JPH05265585A - Feel mechanism for joy stick type controller for aircraft - Google Patents

Abstract

PURPOSE:To facilitate adjusting work and to reduce dimension and weight by comprising the feel mechanism of a flat spring arranged at the lower side of each gimbal part and a bolt for play adjustment, and performing play adjustment by tightening/loosening the bolt for play adjustment. CONSTITUTION:One terminal part of a flat spring 5 for inner gimbal is mounted alternately on the lower part of an outer gimbal 2, and the bolt 6 for play adjustment is screwed in an inner gimbal 4 enabling to be abutted on the upper plane in the neighborhood of the intermediate part of the spring 5 for inner gimbal. Also, one terminal part of a flat spring 11 for outer gimbal is mounted alternately on the inner side part of a housing 1, and the bolt 12 for play adjustment is screwed in the outer gimbal 2 enabling to be abutted on the upper plane in the neighborhood of the intermediate part of the flat spring 11 for outer gimbal. The bolt 6 for play adjustment is descended following the rotation of the inner gimbal 4 by applying an operating force around the rotary shaft 9 of the inner gimbal 4 to a grip 18, and the flat spring 5 for inner gimbal is warped, which generates a reaction corresponding to a rotational angle, and it becomes the operating reaction of the grip part 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a feel mechanism of an aircraft joystick type controller.

[0002]

2. Description of the Related Art Heretofore, as a feel mechanism of this type (which gives a feeling of control depending on the amount of control and a function of returning to a neutral position when a hand is released), a coil spring is provided on a scissor-like arm. There are known ones that use a gimbal and a spring cartridge connected to the gimbal.

Both of them are used in a joystick type controller having a biaxial gimbal, and the former feel mechanism is as shown in FIGS. 8 and 9.
The upper ends of the pair of inner gimbal arms 33 are mounted on the outer end of a rotary shaft 32 of an inner gimbal (not shown) protruding from the housing 31 so as to be rotatable only in the directions in which the lower ends of the inner gimbal arm 33 move away from each other. A coil spring 34 is elastically mounted between the lower ends of both arms 33, and a plurality of stopper pins 35 for preventing rotation of both arms 33 are planted outside the housing 31 below the rotary shaft 32, while The outer gimbal (not shown) protruding from 31 is mounted on the outer end of a rotary shaft 36 so that the upper ends of the pair of outer gimbal arms 37 are rotatable only in the directions in which the lower ends of the outer gimbal arms 37 move away from each other. A coil spring 38 is mounted between the lower ends of both arms 37, and the rotation of both arms 37 is provided outside the housing 31 below the rotary shaft 36. Multiple of the stopper pin 39 to prevent the
It is constructed by planting. In FIGS. 8 and 9, reference numeral 40 is a grip.

However, in the above-mentioned feel mechanism,
Grip 4 centering on the rotation axis 32 of the inner gimbal
By operating 0, the inner gimbal arm 3
While one of the three is blocked from rotating by the stopper pin 35, the other is moved away from the stopper pin 35 and the coil spring 34 is pulled to obtain an operation reaction force according to the operation amount of the grip 40. Similarly, by operating the grip 40 around the rotation shaft 36 of the outer gimbal, one of the outer gimbal arms 37 is prevented from rotating by the stopper pin 39 and the other is moved away from the stopper pin 39. As a result, the coil spring 38 is pulled, and an operation reaction force corresponding to the steering amount of the grip 40 is obtained.

The latter feel mechanism is shown in FIGS.
As shown in FIG. 1, a stopper arm 44 having stopper pins 43 planted at both ends is fixed to the outer end portion of a rotary shaft 42 of an inner gimbal (not shown) protruding from the housing 41, and the stopper pins 43 are attached to the respective stopper pins 43. The bases of the pair of spring arms 45 and 45 'which can come into contact from above are rotatably fitted to the outer ends of the rotary shaft 42, respectively.
A coil spring 47 is provided between each end of the spring arms 45 and 45 ′ and a bracket 46 attached to the outer lower portion of the housing 41, while the coil spring 47 projects from the housing 41 and is connected to the housing 41. Outer gimbal inserted in body 48 (not shown)
A stopper arm 51, in which stopper pins 50 are planted at both ends, is fixed to the outer end of the rotary shaft 49, and the bases of a pair of spring arms 52 and 52 'capable of contacting the respective stopper pins 50 from above are described above. The coil spring 5 is rotatably fitted to the outer end of the rotary shaft 49 and is interposed between the end of each spring arm 52 and 52 ′ and the bottom of a spring case 53 attached to the bottom of the housing 48.
4 are respectively interposed. 10 and 11
At 55 is a grip.

