CN-122003366-A - Flight control manipulator with mechanical redundancy

Abstract

An improved manipulator includes a handle configured to move a shaft and a mechanical linkage coupling the shaft to a sensor. The manipulator also includes a redundant mechanical system including a second shaft movable by the handle and a second mechanical linkage coupling the second shaft to the sensor. Thus, the movement of the handle is transmitted to the sensor by two independent mechanical systems. In an example, a redundant mechanical system may be provided for any of three or more rotational directions (e.g., roll, pitch, yaw, and/or the like).

Inventors

• Alex Cheng Huan Kim
• PETERSON, SCOTT
• Fei Li Fernandez

Assignees

• 森萨塔科技公司

Dates

Publication Date

20260508

Application Date

20240905

Claims (15)

1. 1. A manipulator, comprising: A handle; a first shaft coupled to the handle and configured to move in response to a force applied at the handle; a second shaft coupled to the handle and configured to move in response to a force applied at the handle; A sensor; A first mechanical linkage coupling the first shaft to the sensor, and A second mechanical linkage couples the second shaft to the sensor.
2. 2. The manipulator of claim 1, wherein the first shaft is a hollow shaft defining a central opening and the second shaft is at least partially disposed in the opening.
3. 3. The manipulator of claim 1, wherein the sensor comprises one or more Rotary Variable Differential Transformers (RVDTs).
4. 4. The manipulator of claim 1, wherein: The sensor includes an input shaft; The first mechanical link includes a first intermediate shaft coupled to the first shaft and to the input shaft of the sensor, and The second mechanical link includes a second intermediate shaft coupled to the second shaft and to the input shaft of the sensor.
5. 5. The manipulator of claim 4, wherein: The first intermediate shaft is substantially perpendicular to the first shaft; the second intermediate shaft being substantially perpendicular to the second shaft, and The sensor is configured to sense one of roll or pitch associated with a force applied at the handle based at least in part on rotation of the first or second intermediate shaft.
6. 6. The manipulator of claim 4, wherein: the first intermediate shaft is axially aligned with the first shaft; the second intermediate shaft being axially aligned with the second shaft, and The sensor is configured to sense yaw associated with a force applied at the handle based at least in part on rotation of the first intermediate shaft or the second intermediate shaft.
7. 7. The manipulator of claim 4, wherein: the first intermediate shaft comprises a hollow shaft, and The second intermediate shaft is at least partially disposed in the first intermediate shaft.
8. 8. The manipulator of claim 1, further comprising: a damper; a first damper shaft coupled to the first shaft and to the damper, and A second damper shaft is coupled to the second shaft and the damper.
9. 9. The manipulator of claim 1, further comprising: A gimbal saddle configured to pivot in response to movement of the first or second shaft, and An actuator couples the gimbal saddle to the sensor.
10. 10. The manipulator of claim 9, further comprising: a gear coupled to the sensor, wherein: rotation of the gear causes corresponding rotation at the sensor, and The actuator cooperates with the gear such that pivoting of the gimbal saddle causes rotation of the gear.
11. 11. The manipulator of claim 10, wherein the actuator comprises a keyway opening configured to cooperate with a protrusion on the gear.
12. 12. The manipulator of claim 1, wherein the sensor is a first sensor configured to measure rotation about a first axis and the second axis, and the second mechanical linkage comprises a first redundant system for transmitting rotation about the first axis to the first sensor, the manipulator further comprising: A second sensor configured to measure rotation about a second axis perpendicular to the first axis, and A second redundant system for transmitting rotation about the second axis to the second sensor, the second redundant system comprising the second axis.
13. 13. The manipulator of claim 12, wherein rotation about the first axis comprises pitch or roll and rotation about the second axis comprises yaw.
14. 14. The manipulator of claim 1, further comprising: a computing system configured to perform actions comprising: Based at least in part on data from the sensor, a rotation angle associated with a force on the handle is determined.
15. 15. The manipulator of claim 14, the acts further comprising: based at least in part on the rotation angle, a control signal for driving an actuator associated with the control system is determined.

