• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a haptic device (20) comprising a base (30) and at least one hinge arm (41, 42, 43). Said at least one limb (41, 42, 43) is connected to the base (30) by a mobility means (50) imparting a rotational degree of freedom (ROT) to said limb (41, 42, 43) about an axis of rotation (AX3, AX4, AX5) with respect to the base (30). An excitation member (60) comprises an electrical excitation means (61) configured to cause the at least one leg (41, 42, 43) to rotate around the axis of rotation (AX3, AX4, AX5). from a rest position to an activated position, an elastic return means (70) tending to maintain each branch (41, 42, 43) in the corresponding rest position.
    公开号:FR3050549A1
    申请号:FR1600689
    申请日:2016-04-26
    公开日:2017-10-27
    发明作者:Pascal Izzo
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    Device haptiaue to vibrate a steering wheel
    The present invention relates to a haptic device for vibrating a control stick, an assembly comprising the control stick and the haptic device, and an aircraft. The invention is therefore in the technical field of aircraft haptic systems.
    An aircraft usually includes pilot handles that can be maneuvered by a pilot. The term "control stick" refers to a member manually maneuverable by a pilot to control an aerodynamic surface of the aircraft.
    For example, a helicopter is equipped with a main rotor participating at least partially in the lift of this helicopter. A steering sleeve called "cyclic stick" cyclically controls the pitch of the blades of the main rotor. A control stick called "collective pitch lever" collectively controls the pitch of the blades of this main rotor.
    A steering stick may comprise a haptic device arranged in a handle. Such a haptic device allows a pilot to feel a sensation at one of his hands to inform him of an event. A haptic device can in particular be used to signal to a pilot that the aircraft is piloted by using a particular control law. The integration of a haptic device is difficult on a steering column of a rotary wing aircraft. Indeed, such a steering shaft may include means operable by a pilot making difficult the integration of a haptic device. Such maneuverable means are sometimes called "switch" or "switch" in English, and may include different types of buttons. On a rotorcraft, a control stick has a number sometimes more consistent contactors on a plane.
    Such a haptic device may have a vibrating member. Such a vibrating member makes it possible to vibrate the control stick to transmit information to a pilot. Depending on the location of the vibrating member, the pilot does not perceive the same sensations when the vibrating member is stressed.
    A vibrating member may be arranged in a handle of the control stick, or at an articulation of the steering stick. For example, the control stick is articulated to a cardan system provided with a vibrating member. The integration of the vibrating member in the handle is interesting. However, the handle then has relatively large dimensions to accommodate the vibrating member.
    In addition, the vibrating member can obstruct, within the control stick, the flow of electrical son connected to contactors carried by the handle. The integration of the vibrating member in a cardan system may not have this disadvantage. However, the pilot may not easily feel the vibrations generated by the vibrating organ due to its location.
    US2566409 discloses a control sleeve provided with a tube carrying a handle.
    A vibrating device is attached to this tube. The vibrating device includes a sleeve slid all around the tube. This sleeve carries annular ball bearing means cooperating with a toothed ring. This toothed ring carries an eccentric mass in an arc. The toothed ring is geared by a pinion mounted on the output shaft of an electric motor. The electric motor can thus generate a rotation of the toothed ring and the eccentric mass around the tube.
    The document US5986582 proposes a first vibrating device mounted on the top of a control handle of the "collective lever" type. The first vibrating device comprises an electric coil arranged in a housing. The electrical coil is traversed by a rod which extends longitudinally outside the housing between two stops. In addition, a spring extends longitudinally between a shoulder of the rod and the housing. The electric coil is controlled to induce a translation of the rod from one stop to the other stop.
    Document US5986582 proposes a second vibrating device. This second device comprises an eccentric mass rotated about an axis.
    The present invention therefore aims to provide an innovative haptic device. The subject of the invention is therefore a haptic device for vibrating a section of a control stick on command, in particular a control stick of an aircraft.
