• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The present invention relates to a haptic alert mechanism (1). The mechanism (1) comprising an actuator (10). At least one arm (36) of a movable stopper is connected to the actuator. A spring box (40) is provided with an enclosure (41) containing a prestressed torsion spring (45), said spring box (40) being movable in rotation about the axis of rotation (AX). The enclosure (41) comprises at least one lug (55) movable in rotation about said axis of rotation (AX). A finger (47) of the torsion spring passes through an orifice (64) elongated in a front side (62) of the enclosure (41) to form a movable resilient stopper. Figure for the abstract: fig 1
    公开号:FR3093320A1
    申请号:FR1902078
    申请日:2019-02-28
    公开日:2020-09-04
    发明作者:Boris Grohmann；Christophe Tempier；William LAGREVOL；Marc Salesse-Lavergne
    申请人:Airbus Helicopters Deutschland GmbH；Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a haptic alert mechanism for an aircraft pilot and an aircraft. The aircraft may for example be a rotorcraft provided with flight control members for modifying the pitch of the blades of a rotor providing at least the lift of the rotorcraft. The present invention relates more particularly to such flight control members comprising a haptic alert mechanism warning a pilot of the rotorcraft of the exceeding of an operational limit of the aircraft.
    [0002] Rotorcraft are aircraft having a rotary wing, in particular the lift of which is provided at least partially by a rotor.
    [0003] In the specific context of a helicopter, a rotor qualified as the main participates not only in the lift of the rotorcraft, but also in its propulsion according to any directions of advancement. On some helicopters a tail rotor is used to drive the yaw motion of the aircraft.
    [0004] The rotorcraft may include a cyclic stick connected by mechanical chains to a rotor in order to cyclically control the pitch of the blades of a rotor and a collective pitch lever connected by mechanical chains to the rotor in order to collectively control the pitch of these blades. A movement of the pitch lever induces an identical modification of the pitch of the blades.
    [0005] An autopilot system may include actuators arranged in parallel or in series with mechanical chains to generate automated flight commands.
    [0006] Furthermore, the rotor or rotors equipping an aircraft and in particular a rotorcraft are driven in rotation by a power plant provided with one or more motors or even with at least one power transmission box and/or with one or more transmission shafts. connection…
    [0007] le régime de décollage défini par une puissance maximale au décollage PMD et une limitation de durée d’utilisation prédéterminée de cette puissance maximale au décollage, le régime maximal continu défini par une puissance maximale en continu PMC correspondant par exemple à environ 90% de la puissance maximale au décollage PMD et par une durée d’utilisation de cette puissance maximale en continu généralement illimitée, un régime transitoire défini par une puissance maximale en transitoire PMT. Each engine can operate according to an operating envelope including several different speeds, each speed being able to be implemented by the engine. Indeed, the limitations of an engine and the limitations of a power transmission box can make it possible to define various operating regimes according to which an engine can operate and in particular: the take-off regime defined by a maximum take-off power PMD and a predetermined limitation of the duration of use of this maximum take-off power, the maximum continuous speed defined by a maximum continuous power PMC corresponding for example to around 90% of the maximum take-off power PMD and by a generally unlimited duration of use of this maximum continuous power, a transient state defined by a maximum transient power PMT.
    [0008] le premier régime d’urgence, dénommé parfois « OEI 30’’ », défini par une puissance de super urgence PSU par exemple égale à environ 112% à 120% de la puissance maximale au décollage PMD et par une durée d’utilisation de cette puissance de super urgence PSU prédéterminée, la puissance de super urgence étant classiquement utilisable trois fois pendant un vol, le deuxième régime d’urgence, dénommé parfois « OEI 2’ », ce deuxième régime d’urgence étant défini par une puissance maximale d’urgence PMU par exemple égale environ à 105% à 112% de la puissance maximale au décollage PMD et par une durée d’utilisation de cette puissance maximale d’urgence PMU prédéterminée ; le troisième régime d’urgence, dénommé parfois « OEI cont », ce troisième régime d’urgence étant défini par une puissance intermédiaire d’urgence PIU sensiblement égale à la puissance maximale au décollage PMD et par une durée d’utilisation illimitée de cette puissance intermédiaire d’urgence PIU pour le reste du vol après la panne du turbomoteur. On a multi-engine rotorcraft, the operating envelope also includes emergency boost regimes, only used when one of the engines is inoperative: the first emergency regime, sometimes referred to as "OEI 30''", defined by a super emergency power PSU for example equal to about 112% to 120% of the maximum takeoff power PMD and by a duration of use of this predetermined PSU super emergency power, the super emergency power being typically usable three times during a flight, the second emergency regime, sometimes referred to as "OEI 2'", this second emergency regime being defined by a maximum emergency power PMU for example equal to approximately 105% to 112% of the maximum take-off power PMD and by a duration of use of this predetermined maximum emergency power PMU; the third emergency power, sometimes referred to as "OEI cont", this third emergency power being defined by an intermediate emergency power PIU substantially equal to the maximum take-off power PMD and by an unlimited duration of use of this power emergency intermediate PIU for the remainder of the flight after the turbine engine failure.
    [0009] For each speed, operational limitations making it possible to obtain the aforementioned powers PMC, PMD, PMT, PSU, PMU, PIU are defined. On a turbine engine, these limits are generally monitored by means of three turbine engine monitoring parameters: the rotational speed of the turbine engine gas generator, the engine torque and the temperature of the gases at the inlet of the low pressure free turbine. of the turbine engine respectively called Ng, Cm and T45 by those skilled in the art. If the turbine engine includes a high pressure turbine stage, it is also possible to use the temperature of the gases at the inlet of the high pressure turbine called TET.
    [0010] Thus, for each RPM of the engine operating envelope, the engine manufacturer establishes limits for each engine monitoring parameter.
    [0011] To check these limits, the aircraft can include multiple indicators, each indicator providing information relating to a single monitoring parameter.
    [0012] To limit the number of indicators, a first limitation instrument, abbreviated “IPL” can be used.
    [0013] Other operational limitations may be of the structural type by being a function of the load factor experienced or of the aerodynamic type by being related for example to the vortex domain of the aircraft.
    [0014] Haptic systems can also be arranged to tactilely warn a pilot that an operational limit has been reached. Such systems are particularly useful if the pilot must observe the external environment during a particular phase and when the pilot cannot therefore observe the various instruments provided to monitor these limits.