However, in the above-mentioned feel mechanism,
Grip 5 centering on the rotation axis 42 of the inner gimbal
By operating 5, the spring arm 45 swings with the rotation of the stopper arm 44, the coil spring 47 is pulled, and an operation reaction force corresponding to the steering amount of the grip 55 is obtained. By operating the grip 55 centering around the rotation axis 49 of the outer gimbal,
The spring arm 52 swings with the rotation of the stopper arm 51, the coil spring 54 is pulled, and an operation reaction force corresponding to the amount of steering of the grip 55 is obtained.

[0007]

However, in each of the above-mentioned conventional feel mechanisms, since the coil spring is used, it is difficult to adjust the magnitude of the operation reaction force and the dimension, weight, etc. There was a problem that it was too large for mounting on an aircraft. Therefore, an object of the present invention is to provide a feel mechanism of an aircraft joystick type controller that can easily perform adjustment work and can reduce the size and weight.

[0008]

[Means for Solving the Problems]
Therefore, the joystick type controller for aircraft of the present invention
The feeler mechanism of the roller is flat with the rotation axis of the outer gimbal.
It is arranged in parallel under each side of the inner gimbal.
And one end is staggered under the outer gimbal
The mounted inner gimbal leaf spring and inner gimbal
The inner part of each inner gimbal leaf spring is screwed into the bal
A backlash adjusting bolt that can contact the upper surface in the vicinity, and an inner
Below each side of the outer gimbal parallel to the axis of rotation of the gimbal
Parallel to each other, with one end inside the housing
Alternating leaf springs for outer gimbals
And the outer gimbal is screwed into each outer gimbal
Backlash adjusting button that can contact the upper surface near the middle of the leaf spring
It is equipped with

The feel mechanism is screwed into the outer gimbal, and the preload addition bolt capable of pressing the other end of each inner gimbal leaf spring downward and the inside of the housing is screwed into the outer gimbal for each outer gimbal. It is desirable to have a preload addition bolt capable of pressing the other end of the leaf spring.

In addition, a supporting metal member is provided near one end of each of the inner gimbal leaf spring and the outer gimbal leaf spring to support a plate surface near each one end of the leaf springs as appropriate. Is desirable.

[0011]

In the above means, the feel mechanism is composed of the leaf springs arranged below the gimbal portions and the play adjusting bolts, and the play is adjusted by moving the play adjusting bolts back and forth. Determined by the thickness of the leaf spring. By providing the preload addition bolt that pushes down the other end of the leaf spring for each gimbal, the preload of the operation reaction force is set by advancing and retracting the preload addition bolt.

Further, the effective length of the leaf spring is changed by providing the support metal member for supporting the plate surface near one end of each leaf spring in a bent state of the leaf spring.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings. 1 and 2 are a partially cutaway perspective view and a bottom view of an aircraft joystick type controller having a feel mechanism according to an embodiment of the present invention, and FIGS. 3 and 4 are lines III-III in FIG. 2, respectively. It is a sectional view and a side view taken along line IV-IV.

Below each side of the inner gimbal 4 which is parallel to the rotation axis 3 of the outer gimbal 2 which constitutes the biaxial gimbal housed in the housing 1, one end is alternately attached to the lower part of the outer gimbal 2. In addition, the inner gimbal leaf springs 5 having flexibility in the vertical direction are arranged in parallel with the above-mentioned respective sides, and the inner gimbal 5 is vertically attached to the upper surface near the middle portion of each inner gimbal leaf spring 5. A lower end portion of the play adjusting bolt 6 that is movably screwed is provided so as to be able to abut. Then, the preload addition bolts 8 capable of pressing the other end of each inner gimbal leaf spring 5 against the lug 7 attached to the outer gimbal 2 in correspondence with the other end of each inner gimbal leaf spring 5. Is screwed so that it can move up and down.