    This haptic device comprises: - a base, - a mass assembly comprising at least one swinging branch more simply called "branch", said at least one branch extending circumferentially over at least 45 degrees around a central axis, the axis central being configured to be in mounting position coincides with a median axis of extension of the section, each branch being connected to the base by a mobility means conferring a degree of freedom in rotation to this branch about an axis of rotation by relative to the base, the axis of rotation being distinct from the central axis, - an excitation member comprising an electrical excitation means configured to cause the rotation of said at least one branch of rotation about the axis of rotation. a rest position to an activated position, an elastic return means tending to maintain each branch in the corresponding rest position. The term "mounting position" refers to the position in which the mass assembly is located when the haptic device is attached to the steering shaft section. The expression "median extension axis" designates the axis according to which the control handle extends from its lower end to its upper end, and therefore in particular the axis along which the section extends in elevation. considered. This median extension axis is arranged substantially according to gravity. The expression "electrical excitation means" designates a member powered by an electric current to cause a movement of each branch relative to the base and to the portion of the control stick. The electrical excitation means comprises an input interface receiving an order from a usual processing unit to beat each branch. Such a processing unit may for example require the excitation of each branch during certain flight phases defined by the manufacturer. Therefore, the haptic device comprises a fixing means for fixing the haptic device on and around a portion of a steering shaft. For example, the base is fixed to the portion of the steering shaft to vibrate. Each branch extends over an angular sector of at least 45 degrees around the section in a plane orthogonal to the median extension axis of the section. Optionally, the haptic device is arranged in a groove formed in an outer surface of the section of the control sleeve.
    Thus, the haptic device is not arranged in the control stick and can avoid hindering the path of electrical son within this control stick.
    In addition, the haptic device is not necessarily fixed at a cardan joint. The section equipped with the haptic device may be a section intended to be entered by the pilot.
    Furthermore, the base can be secured to the portion of the steering column. By cons, each branch is movable relative to the base to vibrate the section on the order of a processing unit. The movement of the branches can induce a vibration of the control stick by generating a contact against the outer surface of the control sleeve and each branch at a characteristic frequency, and / or by inertial effect. For example, each branch is in contact with a central cylinder of the section of the control stick in its rest position or its activated position.
    Thus, the operation of the haptic device is based on the vibration of one or more movable branches arranged peripherally around the section. The transmission of the vibration of the branches through the steering shaft structure is then performed either by inertial effect or by contact with the control stick. For this purpose, the haptic device comprises an electrical excitation means generating the displacement of each branch and an elastic means recalling each branch to a rest position. Successively, the excitation means is biased at a certain frequency to separate each branch from its rest position, the elastic means returning each branch to its rest position as soon as the excitation means stops exerting a force on each branch .
    Such elastic means may comprise a spring, a member comprising a block of a material of the rubber group, or even an elastic blade for example.
    The excitation means may be biased to induce a vibration of the control stick in quasi-static mode, or in resonant mode with respect to a vibration mode of the control stick in order to amplify the vibrations produced. In this resonant mode, the excitation frequency of each branch is fixed and determined by the dimensions and characteristics of the haptic device which constitutes a mass-spring system.
    The haptic device may further include one or more of the following features.
    Thus, the mobility means may comprise a pivot.
    Such pivot may comprise a joint having only a degree of freedom in rotation.
    The mobility means may also take the form of a deformable seal.
    Optionally, the mobility means may comprise an elastic blade.
    The elastic blade is biased only in its area of elastic deformation to tend to return to its rest position.
    The elastic blade may be an integral part of a branch, and / or a member of the base.
    In another aspect, the elastic means and the means of mobility of a branch may be merged.
    When the mobility means is made with an elastic element, this elastic element may optionally completely or partially fulfill the function of the elastic means.
    For example, a flexible blade allows the rotation of a branch and tends to bring this branch back to its rest position.
    In another aspect, the base may comprise a rod and two plates, the rod extending along an extension axis transversely from one plate to the other plate, each leg being connected by a mobility means to a plate.
    For example, the rod extends parallel to an axis tangential to a circle in which the haptic device is inscribed. This rod may possibly serve as a support for the excitation means, and / or support for a fixing means, and / or still a link between two mobility means.
    In another aspect, the mass assembly may comprise a single branch extending about the central axis over at least 270 degrees.