    [0015] As indicated previously, an aircraft can be equipped with parallel cylinders of an automatic pilot system, conventionally called "trim cylinder". For a given mechanical control chain, a trim actuator comprises a motor arranged in parallel with a flight control member in order to be able to move part of the mechanical chain connected to this flight control member over a large amplitude and to low speed.
    [0016] According to one embodiment, a trim actuator can also transmit a feeling of effort to the pilot in response to the maneuvers of the blades that the pilot operates via a flight control member, in particular a collective pitch lever . To this end, the trim actuator incorporates a force feedback system that generates a force that resists being driven by the flight control device by the human. The human pilot can have a command inhibiting the implementation of the force feedback system, known as “trim release” in English.
    [0017] For example, at high speed, a resistive force is generated on a twin-engine aircraft with no engine inoperative when a limit of the maximum continuous rpm PMC is exceeded, this force increasing as the aircraft approaches a limit. of the transitional regime. If an engine is inoperative, a resistive force is generated when a limit of the third emergency speed is exceeded, this force increasing as the aircraft approaches a limit of the first emergency speed. The operational limit from which the resistant force is generated is therefore variable.
    [0018] The different types of known trim cylinders include:
    [0019] -) the passive motorized friction type trim cylinders providing a constant resistant force independent of the position of the flight control device.
    [0020] -) motorized trim cylinders with passive or active anchoring providing a variable resistant force against a maneuver of the main control chain by the human-driven flight control device.
    [0021] Document FR 2766158 describes a device comprising an abutment to form a hard point opposing continued movement of a collective pitch lever. The stopper is movable by a motor.
    [0022] According to a variant, this device comprises a motor connected to an input of a speed reduction unit. An output of this reduction box is connected to a first shaft by a friction coupling. The first shaft is fixed to a plate carrying two protrusions forming two stops. Therefore, a stopper is rotatable between these two stops. This buffer is connected by a second shaft to one end of an intermediate lever by a fuse member, another end of the intermediate lever being connected by means of a rigid connecting rod to a collective pitch linkage. A rotation of the collective lever causes a rotation of the stopper.
    [0023] Document US 7,098,811 describes a warning device which is composed on the one hand of a vibrator and on the other of a spring cartridge mounted in engagement on a mechanical chain connected to a collective pitch lever. The spring cartridge extends from one end fixed to the mechanical chain to one end fixed to an arm of an electric motor whose implementation is placed under the control of a calculation unit.
    [0024] At rest, the motor exerts no force on the spring cartridge, the arm being free to rotate. When a first emergency threshold is reached, the calculation unit activates the electric motor so that the spring cartridge generates a resistive force against the maneuver of the pitch lever by the pilot. At a second emergency threshold, the calculation unit activates the buzzer.
    [0025] The aim of the present invention is to propose an innovative mechanism which is relatively simple and capable of optimizing the security of the system.
    [0026] Thus the invention relates to a haptic alert mechanism configured to exert a force on a lever in order to tactilely signal the displacement of an operational limit, said mechanism comprising an actuator. This actuator can be fixed to a support itself fixed to a structure, for example a structure of a vehicle, or can be fixed directly to such a structure.
    [0027] au moins un bras d’un butoir mobile, ledit bras étant mis en mouvement rotatif autour d’un axe de rotation par ledit actionneur, une boîte à ressort munie d’une enceinte dans laquelle est agencé un ressort de torsion précontraint, ladite boite à ressort étant mobile en rotation autour d’un axe de rotation, ladite enceinte comprenant au moins un ergot mobile en rotation autour dudit axe de rotation, ladite enceinte présentant un flanc avant, ledit ressort de torsion s’étendant d’une première extrémité solidaire de l’enceinte jusqu’à un doigt, ledit doigt traversant un orifice allongé dudit flanc avant et s’étendant partiellement en dehors de l’enceinte en formant une butée élastique mobile surpassable, une position au repos dudit doigt par rapport au dit axe de rotation en l’absence d’un effort exercé sur le doigt par ledit levier étant réglable en déplaçant ledit butoir, le doigt dans ladite position au repos représentant ladite limite opérationnelle lorsque l’ergot est en contact avec ledit au moins un bras, ledit doigt étant mobile dans ledit orifice en comprimant ledit ressort lorsque ledit levier exerce un effort sur ledit doigt visant à surpasser ladite limite opérationnelle. This mechanism includes: at least one arm of a movable bumper, said arm being set in rotary motion around an axis of rotation by said actuator, a spring box provided with an enclosure in which a prestressed torsion spring is arranged, said spring box being rotatable about an axis of rotation, said enclosure comprising at least one lug movable in rotation about said axis of rotation , said enclosure having a front flank, said torsion spring extending from a first end fixed to the enclosure as far as a finger, said finger passing through an elongated orifice of said front flank and extending partially outside the enclosure by forming an surpassable movable elastic stop, a position at rest of said finger relative to said axis of rotation in the absence of a force exerted on the finger by said lever being adjustable by moving said stop, the finger in said position at rest representing said operational limit when the lug is in contact with said at least one arm, said finger being movable in said orifice by compressing said spring when said lever exerts an e effort on said finger to overcome said operational limit.
    [0028] According to a variant, the mechanism can comprise for safety a body immobile in rotation around the axis of rotation, said body carrying at least one stop member forming a stop member fixed in rotation relative to the axis of rotation to limit the amplitude of rotation of a lug by shape interference.
    [0029] The expression "fixed stopper in rotation relative to the axis of rotation" means that the stopper does not have a degree of freedom in rotation around the axis of rotation in operation. This shut-off device may more generally not have any degree of freedom in operation.
    [0030] Therefore, the mechanism comprises a spring box provided with a movable finger relative to the enclosure of this spring box when a force is exerted on this finger by a lever. The spring box can be mounted “crazy” while being free to rotate around the axis of rotation. The position at rest of the finger is adjustable by moving, at least according to a first direction of rotation, each lug with an arm with the actuator, this position at rest possibly being abutted for safety according to a second direction of rotation by the member of 'stop.