On the other hand, below each side of the outer gimbal 2 parallel to the rotating shaft 9 of the inner gimbal 4, one end of the lug 10 is attached to a lug 10 attached to the inner side of the housing 1, and the lug 10 is vertically movable. The outer gimbal leaf springs 11 having flexibility are respectively arranged in parallel with the respective sides, and the outer gimbal 2 is screwed into the upper surface of the outer gimbal leaf springs 11 near the middle portion thereof so as to be vertically movable. The lower end portion of the backlash adjusting bolt 12 is provided so as to be able to contact. A preload addition bolt 14 capable of pressing the other end of each outer gimbal leaf spring 11 is vertically attached to the lug 13 attached to the inner portion of the housing 1 so as to correspond to each outer gimbal leaf spring 11. It is movably screwed.

Further, in the central portion of the leaf spring support portion 15 which is rigidly attached inside the inner gimbal 4, FIG.
As shown in FIG. 3, a shaft 16 is rotatably inserted through a bearing 17, and a grip 18 is continuously provided on the upper end of the shaft 16 and one end of a U-shaped arm 19 is connected to the other end. It is set up. The leaf spring support portion 15 has a U-shaped arm 1 as shown in FIGS.
A pair of leaf springs 20 for twisting operation so as to sandwich 9
Of the preload addition bolt 21 movably screwed into the leaf spring support portion 15 is pressed against the inner surface of the torsion operation leaf spring 20 near the other end thereof. The end of a backlash adjusting bolt 22 movably screwed into the other end of the arm 19 is provided on the inner surface of the other end of each twisting operation leaf spring 20 so as to be in contact therewith. Has been.

In the joystick type controller for aircraft having the above-mentioned structure, when an operating force about the rotating shaft 9 of the inner gimbal 4 is applied to the grip 18, the inner gimbal 4 is rotated by the operating force, and the rattling is accompanied by this rotation. The adjusting bolt 6 is lowered. The lowering of the play adjusting bolt 6 causes the inner gimbal leaf spring 5 to bend, and the inner gimbal 4 against the outer gimbal 2 surface.
A reaction force corresponding to the rotation angle of the grip 18 is generated and becomes an operation reaction force (feel) in the grip 18 portion.

Here, the inner gimbal leaf spring 5 is appropriately bent in advance by the preload addition bolts 8 attached to the outer gimbal 2, so that the load corresponding to this bending is applied to the play adjusting bolt 6 When the load applied to the inner gimbal leaf spring 5 is larger than the load, the inner gimbal leaf spring 5 does not bend.
As a result, the feel characteristics of the grip 18 (operation force-
The preload characteristic is added to the grip displacement characteristic).

When an operating force around the rotating shaft 3 of the outer gimbal 2 is applied to the grip 18, the outer gimbal 2 is rotated by the operating force in the same manner as described above, and the rattling adjusting bolt 12 is accompanied by this rotation. Go down. By lowering the backlash adjusting bolt 6, the outer gimbal leaf spring 1
1 bends, and a reaction force corresponding to this bending is generated, and this becomes an operation reaction force of the grip 18. Here, as in the case of the inner gimbal 4, the preload characteristic can be added to the feel characteristic by the preload addition bolt 14.

Further, when an operating force about the shaft 16 is applied to the grip 18, the arm 19
A force in the direction of rotation is applied to the twisting operation, whereby the torsion operation leaf spring 20 bends in accordance with the force, and a reaction force corresponding to this bending is generated, which becomes an operation reaction force of the grip 18.

In the above embodiment, the case where only one end portion of each leaf spring 5, 11, 20 is supported and the effective length of the leaf spring is made constant has been described, but the present invention is not limited to this and, for example, shown in FIG. As shown, a support metal fitting 23 that supports one end of each leaf spring 5, 11, 20 supports a plate surface near each one of the leaf springs 5, 11 and 20 in an appropriately bent state. The protrusion 24 may be provided, and the effective length of the leaf spring may be changed according to the bending of the leaf springs 5, 11, and 20. By doing so, it becomes possible to give the feel characteristic non-linearity.