    The haptic device then has an asymmetrical architecture involving a single branch pivoting about a fixed axis of rotation. The vibration produced by the rocking motion of the branch can then be transmitted to the body of the control stick by inertial effect. A contact between a branch and the surface of the control stick is not mandatory.
    Optionally, the resilient means extends between this single branch and a plate of the base.
    Alternatively, the mass assembly may comprise two branches, each branch extending from one foot connected to the base towards a free end, a gap separating transversely the free ends of the two branches, said excitation means displacing the two branches in two opposite directions.
    The haptic device can then include two branches, possibly of hemi-cylindrical shape and / or forming a symmetrical structure of mass and counter-mass type. The two branches rotate in different directions, possibly in phase opposition.
    The two vibrating branches can induce the vibration of the control stick by contact with the control stick. The steering shaft body then undergoes a slight deformation at the excitation frequency of the branches.
    For example, the elastic means extends between the two branches. Similarly, a stem of the base can extend between the two mobility means respectively of the two branches.
    According to another aspect, said at least one branch may have at least one stop member configured to limit a beat of a branch in one direction by interference of shape with the base.
    According to another aspect, said at least one branch extending from a foot connected to the base by a means of mobility towards a free end, the foot comprises at least one of the following abutment members: a protruding transverse abutment member the foot extending parallel to a transverse direction, a longitudinal space separating the transverse abutment member from the base in at least the rest position or the activated position, - a longitudinal abutment member protruding from the foot while extending perpendicular to the transverse direction, a transverse space separating the longitudinal stop member from the base in at least the rest position or the activated position.
    The transverse direction may be parallel to a tangent to a circle in which the haptic device is inscribed.
    In another aspect, the excitation means may comprise an electric coil.
    The excitation means can excite each branch by an electromagnetic path. Each branch or the base may be made from a magnetic material, such as a metallic material.
    The electrical coil globally polarizes a magnetic circuit comprising each branch of the vibrating haptic device to tend to close an air gap. Such an air gap can separate if necessary two branches from one another or a branch and the base.
    In order to optimize the behavior of the magnetic circuit, in particular at the level of the electric coil, the electric coil may tend to simultaneously close a main air gap separating two free ends of two branches, and secondary air gaps formed each between a branch and the base at neighborhood of the mobility means of the branch.
    Optionally, the actuation can also be achieved by means of a magnetic circuit located in the vicinity of the electric coil, closing only the secondary air gaps.
    If necessary, the electrical coil may be arranged around a base rod.
    The excitation means may comprise a piezoelectric bar connected to at least one branch.
    The excitation means can move each branch by means of a piezoelectric element arranged between two branches or between a branch and the base for example.
    The piezoelectric bar works in "piston" mode by being electrically powered for example to relax. Thus, the piezoelectric bar is prestressed in compression by the elastic means in the absence of electric current and extends by compressing the elastic means by being electrically powered.
    The piezoelectric bar may be offset radially with respect to each axis of rotation of the mobility means to maximize the lever arm separating the piezoelectric bar of each branch.
    The piezoelectric bar can be powered by a low voltage electric current. As a result, the piezoelectric bar may be of the multilayer PZT ceramics type, for example. The invention also relates to a steering assembly comprising a steering shaft and a haptic device of the type described above. The haptic device is attached to a portion of the steering shaft, each branch extending circumferentially around the section.
    The base can be stationary relative to this section in the mounting position. The invention also relates to an aircraft provided with such a steering assembly. 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: FIG. 1, a view showing a control assembly of an aircraft according to the invention comprising a driving shaft and a haptic device, - Figure 2, a schematic view explaining a means for fixing a haptic device to a steering shaft, - Figure 3, a haptic device with two branches provided an excitation means comprising an electric coil, - Figure 4, a haptic device with two branches provided with an excitation means comprising a piezoelectric bar, - Figure 5, a haptic device with a branch provided with an excitation means comprising an electric coil, and - Figure 6, a haptic device with a branch provided with an excitation means comprising a piezoelectric bar.
    The elements present in several separate figures are assigned a single reference.
    FIG. 1 shows a steering assembly 5, and for example a steering assembly arranged on an aircraft 1.
    This driving assembly 5 is provided with a driving shaft 10 and a haptic device 20.