    [0031] The position called for convenience "position at rest" represents the position where the finger is when the lever does not exert a force on this finger tending to move the finger relative to the enclosure. This position at rest illustrates an operational limit for example of an aircraft. As the operational limit changes, the actuator moves each arm. For example, when the operational limit relates to a monitoring parameter of a twin-engine powerplant, the failure of a motor of the powerplant induces a movement of the arm.
    [0032] If an arm is in contact with a lug after or during the rotation of this arm, then the finger is in the rest position illustrating the operational limit at the end of said rotation of the arm.
    [0033] If the arm is not in contact with the lug at the end of said rotation, subsequent contact of the lever on the finger induces a movement of the spring box towards the arm. When the pin comes into contact with the arm then the new operational limit is reached.
    [0034] The expression “surpassable movable rubber stopper” means that the position of the finger is adjustable which makes the stopper adjustable.
    [0035] Moreover, by pushing this finger from the rest position with the lever by making it slide in the elongated orifice, the mechanism authorizes a movement of the lever inducing an overrun of the operational limit. The elongated hole represents a rail guiding the movement of the finger. During this movement, the torsion spring generates a resisting effort against a man driving the lever. The spring box generates during this movement a gradient of effort that a pilot can feel. This characteristic justifies the use of the term "surpassable" insofar as the finger does not block the movement of the lever when the operational limit is reached, at least over a range corresponding to the length of the elongated orifice.
    [0036] In addition, if the pilot releases the lever, the finger returns to its position at rest, which explains the term “elastic”.
    [0037] Therefore, the mechanism according to the invention can allow a pilot to feel that an operational limit has been exceeded while allowing this operational limit to be exceeded. The lever can be a member whose displacement induces a variation of the operational limit.
    [0038] In addition, this mechanism is mechanically simple using a simple preloaded spring. Also, the actuator can be relatively slow and generates simple power which is safe.
    [0039] This mechanism is therefore not a trim cylinder and is simpler than a trim cylinder.
    [0040] The mechanism may further include one or more of the following features.
    [0041] In one aspect, the elongated orifice may be an oblong hole centered on the axis of rotation.
    [0042] The oblong hole can be sized to cover the total travel of the lever even if the mechanism is anchored at the bottom of its stroke.
    [0043] According to one aspect, the finger can be movable in said orifice from a first included edge of the orifice to a second edge of the orifice not included, said finger being pressed against the first edge in the absence of a force exerted on the finger by said lever, a clearance still separating the finger from the second edge of the orifice.
    [0044] Such play tends to make it possible to guarantee full theoretical movement of the control lever. When the lever is a collective pitch lever, this feature ensures that the lever can reach the collective pitch stops.
    [0045] In one aspect, the preload may not be adjustable.
    [0046] According to one aspect, the actuator may be provided with a rotating part and a non-rotating part, said actuator having a brake configured to immobilize said rotating part with respect to the non-rotating part.
    [0047] For example, the brake immobilizes the rotating part relative to the non-rotating part when the arm is stationary so as not to have to maintain the position of the arm by requesting the actuator.
    [0048] The actuator can be an electric motor and for example a brushed motor, a brushless motor or a stepper motor.
    [0049] The mechanism may also include a sensor for measuring the position of the spring box, and for example an actuator motor position sensor.
    [0050] According to one aspect, the actuator may be provided with a rotating part that is mobile in rotation around said axis of rotation and connected to said at least one arm.
    [0051] According to one aspect, the mechanism may comprise at least two said arms carried by a hub fixed to the actuator, said spring box comprising one lug per arm.
    [0052] Each arm can extend radially or substantially radially with respect to the axis of rotation. For example, the stopper may comprise a star-shaped structure provided with three arms.
    [0053] According to a variant, the enclosure can rotate freely about the axis of rotation, at least one lug being able, in the presence of a stopper, to be placed between an arm and such an optional stopper.
    [0054] According to another variant, at least one arm comprises a yoke provided with two cheeks, a lug being arranged between said two cheeks. An arm can then induce the rotation of the enclosure in two opposite directions. This provision does not prohibit the arrangement of a body having a stopper.
    [0055] According to one aspect, the body can, if necessary, be arranged at least partially around the actuator, said optional stop member optionally extending radially with respect to said axis of rotation while moving away from the actuator, said box spring being mounted in pivot connection around the body.
    [0056] Optionally, an enclosure can be mounted in pivot connection around the actuator in the absence of the body or around the body.
    [0057] un premier composant comprenant un flanc arrière portant des premières branches, ledit flanc arrière comportant éventuellement une lumière traversée par l’actionneur et ledit corps, chaque première branche s’étendant à partir dudit flanc arrière selon une direction axiale, ladite première extrémité du ressort de torsion étant fixée au premier composant, un deuxième composant muni d’un anneau portant une deuxième branche par première branche, ledit ressort de torsion s’étendant partiellement dans un espace agencé radialement entre les premières branches et longitudinalement entre le flanc arrière et l’anneau, chaque deuxième branche s’étendant à partir dudit anneau parallèlement à une première branche en s’éloignant dudit espace, chaque deuxième branche formant au moins partiellement un ergot, ledit doigt traversant ledit anneau et étant en saillie longitudinale par rapport à des plans contenant des extrémités libres des premières branches et des deuxièmes branches, un palier traversant ledit flanc arrière ainsi que ledit ressort et ledit anneau, ledit palier portant ledit flanc avant, ledit flanc avant présentant une échancrure par ergot, chaque ergot étant agencé dans une dite échancrure, l’organe d’arrêt étant le cas échéant éventuellement agencé longitudinalement entre le flanc avant et ledit au moins un bras. According to one aspect, the enclosure may include: a first component comprising a rear flank carrying first branches, said rear flank optionally comprising a slot through which the actuator and said body pass, each first branch extending from said rear flank in an axial direction, said first end of the torsion being attached to the first component, a second component provided with a ring carrying a second branch per first branch, said torsion spring extending partially in a space arranged radially between the first branches and longitudinally between the rear flank and the ring, each second branch extending from said ring parallel to a first branch moving away from said space, each second branch at least partially forming a stud, said finger passing through said ring and projecting longitudinally with respect to planes containing free ends of the first branches and second branches, a bearing passing through said rear flank as well as said spring and said ring, said bearing bearing said front flank, said front flank having a notch by lug, each lug being arranged in a said notch, the stop member possibly being arranged longitudinally between the front flank and said at least one arm.