[0022]

As described above, according to the feel mechanism of the aircraft joystick type controller of the present invention, the feel mechanism is composed of the leaf springs and the play adjusting bolts arranged below each gimbal portion. So
The mechanism is simple, its size and weight can be reduced, and the backlash is adjusted by advancing and retracting the backlash adjusting bolt, so that the adjustment work can be easily performed, and the spring rate depends on the thickness of the leaf spring. Since it is determined, there is an effect that the spring rate can be freely set, excluding the restriction on strength.

By providing the preload addition bolt for pushing down the other end of the leaf spring for each gimbal, the preload of the operation reaction force is set by advancing and retracting the preload addition bolt, so that the feel characteristic can be obtained by a simple means. Preloading property can be added to.

Further, since the plate spring effective length is changed by providing the supporting metal member for supporting the plate surface in the vicinity of one end of each plate spring in a state where the plate spring is bent, the non-linearity in the feel characteristic is caused. Can be added.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view of an aircraft joystick type controller having a feel mechanism according to an embodiment of the present invention.

FIG. 2 is a partially cutaway bottom view of an aircraft joystick type controller including a feel mechanism according to an embodiment of the present invention.

3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a side view taken along line IV-IV in FIG.

FIG. 5 is a side view of a twist direction feel mechanism portion in the feel mechanism according to the embodiment of the present invention.

FIG. 6 is a bottom view of a twist direction feel mechanism portion in the feel mechanism according to the embodiment of the present invention.

FIG. 7 is a side view of a main part of a feel mechanism according to another embodiment of the present invention.

FIG. 8 is a front view of an aircraft joystick type controller including a conventional feel mechanism.

FIG. 9 is a side view of an aircraft joystick type controller including a conventional feel mechanism.

FIG. 10 is a side view of an aircraft joystick type controller having another conventional feel mechanism.

FIG. 11 is a plan view of an aircraft joystick type controller having another conventional feel mechanism.

[Explanation of symbols]

 1 Housing 2 Outer Gimbal 3 Rotating Shaft 4 Inner Gimbal 5 Inner Gimbal Leaf Spring 6 Gutter Adjustment Bolt 8 Preload Addition Bolt 9 Rotation Shaft 11 Outer Gimbal Leaf Spring 12 Gutter Adjustment Bolt 14 Preload Addition Bolt 15 Leaf Spring Support Part 18 Grip 19 Arm 20 Leaf spring for twisting operation 21 Preload addition bolt 22 Backlash adjusting bolt 23 Support metal fitting 24 Support protrusion

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshio Nojima 1-35-1, Izumihoncho, Komae-shi, Tokyo Within Tokyo Aircraft Instrument Co., Ltd. (72) Inventor Kazuo Murata 1-35, Izumihonmachi, Komae-shi, Tokyo No. 1 inside Tokyo Aircraft Instrument Co., Ltd.

Claims (3)

[Claims] 1. An inner gimbal, which is parallel to a rotation axis of the outer gimbal, is arranged in parallel below each side,
A leaf spring for inner gimbals, one end of which is alternately mounted on the lower part of the outer gimbal, and a play adjusting bolt that is screwed into the inner gimbal and can come into contact with the upper surface near the middle portion of each inner gimbal leaf spring, The outer gimbal leaf springs are arranged in parallel below the respective sides of the outer gimbal that are parallel to the rotation axis of the inner gimbal, and one end of the outer gimbal is alternately mounted on the inner side of the housing, and the outer gimbal is screwed into the outer gimbal. A feel mechanism for a joystick type controller for aircraft, comprising: a play adjusting bolt capable of contacting with an upper surface near an intermediate portion of an outer gimbal leaf spring. 2. The feel mechanism for an aircraft joystick type controller according to claim 1, further comprising: a preload addition bolt that is screwed into the outer gimbal and is capable of pressing the other end of each inner gimbal leaf spring downward. A feel mechanism for an aircraft joystick type controller, comprising: a preload addition bolt that is screwed into an inner portion of a housing and is capable of pressing the other end of each outer gimbal leaf spring downward. 3. The feel mechanism of an aircraft joystick type controller according to claim 1, wherein:
A support metal fitting is provided near one end of each of the inner gimbal leaf spring and the outer gimbal leaf spring to support a plate surface near the one end of each leaf spring in a properly bent state. Feel mechanism of joystick type controller for aircraft.