    The control stick 10 extends in elevation along an axis called "median extension axis AX1". This control sleeve 10 has a central portion extending in elevation between a hinge 12 and an end portion 13 carrying various control means 15 maneuverable by a pilot. These control means 15 are connected to son winding inside the section 12.
    In addition, the central portion may comprise a shoulder 14 on which a pilot can rest a flank of the palm of one of his hands, typically the side of the palm located in the extension of his little finger. The pilot can then maneuver the control means 15 with his thumb or his index for example.
    The haptic device 20 is then attached to a section 11 of the control stick.
    For example, the section 11 represents the central portion. The haptic device then at least partially surrounds the central portion.
    With reference to FIG. 2, the section 11 of the control stick equipped with the haptic device may comprise a first section 112 and a second section 113 separated by an intermediate section 111. The intermediate section 111 may have dimensions smaller than the dimensions of the first section. section 112 and second section 113 to provide an annular groove 114. To illustrate this aspect, the sections can take the form of a circular base cylinder centered on the median axis of extension Ax1, the intermediate section 111 having a diameter smaller than the diameters of the first section 112 and the second section 113. Therefore, the haptic device 20 can be housed in the annular groove 114 surrounding the intermediate section 111 of the section. A plate 200 may for example fix the haptic device 20 to the first section 112 and / or the second section 113. Hoods may cover the haptic device for aesthetic purposes.
    Independently of this aspect, Figures 3 to 6 illustrate a haptic device 20 according to various embodiments of the invention.
    Referring to Figure 3 and whatever the embodiment, the haptic device 20 comprises a base 30 carrying a vibrating mass assembly.
    This mass assembly is provided with at least one branch 40.
    Each branch 40 extends circumferentially in a plane orthogonal to a central axis AX2 covering an arc 150. This arc 150 is greater than or equal to at least 45 degrees.
    In the mounting position, the central axis AX2 is superimposed on the median extension axis AX1. Therefore, each branch extends around the section 11 of the control sleeve equipped with the haptic device. For example, each branch 40 extends in a groove of the section around an intermediate section 111 of the section.
    In particular, each branch 40 extends circumferentially from a foot 45 to a free end 44. The foot 45 is then articulated at the base by a mobility means 50.
    The mobility means 50 of a branch 40 gives this branch 40, relative to the base 30, a rotational degree of freedom ROT about an axis of rotation AX3, AX4. This axis of rotation is offset with respect to the central axis AX2, or even with respect to a plane of symmetry P1 of the haptic device. In addition, this axis of rotation is located outside the section 11 of the control sleeve surrounded by the corresponding branch.
    For example, the mobility means 50 may comprise a pivot 51 or a flexible blade 52. These two types of mobility means are illustrated in FIG.
    In addition, the haptic device 20 has an excitation member 60 for moving each branch 40 from a rest position to an activated position shown in FIG. 3. The expression "rest position" designates the position reached by the branch in the absence of force exerted by the excitation member 60. Conversely, the expression "activated position" designates the position reached by the limb in the presence of a force exerted by the excitation member. 60.
    This excitation member 60 comprises an electric excitation means 61 generating a force able to cause the rotation of a branch about the corresponding axis of rotation. This excitation means 61 may for example comprise a magnetic coil 63 visible in FIG. 3 or a piezoelectric bar illustrated subsequently.
    In addition, the excitation member may comprise a processing unit 62 generating an excitation command transmitted to the excitation means to require the movement of each branch. The processing unit may comprise, for example, a processor, an integrated circuit, a programmable system or a logic circuit, these examples not limiting the scope given to the term "processing unit". This processing unit may comprise various sensors to determine whether a movement order must be transmitted by means of excitation.
    For example, an avionics system of the aircraft orders the processing unit to electrically power the excitation means at a predetermined frequency.
    In addition, the haptic device comprises an elastic return means 70 connected to each branch to return a branch of its activated position to its rest position.
    The elastic return means may comprise at least one spring or an elastic member.
    For example, the elastic return means 70 and the mobility means 50 form the same organ. Indeed ; an elastic blade connecting the foot of a branch to the base can act as an elastic means of return and means of mobility.