    [0058] Such a mechanism turns out to be simple and compact.
    [0059] Each second branch can be arranged radially between a first branch and the axis of rotation, and can be joined radially to a first branch.
    [0060] Each second branch can be fixed to a first branch by usual means.
    [0061] According to one aspect, the mechanism may include a contactor detecting contact between said finger and said lever.
    [0062] The term “contactor” designates a sensor detecting a contact. For example, the contactor is carried by the lever.
    [0063] Such a switch can be used for safety on an aircraft, for example to trigger an alarm and/or to release the brake if the switch detects contact between the lever and the finger when the operational limit is not considered to have been reached by other parts of the aircraft.
    [0064] In a complementary or alternative way, such a switch can allow the realignment of the position of the elastic stop with the position of a control connected to the mechanism. In fact, when the control is moved and causes the contactor to switch, then the difference between a measurement of the position of the handle and a measurement of the position of the anchoring of the elastic stop can be stored in a computer in order to allow the adjustment subsequent to the position of the elastic stop. After this first realignment, the contactor enables the computer to check on each switching that the elastic stop is correctly positioned, namely at the time of switching to the stored position. If not, the computer can control the mechanism to readjust the position of the elastic stop in order to move it to the required position and/or can signal an operating anomaly of the elastic stop mechanism and/or can be passivated by disengagement.
    [0065] According to one aspect, the operational limit can be at least one of the following limits: a limit of a power plant of an aircraft equipped with the mechanism, a limit of a load factor exerted on an aircraft equipped with the mechanism, a limit of a vortex domain of an aircraft equipped with the mechanism, a maximum air speed limit (Velocity Never Exceed referred to as “VNE”) of an aircraft equipped with the mechanism, a rotational speed limit of a main rotor (Nr) , a mast moment limit of the rotor of an aircraft equipped with the mechanism and for example of a main rotor on a helicopter.
    [0066] The invention also relates to an aircraft equipped with a rotor and a collective pitch control connected to a mechanical chain to collectively control a pitch of the rotor blades, this collective pitch control comprising a said lever.
    [0067] This aircraft comprises a mechanism according to the invention, said aircraft comprising a computer connected to the actuator, the computer being configured to establish said operational limit and transmitting a control signal to the actuator so that the lever comes into contact with said finger when said operational limit is reached.
    [0068] détermination par le calculateur d’une limite opérationnelle de l’aéronef, transmission par le calculateur à l’actionneur d’un signal de commande porteur d’une information relative à la position au repos que doit atteindre ledit doigt en l’absence d’effort exercé par le levier sur le doigt, mouvement de l’actionneur pour positionner ledit doigt dans ladite position au repos, surpassement de ladite limite opérationnel en exerçant un effort sur ledit doigt avec le levier, le doigt générant sur le levier un couple croissant au fur et à mesure de l’éloignement du doigt da la position au repos. The invention also relates to a method which comprises the following steps: determination by the computer of an operational limit of the aircraft, transmission by the computer to the actuator of a control signal carrying information relating to the position at rest that said finger must reach in the absence of force exerted by the lever on the finger, movement of the actuator to position said finger in said position at rest, overcoming of said operational limit by exerting a force on said finger with the lever, the finger generating on the lever an increasing torque as the finger moves away from the position at rest.
    [0069] The invention and its advantages will appear in more detail in the context of the following description with examples given by way of illustration with reference to the appended figures which represent:
    [0070] FIG. 1, a view of a mechanism according to the invention,
    [0071] FIG. 2, a view of a mechanism according to the invention,
    [0072] FIG. 3, a view of a mechanism according to the invention,
    [0073] FIG. 4, a view of a mechanism according to the invention cooperating with a lever,
    [0074] FIG. 5, a diagram aimed at illustrating the method for developing an operational limit conditioning the position of the finger of the mechanism according to the invention,
    [0075] FIG. 6, a diagram aimed at illustrating the method for developing an operational limit conditioning the position of the finger of the mechanism according to the invention,
    [0076] FIG. 7, a diagram aimed at illustrating the method for developing an operational limit conditioning the position of the finger of the mechanism according to the invention, and
    [0077] Figure 8, an illustration of a stopper having arms provided with yoke.
    [0078] The elements present in several distinct figures are assigned the same reference.
    [0079] Three directions X, Y and Z orthogonal to each other are shown in some figures.
    [0080] Figures 1 to 3 show a mechanism 1 according to the invention having a finger forming an abutment for a lever capable of bearing against this finger, this abutment being an elastic mobile abutment to be surpassed by the lever. Figure 1 shows this mechanism through an isometric view, Figure 2 showing this mechanism 1 seen from the front. Finally, Figure 3 shows an exploded view of this mechanism 1.
    [0081] Figure 3 shows an exploded and detailed view of one embodiment of mechanism 1.
    [0082] This mechanism comprises an actuator 10. This actuator 10 is provided according to this example with an electric motor 11. The actuator 10 can be carried by a support 2. For example, such a support 2 comprises a base 3 configured to be fixed to a carrier by usual means, for example by means of screwing, welding, riveting, gluing… Such a support 2 can be secured to at least one foot 4, for example two feet according to the illustration in FIG. 3, each foot 4 being fixed to a receiver 5 directly or indirectly carrying the actuator 10.
    [0083] The actuator 10 and, where applicable, its motor can be provided with a rotating part 12 and a non-rotating part 14. For example, the non-rotating part 14 rotates the rotary part 12 around the axis of rotation. AX in the usual way.
    [0084] This rotating part 12 may include an output shaft 13 directly rotated by the non-rotating part 14. Alternatively, the rotating part 12 may include a rotor rotated by the non-rotating part 14, the rotor driving the output shaft 13 by a speed reducer.
    [0085] In particular, the motor 11 of the actuator 10 can be a brushed, brushless electric rotary motor or a stepper electric motor.
    [0086] Optionally, the actuator includes a brake 16 making it possible to immobilize the actuator, for example by immobilizing the rotating part 12 with respect to the non-rotating part 14.
    [0087] In addition, the actuator may include a position sensor 17 making it possible to detect the position of the actuator, namely for example the position of a moving member of the actuator and, where applicable, of the rotating part.
