Figur 2 ist beispielsweise in einer anderen Gebrauchslage die Steuerstange 14 und in das Trägerelement 9 eingefahren dargestellt.In Figure 2, for example, the control rod 14 is shown in a different position of use and retracted into the carrier element 9.
Durch entsprechendes Ziehen an einem hier nicht näher dargestellten Handgriff, wie es in Figur 3 angedeutet ist, lässt sich die Steuerstange 14 bzw. der Handgriff 16 und Kraftsensor 15 wieder nach oben bewegen. Wird der Kraftsensor 15, beispielsweise beim Nachobenziehen mittels des Handgriffes 16 auf Zug belastet, so wird an einer hier nicht dargestellten Steuereinrichtung oder Regelung der Elektromotor 3 aktiviert und unterstützt eine entsprechende lineare Bewegung der Steuerstange 14 durch rotatives Antreiben des Ritzels 7.The control rod 14 or the handle 16 and force sensor 15 can be moved upward again by pulling on a handle, not shown here, as indicated in FIG. 3. If the force sensor 15 is subjected to tension, for example when pulling upwards by means of the handle 16, then the electric motor 3 is activated on a control device or control (not shown here) and supports a corresponding linear movement of the control rod 14 by rotating the pinion 7.
Bei der vorliegenden Erfindung soll auch daran gedacht sein, dass nicht nur formschlüssig das Ritzel 7 mit derIn the present invention, it should also be borne in mind that not only the pinion 7 with a positive fit
Verzahnung 8 in einen Zahnstangenbereich 17 derTooth 8 in a rack area 17 of the
Steuerstange 14 greifen kann, sondern es können auch andereControl rod 14 can grip, but others can
Möglichkeiten der Übertragung bzw. Kopplung derPossibilities of transmission or coupling of the
Drehbewegung des Ritzels 7 oder einer Scheibe auf eine lineare Bewegung der Steuerstange 14 möglich sein. Es kann beispielsweise durch Reibschluss, über Seilzüge od. dgl. ebenfalls eine rotative Bewegung einer Scheibe oder desRotational movement of the pinion 7 or a disc on a linear movement of the control rod 14 may be possible. A rotational movement of a disk or the like can also be done, for example, by frictional engagement, via cable pulls or the like
Ritzels 7 in eine lineare Bewegung der Steuerstange 14 umgesetzt werden. Hierauf sei die Erfindung nicht beschränkt. DR. PETER WEISS & DIPL.-ING. A. BRECHTPinion 7 can be implemented in a linear movement of the control rod 14. The invention is not restricted to this. DR. PETER WEISS & DIPL.-ING. A. BRECHT
Patentanwältepatent attorneys
European Patent AttorneyEuropean Patent Attorney
Aktenzeichen: P 2951/PCT Datum: 12.12.2003 B/HECase number: P 2951 / PCT Date: 12.12.2003 B / HE
PositionszahlenlistePosition Number List