    According to another aspect, each branch may be provided with at least one stop member 85, 86. Such an abutment member 85, 86 is configured to limit a flapping of the branch in one direction by interference of shape with the base 30 to either avoid damaging the control stick or avoid tearing the branch.
    Thus, a branch may comprise a transverse stop member 85. This transverse stop member 85 protrudes from the leg 45 of the branch extending parallel to a transverse direction AX6. This transverse direction is for example parallel to a tangent of a circle 10 in which the haptic device is inscribed, and possibly represents an axis of extension AX6 of the base 30. A longitudinal space 46 separates the transverse stop member 85 from the base 30, in at least the rest position or the activated position, in a direction orthogonal to the transverse direction.
    Alternatively or additionally, a branch may comprise a longitudinal abutment member 86. This longitudinal abutment member 86 protrudes from the foot 45 of the limb extending perpendicularly to the transverse direction AX6. A transverse space 47 then separates the longitudinal stop member 86 from the base 30, in at least the rest position or the activated position, in a direction parallel to the transverse direction. Consequently, FIGS. 3 and 4 illustrate a mass assembly comprising two branches 41, 42, FIGS. 5 and 6 illustrating a mass assembly having a single branch 43.
    According to a first embodiment and with reference to FIG. 3, the mass assembly thus comprises a first branch 41 rotatable about a first axis of rotation AX3 of a first mobility means. In addition, the mass assembly comprises a second branch 42 rotatable about a second axis of rotation AX4 of a second mobility means. An upper gap 81 separates transversely the first free end of the first branch and the second free end of the second branch.
    In the activated position, the first branch 41 and the second branch 42 may be in contact with the portion of the control sleeve surrounded by the haptic device. Thus, each branch may for example comprise an outgrowth bearing on an outer surface of this section in this rest position.
    In the rested and / or activated position, the first branch 41 and the second branch 42 may be located symmetrically on either side of an elevation plane of symmetry P1. The first axis of rotation AX3 and the second axis of rotation AX4 are symmetrically arranged on either side of this plane in elevation of symmetry P1.
    In addition, the elastic return means 70 may extend from the first leg 41 to the second leg 42. For example, the elastic return means 70 is firstly fixed to the transverse stop member 85 of the first branch and, secondly, to the transverse stop member 85 of the second branch.
    Alternatively, each branch can be connected to the base 30 by its own elastic return means.
    According to a first variant of the first embodiment illustrated in FIG. 3, this base may comprise a rod 31 integral with two plates 32, 33. The rod 31 extends along an axis of extension AX6 transversely of a plate 32 to the other plate 33. The first leg 41 is then articulated to a first plate, the second leg 42 being hinged to the second plate.
    At least one plate or the rod are then optionally attached to the section 11 by a conventional fastening means, such as a screwing means for example.
    In addition, the excitation means comprises an electric coil 63 arranged around the rod 32. As soon as the electric coil 63 is not electrically powered, the elastic return means 70 tends to move the first branch 41 and the second branch 42 of one another by making them rotate opposite ROT1, ROT2 around their axes of rotation AX3, AX4 respectively.
    On the other hand, when the electric coil 63 is electrically powered, this coil tends to close the upper air gap 81, or even the lower air gaps 82 represented by each longitudinal space 46. The first branch 41 and the second branch tend to come closer to each other. on the other by performing opposite rotations ROT3, ROT4 around their respective axes of rotation AX3, AX4. The first branch 41 and the second branch 42 then come into contact with the control stick.
    According to the second variant of the first embodiment illustrated in FIG. 4, the base may comprise a rod 31 integral with the mobility means articulated with the first branch 41 and with mobility means articulated with the second branch 42.
    Moreover, the excitation means comprises a piezoelectric bar 64 extending between an outgrowth of the first branch 41 and an outgrowth of the second branch 42.
    The rod and / or a stationary zone of the piezoelectric bar 64 can be fixed to the section 11 of the control stick. Therefore, when the piezoelectric bar 64 is not electrically powered, the elastic return means 70 tends to bring the first leg 41 and the second leg 42 closer to each other by making them rotate opposite ROT3, ROT4 around their axes of rotation AX3, AX4 respectively. The first branch 41 and the second branch 42 then come into contact with the control stick. In addition, the piezoelectric bar 64 is prestressed in compression.