    [0088] According to one aspect, the actuator can comprise an integrated processing unit controlling the motor 11 on the order of a computer 20. The computer 20 can comprise a single calculation unit or several various calculation units. The computer 20 can comprise for example at least one processor 21, at least one memory 22, at least one integrated circuit, at least one programmable system and/or at least one logic circuit, these examples not limiting the scope given to the expression "computer". Similarly, each calculation unit can comprise for example at least one processor 21, at least one memory 22, at least one integrated circuit, at least one programmable system and/or at least one logic circuit, these examples not limiting the scope given to the term "calculation unit".
    [0089] Alternatively or even additionally, the engine can be controlled directly by the computer 20.
    [0090] Furthermore, this actuator 10 has the function of setting in motion, at the request of the computer 20, a stopper 35. For example, the actuator 10 drives the stopper 35 in rotation about an axis of rotation AX.
    [0091] Therefore, the actuator is mechanically secured to a stopper 35 comprising at least one arm.
    [0092] According to the example of Figure 3, the stopper 35 comprises a hub 37 integral in rotation with the rotary part 12. For example, the output shaft 13 of the rotary part 12 comprises an axial spline arranged in a groove 38 of the hub 37. This hub 37 also carries at least one arm 36, and in particular three arms according to this figure 3.
    [0093] A rotation of the output shaft of the rotary part 12 around the axis of rotation AX therefore induces a rotation of each arm 36 around the axis of rotation AX.
    [0094] According to another aspect, the mechanism 1 can comprise a body 30.
    [0095] Optionally, the body 30 is arranged at least partially around the actuator 10. If necessary, the rotating part 12 of the actuator 10 protrudes outside the body 30 to reach the stopper 35.
    [0096] The body 30 is immobile in rotation around the axis of rotation AX, for example by being fixed directly or indirectly to the support 2. According to the example shown, the body comprises a hollow cylinder 31 which extends from one first end zone 311 screwed to receiver 5 of support 2 as far as a second end zone 312 provided with an internal flange screwed to the non-rotating part of actuator 10 by at least one screw having a threaded rod parallel to the axis rotation AX.
    [0097] In addition, the body 30 may carry one or more stop members 33 and for example a single stop member 33 or one stop member 33 per arm 36. Each stop member 33 may extend radially in s away from the body 30 with respect to the axis of rotation AX in a geometric plane 102 perpendicular to the axis of rotation AX. This geometric plane 102 can pass through the stopper 35 and each stop member 33. Each stop member 33 forms a stop member which is therefore not rotatable relative to the axis of rotation AX.
    [0098] Optionally, the body 30 is provided with an external collar 32 carrying, where applicable, each stop member 33. Such a collar is possibly provided with a notch 34, the function of which is specified below.
    [0099] In addition, the mechanism 1 has an innovative spring box 40, mobile in rotation around the axis of rotation AX within the limits given by the stopper 35 and possibly by a body stopper 30.
    [0100] The spring box 40 is optionally arranged in a pivot connection around the actuator 10 or even, if necessary, around the body 30 and in particular the cylinder 31.
    [0101] This spring box 40 is provided with an enclosure 41 partially housing a prestressed torsion spring 45. In addition, this enclosure 41 is provided with one or more lugs 55. Each lug 55 is positioned in the geometric plane 100 in order to be free to rotate around the axis of rotation AX. More specifically, the spring box 40 may include one lug per arm.
    [0102] According to the variant of Figure 3, the enclosure 41 is free in rotation, each lug 55 being positioned in the geometric plane 100 in order to be free in rotation around the axis of rotation AX between an arm 36 of the stopper 35 and a stopper 33.
    [0103] According to the variant of Figure 8, each arm 36 may include a clevis 360. Each clevis 360 is a female clevis provided with two flanges 361, 362 between which there is a lug 55.
    [0104] In addition and with reference to Figure 3, the spring box 40 comprises a preloaded torsion spring 45 having a finger 47 movable relative to the enclosure 41 of the spring box 40. This finger 47 crosses a front side of the enclosure 41 to extend outside the enclosure and project longitudinally relative to the geometric plane 100. The finger 47 then forms a mobile and surpassable elastic stop of the mechanism 1.
    [0105] According to the embodiment of Figure 3, the enclosure 41 comprises a first component 42 forming a bottom or even walls of the enclosure, a second component 50 forming the front of the enclosure and a third component 60 forming a bearing. The first component 42, the second component 50 and the third component 60 cooperate with each other to accommodate the torsion spring and form each lug 55.
    [0106] For example, the first component comprises a rear flank 43 substantially orthogonal to the axis of rotation AX. This rear side 43 has an annular shape and possibly has a slot 431 through which the actuator 10 and the body 30 pass.
    [0107] In addition, the first component 42 is provided with a side wall integral with the rear side 43. For example, this side wall is perforated. According to the variant illustrated in FIG. 3, the side wall comprises first branches 44, and in particular for example three first branches 44. Each first branch 44 extends in an axial direction parallel to the axis of rotation AX up to an end 441 from the rear flank 43, and for example from an outer periphery of the rear flank.
    [0108] The second component 50 is provided with a ring 51 which extends radially from an internal edge 511 to an external edge 512. This ring 51 is crossed by the actuator 10 as well as, if necessary, by the body 30 and the third component 60. The ring 51 and the rear side 43 longitudinally delimit a space INT of the spring box.
    [0109] In addition, ring 51 carries at least one second branch 53, and for example as many second branches as first branches 44, i.e. three second branches according to the example illustrated. Each second branch extends from the ring 51 parallel to a first branch 44 away from the space INT to an end 531. The ends 531 of the second branches and the ends 441 of the first branches are by example positioned respectively in a first plane 100 and a second plane 101 orthogonal to the axis of rotation AX. The first plane 100 and the second plane 102 can be confused.
    [0110] Optionally, each second branch 53 is embedded in the ring 51 radially between the inner edge 511 and the outer edge 512 of the ring 51. Therefore, the ring 51 may have an outer opening 513 positioned radially above each second plugged. 53. Each first branch 44 then passes through an external opening 513. Therefore, each second branch 53 is arranged radially between the axis of rotation AX and a first branch 44. The ring 51 can also comprise an internal opening 514 at the level of the inner edge 511
    [0111] Each first branch can be screwed or riveted to a second branch.