Description

Flight control manipulator with mechanical redundancy Technical Field The present disclosure relates to control systems, and more particularly to manipulators for controlling vehicles such as aircraft. Background Manually operated control devices (such as aircraft control sticks, joysticks, and/or the like) are commonly referred to as "manipulators" that serve as manual user interfaces to enable a user (such as a pilot or driver) to control a system (such as a vehicle). Conventional manipulators used in aircraft typically include a control lever mechanically connected to a control surface of the aircraft such that movement of the control lever causes corresponding movement of the control surface. Fly-by-wire systems or steer-by-wire systems have become more common recently. For example, such systems use one or more sensors that generate an electrical output corresponding to movement of the control lever. In these systems, the electrical output is used to determine a control signal that is used to actuate something on a controlled system (e.g., an aircraft). Conventional fly-by-wire systems may have a single path that transmits input motion (e.g., pressure applied at the handle of a lever) to a sensor. However, when only a single path exists, any fault or malfunction may interrupt the transmission of input to the sensor. Even in cases where electrical or sensor redundancy is included, mechanical failure can negatively impact safe operation of the vehicle. Accordingly, there is a need for improved systems and techniques for controlling vehicles such as aircraft. Drawings In order for those of ordinary skill in the art to which the disclosed systems and techniques pertains to more readily understand how to make and use them, reference is made to the following figures. Fig. 1A and 1B are perspective and cross-sectional views, respectively, of a manipulator with mechanical redundancy in accordance with aspects of the present disclosure. Fig. 2 is a portion of the cross-sectional view of fig. 1B, illustrating aspects of the manipulator of fig. 1, in accordance with aspects of the present disclosure. Fig. 3A is an exploded perspective view of a portion of the manipulator of fig. 1, in accordance with aspects of the present disclosure. Fig. 3B is a portion of the cross-sectional view of fig. 2 corresponding to the portion of the manipulator shown in fig. 3A, in accordance with aspects of the present disclosure. Fig. 3C is a perspective view of a portion of the manipulator of fig. 1, including the portion of the manipulator shown in fig. 3A and 3B, in accordance with aspects of the present disclosure. Fig. 4A is an exploded perspective view of a portion of the manipulator of fig. 1, in accordance with aspects of the present disclosure. Fig. 4B is a portion of the cross-sectional view of fig. 2 corresponding to the portion of the manipulator shown in fig. 4A, in accordance with aspects of the present disclosure. Fig. 4C is a perspective view of a portion of the manipulator shown in fig. 4A and 4B, according to aspects of the present disclosure. Detailed Description The subject technology overcomes problems with the prior art associated with control systems, including problems associated with manipulators for detecting and measuring vehicle operator inputs and generating control signals based on such measurements. For example, the systems and techniques described herein may provide manipulators with mechanical redundancy that may ensure that a single mechanical failure does not result in catastrophic failure of the manipulator. Without limitation, the control system described herein may accurately and reliably communicate input (e.g., operator input at the handle) to one or more sensors for detecting rotational displacement corresponding to one or more of yaw, pitch, or roll angles. In some aspects of the disclosure, the manipulator may include a handle. For example, the handle may be a grip, and the manipulator may be formed as a joystick, a side bar, or the like. The handle may be configured to receive input from an operator, for example, as a force applied by an operation, and to move in one or more directions, such as linearly or rotationally, in response to the applied force. In some examples, the handle may be configured to provide one or more of pitch input, roll input, and/or yaw input. The manipulator may also include a first shaft coupled to the handle and configured to move in response to a force applied at the handle, and a second shaft coupled to the handle and configured to move in response to a force applied at the handle. In an example, the first and second shafts may be control shafts configured to rotate and/or pivot in response to operator input at the handle. In some examples, the first shaft and the second shaft may be nested, for example, wherein the first shaft defines a hollow cavity in which the second shaft is disposed. The first and second shafts may be arranged to move relative to each othe