    By cons, when the piezoelectric bar 64 is electrically powered, the piezoelectric bar 64 relaxes. The piezoelectric bar 64 tends to move the first leg 41 and the second leg 42 away from each other by performing opposite rotations ROT1, ROT2 around their respective axes of rotation AX3, AX4.
    The blows carried by the first branch 41 and the second branch 42 at a certain frequency cause the vibration of the section 11 of the control stick.
    According to a second embodiment and with reference to FIG. 5, the mass assembly therefore comprises a single branch 43 rotatable about a single axis of rotation AX5 of a single mobility means. An upper gap 81 separates the free end of the single branch 43 and the base. Therefore, the arc 150 described by the single branch 43 is greater than or equal to at least 270 degrees
    In the activated position and in the rest position, the single branch 43 may never be in contact with the portion of the control stick surrounded by the haptic device.
    Furthermore, the base 30 may comprise a rod 31 secured to two plates 32, 33. The rod 31 extends along an axis of extension AX6 transversely of a plate 32 to the other plate 33. The only branch 43 is then articulated to a first platinum.
    At least one plate or the rod are then optionally attached to the section by a conventional fastening means, such as a screwing means for example.
    In addition, the elastic return means 70 may extend from the single leg 43 to the base. For example, the elastic return means 70 is firstly fixed to the transverse abutment member 85 of the single branch 43 and, secondly, to the plate 33 which is not secured to the mobility means.
    According to the first variant of the second embodiment illustrated in FIG. 5, the excitation means comprises an electric coil 63 arranged around the rod 32. Therefore, when the electric coil 63 is not powered electrically, the means of elastic return 70 tends to move the free end of the single leg 43 of the base 30 by causing it to rotate ROT5 about its axis of rotation AX5.
    On the other hand, when the electric coil 63 is electrically powered, this electric coil 63 tends to close the upper air gap 81, or even a lower air gap 82 represented by each longitudinal space 46. The free end of the single branch 43 tends to get closer. of the base 30 by rotating ROT6.
    According to the second variant of the second embodiment illustrated in FIG. 6, the excitation means comprise a piezoelectric bar 64. The piezoelectric bar 64 extends between an outgrowth of the single branch 43 and the base 30. From then on, when the piezoelectric bar 64 is not electrically powered, the elastic return means 70 tends to bring the free end of the single leg 43 of the base 30 by making it rotate ROT6 about its axis of rotation. In addition, the piezoelectric bar 64 is prestressed in compression.
    By cons, when the piezoelectric bar 64 is electrically powered, the piezoelectric bar 64 relaxes. The piezoelectric bar 64 tends to move the free end of the single leg 43 of the base 30 by causing it to rotate ROT5 about its axis of rotation.
    Whatever the embodiment, and for illustrative purposes, the haptic device may be inscribed in a circle 100 having a diameter of the order of 25 millimeters. The haptic device may further extend in elevation over a height of the order of 20 millimeters for example. The mass assembly may for example have a mass of 15 grams. The upper air gap between two branches of one another or a single branch of a base can be of the order of a millimeter.
    Each branch can have a vibratory amplitude of the order of 0.2 millimeters while being solicited at a frequency of the order of 50 to 100 Hz (hertz).
    In the case of use of an electric coil, the coil may have a resistance of the order of 25 ohms, and an average inductance of 100 mH (milliHenry). The electric current flowing through the electric coil may have an intensity of the order of 0.18 ampere and a voltage amplitude at 100 Hz of 12 volts.
    In the case of a use of a piezoelectric bar, this piezoelectric bar may have a length of the order of 20 millimeters and a section of the order of 9 millimeters for example.
    The piezoelectric bar can have a capacitance of 4.5 μΡ. The electric current flowing through the piezoelectric bar may have an intensity of the order of 60 amperes and a voltage amplitude at 100 Hz of 20 volts.