Claims

PATENTANSPRÜCHE
Vorrichtung zum Steuern eines Fahrzeuges, insbesondere Helikopters oder auch eines Simulators mit einem Handgriff (16), welcher linear zur Ansteuerung einer Antriebseinrichtung, insbesondere Triebwerkes oder Motors, bewegbar ist,Device for controlling a vehicle, in particular a helicopter or a simulator, with a handle (16) which can be moved linearly to control a drive device, in particular an engine or motor,
dadurch gekennzeichnet,characterized,
dass die lineare Bewegung des Handgriffes (16) mit einer rotativen Bewegung eines Antriebselementes (1) gekoppelt ist.that the linear movement of the handle (16) is coupled with a rotary movement of a drive element (1).
2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass das Antriebselement (1) aus einer Regeleinrichtung (4), daran anschliessendem Elektromotor (3) mit anschliessendem Getriebe (5) gebildet ist.2. Device according to claim 1, characterized in that the drive element (1) from a control device (4), adjoining electric motor (3) with adjoining gear (5) is formed.
3. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass an das Getriebe (5) ein Ritzel (7) anschliesst.3. Device according to claim 2, characterized in that a pinion (7) connects to the gear (5).
4. Vorrichtung nach wenigstens einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Antriebselement (1) an ein Halteelement (2) festlegbar ist.4. The device according to at least one of claims 1 to 3, characterized in that the drive element (1) on a holding element (2) can be fixed.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass zumindest teilweise das Getriebe (5) und vollständig das Ritzel (7) durch eine Öffnung (6) des Halteelementes (2) geführt ist. 5. The device according to claim 4, characterized in that at least partially the gear (5) and completely the pinion (7) through an opening (6) of the holding element (2) is guided.
6. Vorrichtung nach Anspruch 4 oder 5, dadurch gekennzeichnet, dass dem Halteelement (2) ein Trägerelement (9) zugeordnet ist.6. The device according to claim 4 or 5, characterized in that the holding element (2) is assigned a carrier element (9).
7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass das Trägerelement (9) U-artig ausgebildet und aus einer Grundplatte (10) und jeweils seitlich und winklig anschliessenden Seitenflanschen (11.1, 11.2) gebildet ist.7. The device according to claim 6, characterized in that the carrier element (9) is U-shaped and is formed from a base plate (10) and in each case laterally and angularly adjoining side flanges (11.1, 11.2).
8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass stirnseitig die Seitenflansche (11.1, 11.2) mit dem Halteelement (2) verbunden sind.8. The device according to claim 7, characterized in that the end faces of the side flanges (11.1, 11.2) are connected to the holding element (2).
9. Vorrichtung nach wenigstens einem der Ansprüche 6 bis9. The device according to at least one of claims 6 to
8, dadurch gekennzeichnet, dass das Trägerelement (9) aussermittig zu einer Mittelachse (M) des Getriebes (5) bzw. des Ritzels (7) dem Halteelement (2) zugeordnet ist.8, characterized in that the carrier element (9) is assigned to the holding element (2) eccentrically to a central axis (M) of the transmission (5) or of the pinion (7).
10. Vorrichtung nach wenigstens einem der Ansprüche 7 bis10. The device according to at least one of claims 7 to
9, dadurch gekennzeichnet, dass in den Seitenflanschen (11.1, 11.2) des Trägerelementes (9) Ausnehmungen (12) mit ggf- eingesetzten Führungselementen (13) vorgesehen sind, durch welche linear bewegbar und passgenau eine Steuerstange (14) greift.9, characterized in that in the side flanges (11.1, 11.2) of the carrier element (9) there are recesses (12) with possibly inserted guide elements (13) through which a control rod (14) can be moved linearly and fits precisely.
11. Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass die Steuerstange (14) mit dem Ritzel (7) in Verbindung steht.11. The device according to claim 10, characterized in that the control rod (14) with the pinion (7) is connected.
12. Vorrichtung nach Anspruch 10 oder 11, dadurch gekennzeichnet, dass eine Verzahnung (8) des Ritzels (7) einen Zahnstangenbereich (17) der Steuerstange (14) kämmt. 12. The apparatus of claim 10 or 11, characterized in that a toothing (8) of the pinion (7) meshes a rack area (17) of the control rod (14).