    [0112] In addition, each second branch 53 forms a lug 55, alone or in cooperation with a first branch 44 and in particular with an end 441 of a first branch 44.
    [0113] Furthermore, the third component comprises a bearing 61. This bearing 61 may comprise a hollow cylinder. The bearing 61 extends longitudinally for example from the rear flank 43 or even crosses this rear flank then crosses the ring 51. Consequently, the internal space INT of the spring box is delimited radially by the bearing 61 and the first formwork 44 of the first component.
    [0114] In addition, the bearing 61 carries the front flank 62. This front flank takes the form of a front collar which has a notch 63 by lug 55. Therefore, each first branch and each second branch pass through such a notch 63.
    [0115] In addition, the bearing 61 is arranged around the body 30. The front flange 62 is then arranged in a plane orthogonal to the axis of rotation between the ring 51 and the outer flange 32 of the body 30. Each stop member 33 is then, if necessary, arranged longitudinally between the front side 62 and the stopper 35.
    [0116] Finally, the spring box 40 includes the torsion spring 45 which extends extending partially into the internal space INT. This torsion spring successively has a first end 46 secured to the enclosure 41 and for example to the rear side 43, a coil arranged around the axis of rotation AX in the internal space INT then a finger 47 coming out of the space internal INT. For example, this finger extends in a direction parallel to the axis of rotation AX. In addition, this finger 47 can pass successively through the internal opening 514 of the second component, the notch 34 of the body 3 then an elongated orifice 64 of the front side. This finger may project longitudinally from the first plane 100 and from the second plane 101 in order to be able to be in contact with the lever 76 for which the finger forms an surpassable movable elastic stop.
    [0117] Furthermore, the elongated orifice 64 may be an oblong hole centered on said axis of rotation AX.
    [0118] According to another aspect, the finger 47 is movable in the orifice 64 between a first edge 65 included in the orifice 64 and a second edge 66 not included in the orifice 64. The spring being prestressed in the enclosure 41, the finger 47 is in particular pressed against the first edge 65 in the absence of a force exerted on the finger 47 by said lever 76. On the other hand, the orifice 64 and the mechanism in general are sized so that the finger 47 is never in contact with the second edge 66.
    [0119] This torsion spring preload may not be adjustable.
    [0120] Furthermore, the mechanism 1 may include a contactor 70 detecting contact between the finger 47 and the lever 76. This contactor is arranged on the finger 47 according to Figure 3 but may be arranged on the lever according to Figure 4. For example, a contactor 70 can take the form of a push button. The contactor can be connected to the computer 20 or even to an alert system.
    [0121] The mechanism 1 described previously can be positioned on any type of wearer requiring an elastic mobile stop that can be overcome by a lever.
    [0122] In particular and according to FIG. 4, the mechanism can be arranged on an aircraft 75 provided with a rotor 80. This aircraft comprises a collective pitch control 81 connected to a mechanical chain 79 to collectively control a pitch of the blades of the rotor 80. A such a control 81 can for example comprise a handle 78 secured to a tube 77, this tube 77 being itself secured to a lever 76 cooperating with a mechanism 1. Other arrangements are possible and in particular usual arrangements.
    [0123] Therefore, a computer 20 is configured to establish an operational limit and transmit a control signal to the actuator 10 so that the lever 76 comes into contact with said finger 47 when said operational limit is reached.
    [0124] According to the method of the invention and independently of the nature of the carrier of the mechanism 1 and of the lever cooperating with this mechanism 1, the computer 20 determines an operational limit of this carrier.
    [0125] On an aircraft equipped with a powerplant having at least one engine, at each instant the operational limit can be at least one of the following limits: a limit of the engine of the powerplant, a limit of a load factor exerted on the aircraft, a limit of a vortex domain of an aircraft equipped with the mechanism, a maximum airspeed limit (Velocity Never Exceed = VNE) of an aircraft equipped with the mechanism, a main rotor rotation frequency limit (Nr), a mast moment limit of the rotor of an aircraft equipped with the mechanism and for example of a main rotor on a helicopter.
    [0126] To determine the operational limit, the computer 20 can be connected to various measurement systems. For example, the computer is connected to a temperature sensor of each motor, to a torque sensor of each motor, to a rotational speed sensor of each motor to evaluate the limit of a limiting parameter of the power plant according to usual methods. Each engine is in particular capable of operating during the same flight according to several regimes and according to at least one of the aforementioned regimes: the take-off regime, the maximum continuous regime, the transient regime, the first emergency regime, the second emergency regime and the third emergency regime. Therefore, each monitoring parameter can be associated with a limit per regime. Thus, the operational limit can signal the exceeding of a limit of a monitoring parameter associated with an engine operating speed for example, in particular of the monitoring parameter closest to its limit.
    [0127] The computer can be connected to accelerometers of the aircraft or equivalent to evaluate the load factors undergone. Thus, an operational limit can for example signal the exceeding of a threshold of a load factor and possibly of a threshold lower than a maximum load factor not to be exceeded.
    [0128] The computer can be connected to airspeed sensors of the aircraft or equivalent to assess its proximity to the airspeed not to be exceeded (Velocity Never Exceed or VNE). Thus, an operational limit can for example signal the reaching of this maximum speed beyond which the device could be damaged.
    [0129] The computer can be connected to mast moment sensors of the aircraft or equivalent to evaluate the forces undergone. Thus, an operational limit can, for example, signal the exceeding of a maximum mast moment threshold beyond which damage to the mast, or even to the rotor head, would occur.
    [0130] The computer can be connected to at least one rotational speed sensor of a main rotor (Nr) of the aircraft. Thus, an operational limit can for example signal the exceeding of a minimum threshold of the rotation speed of the main rotor (Nr) below which the stable and assured flight envelope of the aircraft will be left.
    [0131] For example, in the presence of an engine failure, the rotational speed of the main rotor may drop. The operational limit may function to indicate that the collective pitch of the main rotor blades should be lowered.
    [0132] Figure 5 illustrates the operation of the mechanism with respect to the current operational limit. Thus, this figure 5 presents a diagram illustrating the force Ef generated by the mechanism 1 with regard to a position of the lever. This FIG. 5 shows the rest position POS0 of the finger associated with the operational limit LP in force.