    Naturally, the present invention is subject to many variations as to its implementation. Although several embodiments have been described, it is well understood that it is not conceivable to exhaustively identify all the possible modes. It is of course conceivable to replace a means described by equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (16)
    [1" id="c-fr-0001]
    1. haptic device (20) for vibrating a section (11) of a control sleeve (10) on command, characterized in that the haptic device (20) comprises: - a base (30), - a mass assembly comprising at least one swinging limb (41, 42, 43), said at least one leg (41, 42, 43) extending circumferentially at least 45 degrees about a central axis (AX2), said central axis (AX2 ) being configured to be in an assembly position coinciding with a median extension axis (AX1) of said section (11), each branch (41, 42, 43) being connected to the base (30) by a mobility means (50). ) imparting a rotational degree of freedom (ROT) to this limb (41, 42, 43) about an axis of rotation (AX3, AX4, AX5) relative to the base (30), said axis of rotation (AX3 , AX4, AX5) being distinct from said central axis (AX2), - an excitation member (60) comprising an electric excitation means (61) configured to make the rotation beat aut the axis of rotation (AX3, AX4, AX5) of said at least one leg (41, 42, 43) from a rest position to an activated position, - an elastic return means (70) tending to maintain each branch (41, 42, 43) in the corresponding rest position.
    [2" id="c-fr-0002]
    2. haptic device according to claim 1, characterized in that said mobility means (50) comprises a pivot (51).
    [3" id="c-fr-0003]
    3. haptic device according to any one of claims 1 to 2, characterized in that said mobility means (50) comprises an elastic blade (52).
    [4" id="c-fr-0004]
    4. haptic device according to any one of claims 1 to 3, characterized in that said base (30) comprises a rod (31) and two plates (32, 33), said rod (31) extending along an axis extension (AX6) transversely of a plate (32) to the other plate (33), each branch (41, 42, 43) being connected by a mobility means (50) to a plate (32, 33) .
    [5" id="c-fr-0005]
    5. haptic device according to any one of claims 1 to 4, characterized in that said elastic return means (70) and said mobility means (50) of a branch are merged.
    [6" id="c-fr-0006]
    6. haptic device according to any one of claims 1 to 5, characterized in that said at least one branch comprises a single branch (43) extending around the central axis of at least 270 degrees.
    [7" id="c-fr-0007]
    7. haptic device according to claim 6, characterized in that said biasing means (70) extends between said single leg (43) and a plate (32, 33) of the base (30).
    [8" id="c-fr-0008]
    8. Apparatus haptic according to any one of claims 1 to 5, characterized in that said mass assembly comprises two branches (41, 42), each leg (41, 42) extending from a foot (45) integral d a means of mobility (50) towards a free end (44), a gap (81) transversely separating the free ends (44) of the two branches (41, 42), said excitation means (61) moving the two branches (41, 42) in two opposite directions (ROT1, ROT2).
    [9" id="c-fr-0009]
    9. haptic device according to claim 8, characterized in that said elastic return means (70) extends between the two branches (41, 42).
    [10" id="c-fr-0010]
    10. haptic device according to any one of claims 1 to 9, characterized in that said at least one leg (41, 42, 43) has at least one stop member (85, 86) configured to limit a beat of a limb (41,42,43) in one form interference direction with the base (30).
    [11" id="c-fr-0011]
    11. Apparatus haptic according to claim 4 and claim 10, characterized in that said at least one branch (41, 42, 43) extending from a foot (45) connected to the base (30) by means of mobility (50) towards a free end (44), said foot (45) comprises at least one of the following abutment members: - a transverse abutment member (85) protruding from the foot (45) extending parallel to a direction cross-section (AX6), a longitudinal space (46) separating the transverse stop member (85) from the base (30) in at least the rest position or the activated position, - a longitudinal stop member (86) projecting from the foot (45) extending perpendicular to the transverse direction (AX6), a transverse space (47) separating the longitudinal stop member (86) from the base (30) in at least the rest position or the activated position .
    [12" id="c-fr-0012]
    12. haptic device according to any one of claims 1 to 11, characterized in that said excitation means (61) comprises an electric coil (63).
    [13" id="c-fr-0013]
    13. A haptic device according to claim 4 and claim 12, characterized in that said electric coil (63) is arranged around a rod (31) of the base (30).
    [14" id="c-fr-0014]
    14. haptic device according to any one of claims 1 to 11, characterized in that said excitation means (61) comprises a piezoelectric bar (64) connected to at least one branch (41, 42, 43).