13. Vorrichtung nach wenigstens einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, dass endseits an die Steuerstange (14) der Handgriff (16) anschliesst.13. The device according to at least one of claims 10 to 12, characterized in that the handle (16) connects to the end of the control rod (14).
14. Vorrichtung nach Anspruch 13, dadurch gekennzeichnet, dass endseits der Steuerstange (14) zwischen dieser und dem Handgriff (16) ein Kraftsensor (15) eingesetzt ist .14. The apparatus according to claim 13, characterized in that a force sensor (15) is inserted at the end of the control rod (14) between it and the handle (16).
15. Vorrichtung nach wenigstens einem der Ansprüche 10 bis 14, dadurch gekennzeichnet, dass mittels des Antriebselementes (1) die Steuerstange (14) aktiv antreibbar, insbesondere linear hin und her bewegbar ist.15. The device according to at least one of claims 10 to 14, characterized in that by means of the drive element (1) the control rod (14) is actively driven, in particular linearly movable back and forth.
16. Vorrichtung nach Anspruch 14 oder 15, dadurch gekennzeichnet, dass über den Kraftsensor (15) eine am Handgriff (16) wirkende Zug- und/oder Druckkraft ermittelbar ist, die zur aktiven Steuerung des Antriebsele entes (1) , insbesondere zur aktiven Bewegung der Steuerstange (14) dient.16. The apparatus according to claim 14 or 15, characterized in that a tensile and / or compressive force acting on the handle (16) can be determined via the force sensor (15), which for active control of the drive element (1), in particular for active movement the control rod (14) is used.
17. Vorrichtung nach wenigstens einem der Ansprüche 10 bis 16, dadurch gekennzeichnet, dass auch im17. The device according to at least one of claims 10 to 16, characterized in that also in
Simulatorbetrieb die Steuerstange (14) linear mittels des Antriebselementes (1) antreibbar ist.Simulator operation the control rod (14) can be driven linearly by means of the drive element (1).
18. Vorrichtung nach wenigstens einem der Ansprüche 10 bis 17, dadurch gekennzeichnet, dass die Regeleinrichtung18. The device according to at least one of claims 10 to 17, characterized in that the control device
(4) des Antriebselementes (1) eine aktuelle Position der Steuerstange (14) im Betrieb ermittelt und bestimmt ist. (4) the drive element (1) a current position of the control rod (14) is determined and determined during operation.
9. Vorrichtung nach wenigstens einem der Ansprüche 10 bis 18, dadurch gekennzeichnet, dass die Steuerstange (14) entlang einer Steuerachse (A) bewegbar ist, die in etwa lotrecht zu einer Mittelachse (M) des Antriebselementes (1) verläuft, wobei die Steuerachse (A) aussermittig zur Mittelachse (M) des Antriebselementes (1) angerodnet ist. 9. The device according to at least one of claims 10 to 18, characterized in that the control rod (14) along a control axis (A) is movable, which is approximately perpendicular to a central axis (M) of the drive element (1), the control axis (A) is aligned eccentrically to the central axis (M) of the drive element (1).
EP03816238A 2003-03-10 2003-12-12 Device for steering a vehicle Expired - Lifetime EP1601571B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE2003110717 DE10310717A1 (en) 2003-03-10 2003-03-10 Helicopter or simulator control device, has a control assembly that has a linear movement mechanism that is activated using a handgrip to control rotational movement of a drive element
DE10310717 2003-03-10
PCT/EP2003/014154 WO2004080795A1 (en) 2003-03-10 2003-12-12 Device for steering a vehicle

Publications (2)

Publication Number Publication Date
EP1601571A1 true EP1601571A1 (en) 2005-12-07
EP1601571B1 EP1601571B1 (en) 2006-06-14

Family

ID=32892065

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Application Number Title Priority Date Filing Date
EP03816238A Expired - Lifetime EP1601571B1 (en) 2003-03-10 2003-12-12 Device for steering a vehicle

Country Status (5)

Country Link
US (1) US7199544B2 (en)
EP (1) EP1601571B1 (en)
AU (1) AU2003296641A1 (en)
DE (2) DE10310717A1 (en)
WO (1) WO2004080795A1 (en)

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Also Published As

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AU2003296641A1 (en) 2004-09-30
US20060186848A1 (en) 2006-08-24
DE10310717A1 (en) 2004-09-23
WO2004080795A1 (en) 2004-09-23
DE50303887D1 (en) 2006-07-27
US7199544B2 (en) 2007-04-03
EP1601571B1 (en) 2006-06-14

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