    [0133] As long as the operational limit is not reached, the mechanism does not exert any force on the lever. On the other hand, from this operational limit, the mechanism exerts a force which increases up to a maximum force of 550 then decreases slightly due to the circular movement of the finger. The invention makes it possible to have a small difference between the preload 500 and the maximum force 550 deployed by the torsion spring, in particular because of the diameter of the torsion spring and the position of the point of contact of the lever on the spring. torsion which varies upon compression of the torsion spring.
    [0134] From time to time, the operational limit may have a varying value and/or the physical parameter associated with the operational limit may change. The operational limit can be a limit which varies when a lever is moved, this lever being configured to move the stop of the mechanism following an overrun of this operational limit. For example, this lever can be a lever of a usual collective pitch control of a rotorcraft.
    [0135] Figure 6 describes the evolution of the operational limit conditioning the positioning of the finger in the position at rest on a twin-engine aircraft in normal operation and in the presence of a lever of the collective pitch lever of a rotor.
    [0136] When the aircraft is moving with a forward speed V lower than a first speed threshold S1, for example a threshold of 40 knots (Kts), the operational limit corresponds to the limit of the monitoring parameter limiting to the take-off regime, the limiting monitoring parameter being the monitoring parameter of the aircraft closest to its limit. If this limit is exceeded, the powerplant operates by applying the transient PMT regime and mechanism 1 then exerts a force on the lever.
    [0137] When the aircraft is moving with a forward speed V greater than a second speed threshold S2, for example a threshold of 75 knots (Kts), the operational limit corresponds to the limit of the monitoring parameter limiting to the maximum continuous speed. If this limit is exceeded, the powerplant operates by applying the transient PMT regime and mechanism 1 then exerts a force on the lever.
    [0138] Between the first threshold and the second threshold, the limit can decrease linearly according to the forward speed.
    [0139] If an engine of the powerplant fails and with reference to FIG. 7, when the aircraft is moving with a forward speed V lower than a first speed threshold S1, for example a threshold of 40 knots (Kts ), the operational limit corresponds to the limit of the monitoring parameter limiting the second emergency mode. If this limit is exceeded, the powerplant operates by applying the first emergency speed and mechanism 1 then exerts a force on the lever.
    [0140] When the aircraft is moving with a forward speed V greater than a second speed threshold S2, for example a threshold of 75 knots (Kts), the operational limit corresponds to the limit of the monitoring parameter limiting the third regime of emergency OEIcont. If this limit is exceeded, the powerplant operates by applying the first emergency speed and mechanism 1 then exerts a force.
    [0141] Between the first threshold and the second threshold, the limit can decrease linearly according to the forward speed.
    [0142] Whatever the operational limit, when the operational limit is established, the computer 20 transmits a control signal to the actuator 10 carrying information relating to the position at rest that the finger 47 must reach in the absence of force exerted by the lever on the finger 47.
    [0143] According to a first variant, the control signal can carry the rest position of the actuator as such.
    [0144] According to a first alternative of the first variant, the computer determines the position at rest to be reached as a function of the operational limit then determines the movement that the actuator must perform for the position at rest to be reached by comparing the position at rest and the current position of the actuator. This current position can be measured using a sensor measuring the position of a moving part of the actuator and connected to the computer. Alternatively, the current position can be known directly using a stepper motor. The control signal then sets the motor of actuator 10 directly in motion.
    [0145] According to a second alternative of the first variant, the computer 20 can transmit the control signal to an actuator processing unit 10 which controls the motor or the cylinder of the actuator to reach the required position, possibly by exploiting a position current of the actuator measured using a sensor measuring the position of a moving part of the actuator.
    [0146] According to a second variant, the control signal can carry the operational limit, a processing unit of the actuator determining the position at rest to be reached and controlling a motor or the cylinder of the actuator accordingly.
    [0147] Whatever the variant, the actuator is set in motion to position the finger 47 in the required position at rest, for example by rotating the stopper 35 around the axis of rotation AX.
    [0148] When the lever presses on the finger and each lug is in contact with the stopper, then the wearer's operational limit is reached. From this moment, this operational limit can be exceeded, the lever inducing in this case a movement of the finger with respect to the enclosure of the spring box by compressing the torsion spring. A pilot moving the lever then feels the resistance of the torsion spring through the effort generated by the finger on the lever to overcome to overcome the operational limit. The finger 47 in fact generates on the lever 76 a torque which increases as the distance of the finger from the position at rest. If the lever is released by a pilot, the torsion spring relaxes. From then on, the finger automatically moves the lever by returning to its rest position.
    [0149] Of course, the present invention is subject to many variations in its implementation. Although several embodiments have been described, it is clearly understood that it is not conceivable to identify exhaustively all the possible modes. It is of course possible to replace a means described by an equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (16)
    [0001]
    Haptic alert mechanism (1) configured to exert a force on a lever (76) in order to tactilely signal the exceeding of an operational limit, said mechanism (1) comprising an actuator (10), characterized in that said mechanism (1) comprises:at least one arm (36) of a movable stopper, said arm (36) being set in rotary motion around an axis of rotation (AX) by said actuator (10) , a spring box (40) provided with an enclosure (41) in which is arranged a prestressed torsion spring (45), said spring box (40) being rotatable around said axis of rotation (AX), said enclosure (41) comprising at least one lug (55) rotatable around said axis of rotation (AX, said enclosure (41) having a front side (62), said torsion spring (45) extending from a first end (46) secured to the enclosure (41) up to a finger (47), said finger (47) passing through an elongated orifice (64) of said front flank (62) and extending partially outside the enclosure ( 41) by forming an surpassable movable elastic stop, a position at rest of said finger (47) relative to said axis of rotation (AX) in the absence of a force exerted on the finger (47) by said lever (76) being adjustable by moving said stopper, said position at rest representing said operational limit when the lug (55) is in contact with said at least one arm (36) , said finger (47) being movable in said orifice (64) by compressing said torsion spring (45) when said lever (76) exerts a force on said finger (47) aimed at overcoming said operational limit.
    [0002]
    Mechanism according to claim 1, characterized in that said orifice (64) is an oblong hole centered on said axis of rotation (AX).