    [15" id="c-fr-0015]
    15. Steering assembly (5) comprising a control stick (10) and a haptic device (20), characterized in that said haptic device (20) is according to any one of claims 1 to 14, said haptic device ( 20) being attached to a section (11) of said drive shaft (10), each leg (41, 42, 43) extending circumferentially around the section (11).
    [16" id="c-fr-0016]
    16. Aircraft (1), characterized in that said aircraft (1) comprises a steering assembly (5) according to claim 15.
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    同族专利:
    公开号 | 公开日
    FR3050549B1|2018-04-20|
    US20170308113A1|2017-10-26|
    EP3239042B1|2018-06-06|
    US10317928B2|2019-06-11|
    EP3239042A1|2017-11-01|
    PL3239042T3|2018-11-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2566409A|1949-10-21|1951-09-04|Safe Flight Instrument|Vibratory aircraft alarm of the rotary eccentric weight type|
    US5986582A|1998-06-24|1999-11-16|Safe Flight Instrument Corporation|Helicopter rotor/engine warning system|
    US6002349A|1998-08-14|1999-12-14|Safe Flight Instrument Corporation|Helicopter anti-torque limit warning device|
    FR2875787A1|2004-09-30|2006-03-31|Safe Flight Instrument|TOUCH WARNING METHOD AND SYSTEM FOR ASSISTING A HELICOPTER PILOT FOR LANDING|CN113460289A|2021-09-06|2021-10-01|中国商用飞机有限责任公司|Method, system and device for pitch trim feedback of aircraft|WO2003030092A1|2001-09-04|2003-04-10|Ziad Badarneh|Operating device for controlling functions in electronic equipment|
    EP1514257A4|2002-04-12|2015-12-30|Henry K Obermeyer|Multi-axis joystick and transducer means therefore|
    US7112107B1|2004-02-04|2006-09-26|Brunswick Corporation|Throttle control mechanism with haptic feedback|
    US7895917B2|2004-06-04|2011-03-01|Gm Global Technology Operations, Inc.|Conformal grasp handle|
    EP2123537A1|2008-05-21|2009-11-25|C.R.F. Società Consortile per Azioni|Grip member wit haptic feed-back|
    JP5471393B2|2009-12-11|2014-04-16|株式会社日本自動車部品総合研究所|Input device|EP3670334B1|2018-12-21|2021-03-10|LEONARDO S.p.A.|Hand-operable man-machine interface for aircraft, drone remote control systems, flight simulators, spacecraft and the like|
    IT201900001799A1|2018-12-21|2020-08-07|Leonardo Spa|MANUALLY OPERATED HUMAN-MACHINE INTERFACE FOR AIRCRAFT, DRONE REMOTE CONTROL SYSTEMS, FLIGHT SIMULATORS, SPACE VEHICLES AND SIMILAR|
    FR3093320B1|2019-02-28|2021-01-29|Airbus Helicopters|Haptic alert mechanism of an aircraft pilot and aircraft.|
    法律状态:
    2017-04-19| PLFP| Fee payment|Year of fee payment: 2 |
    2017-10-27| PLSC| Search report ready|Effective date: 20171027 |
    2018-04-20| PLFP| Fee payment|Year of fee payment: 3 |
    2019-04-18| PLFP| Fee payment|Year of fee payment: 4 |
    2021-01-15| ST| Notification of lapse|Effective date: 20201214 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1600689|2016-04-26|
    FR1600689A|FR3050549B1|2016-04-26|2016-04-26|HAPTIC DEVICE FOR VIBRATION OF A STEERING HANDLE|FR1600689A| FR3050549B1|2016-04-26|2016-04-26|HAPTIC DEVICE FOR VIBRATION OF A STEERING HANDLE|
    PL17161360T| PL3239042T3|2016-04-26|2017-03-16|A haptic device for vibrating a control stick|
    EP17161360.7A| EP3239042B1|2016-04-26|2017-03-16|A haptic device for vibrating a control stick|
    US15/497,457| US10317928B2|2016-04-26|2017-04-26|Haptic device for vibrating a control stick|
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