    [0003]
    Mechanism according to any one of claims 1 to 2,characterized in that said finger (47) is movable in said orifice (64) from a first edge (65) included of the orifice (64) to a second edge (66) of the orifice (64) not included, said finger (47) being pressed against the first edge (65) in the absence of a force exerted on the finger (47) by said lever (76), a play still separating the finger from the second edge of the orifice.
    [0004]
    Mechanism according to any one of claims 1 to 3, characterized in that said torsion spring preload is not adjustable.
    [0005]
    Mechanism according to any one of claims 1 to 4, characterized in that said actuator is provided with a rotating part (12) and a non-rotating part (14), said actuator (10) having a brake (16) configured to immobilize said rotating part (12) with respect to the non-rotating part (14).
    [0006]
    Mechanism according to any one of claims 1 to 5, characterized in that said actuator is provided with a rotary part (12) movable in rotation around said axis of rotation (AX) and connected to said at least one arm (36).
    [0007]
    Mechanism according to any one of claims 1 to 6, characterized in that said stopper comprises at least two said arms (36) carried by a hub (37) fixed to the actuator, said spring box (40) comprising one lug (55) per arm (36).
    [0008]
    Mechanism according to any one of claims 1 to 7, characterized in that at least one arm comprises a yoke provided with two cheeks, a lug being arranged between said two cheeks.
    [0009]
    Mechanism according to any one of claims 1 to 8, characterized in that the mechanism comprises a body (30) immobile in rotation about an axis of rotation (AX), said body (30) carrying at least one stop member (33) fixed in rotation relative to the axis of rotation (AX) to limit the amplitude of rotation of a lug by shape interference.
    [0010]
    Mechanism according to claim 9, characterized in that said body (30) is disposed at least partially around the actuator (10), said stop member (33) extending radially with respect to said axis of rotation (AX) away from the actuator (10), said spring box (40) being pivotally mounted around the body (30).
    [0011]
    Mechanism according to any one of claims 1 to 10, characterized in that said enclosure (41) comprises: a first component (42) comprising a rear flank (43) carrying first branches (44) each first branch (44) extending from said rear flank (43) in an axial direction, said first end (46) being fixed to the first component (42), a second component (50) provided with a ring (51) carrying a second branch (53) by first branch (44), said torsion spring (45) extending partially in a space (INT) arranged radially between the first branches (44) and longitudinally between the rear flank (43) and the ring (51), each second branch (53) extending from said ring (51) parallel to a first branch (44) away from said space (INT), each second branch (53) at least partially forming a lug (55), said finger (47) passing through said ring (51) and projecting longitudinally with respect to planes (100, 101) containing ends free (441, 531) of the first branches (44) and of the second branches (53), a bearing (61) passing through said rear flank (43) as well as said torsion spring (45) and said ring (51), said bearing (61) bearing said front flank (62), said front flank (62) having an indentation (63) by lug (55), each lug (55) being arranged in a said notch (63).
    [0012]
    Mechanism according to claim 11 and any one of claims 9 to 10, characterized in that said stop member (33) is arranged longitudinally between the front flank (62) and said at least one arm (36).
    [0013]
    Mechanism according to any one of claims 1 to 12,characterized in that said mechanism (1) comprises a contactor (70) detecting contact between said finger (47) and said lever (76).
    [0014]
    Mechanism according to any one of claims 1 to 13, characterized in that said operational limit can be at least one of the following limits: a limit of a power plant of an aircraft equipped with the mechanism, a limit of load factor exerted on an aircraft equipped with the mechanism, a limit of a vortex range of an aircraft equipped with the mechanism, a maximum airspeed limit of an aircraft equipped with the mechanism, a limit of a rotational speed of a main rotor, a limit of the mast moment of a rotor of an aircraft equipped with the mechanism.
    [0015]
    Aircraft (75) provided with a rotor (80) and a lever (76) with a collective pitch control (81) connected to a mechanical chain (79) for collectively controlling a pitch of the rotor blades (80) , characterized in that said aircraft (75) comprises a mechanism (1) according to any one of claims 1 to 14, said aircraft (75) comprising a computer (20) connected to the actuator (10), the computer (20 ) being configured to establish said operational limit and transmitting a control signal to the actuator (10) for the lever (76) to contact said finger (47) when said operational limit is reached.
    [0016]
    Method for aiding the control of an aircraft according to claim 15, characterized in that the method comprises the following steps: determination by the computer (20) of an operational limit of the aircraft (75), transmission by the computer (20) to the actuator of a control signal carrying information relating to the position at rest which said finger (47) must reach in the absence of force exerted by the lever on the finger (47), movement of the actuator (10) to position said finger (47) in said position at rest, overcoming of said operational limit by exerting a force on said finger (47) with the lever (76), the finger (47) generating on the lever (76) an increasing torque as the distance of the finger from the position at rest.
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    同族专利:
    公开号 | 公开日
    CN111619799A|2020-09-04|
    EP3702269A1|2020-09-02|
    FR3093320B1|2021-01-29|
    EP3702269B1|2021-04-21|
    US20200277082A1|2020-09-03|
    US10940957B2|2021-03-09|
    CN111619799B|2021-07-27|
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    US10712109B1|2017-11-03|2020-07-14|Midwater Collective, LLC|Haptic firearm magazine|CN111712774A|2018-03-19|2020-09-25|阿尔卑斯阿尔派株式会社|Input device|
    法律状态:
    2020-02-19| PLFP| Fee payment|Year of fee payment: 2 |
    2020-09-04| PLSC| Publication of the preliminary search report|Effective date: 20200904 |
    2021-02-24| PLFP| Fee payment|Year of fee payment: 3 |
    2022-02-16| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1902078A|FR3093320B1|2019-02-28|2019-02-28|Haptic alert mechanism of an aircraft pilot and aircraft.|
    FR1902078|2019-02-28|FR1902078A| FR3093320B1|2019-02-28|2019-02-28|Haptic alert mechanism of an aircraft pilot and aircraft.|
    EP20156818.5A| EP3702269B1|2019-02-28|2020-02-12|A haptic alert mechanism for alerting an aircraft pilot, and an aircraft|
    CN202010120972.XA| CN111619799B|2019-02-28|2020-02-26|Haptic warning mechanism for warning aircraft driver and aircraft|
    US16/802,967| US10940957B2|2019-02-28|2020-02-27|Haptic alert mechanism for alerting an aircraft pilot, and an aircraft|
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