阅读说明：本技术 用于控制飞行器飞行的装置 (Device for controlling the flight of an aircraft ) 是由 R-L·罗尼扎克 L·朱丽恩 于 2019-09-20 设计创作，主要内容包括：本发明涉及一种装置,该装置包括与框架(1)相关联的控制杆(8),该框架(1)承载链接到框架的第一板(4)、链接到第一板(4)的第二板(10)；控制杆(8)链接到第二板(10)；安装成能够相对于框架枢转的第一传动轴(12)；第一机构,第一机构将控制杆链接到第一传动轴,使得控制杆绕第一轴线(X)的旋转引起第一轴绕第四轴线(A)旋转；安装成能够相对于框架枢转的第二传动轴(23)；第二机构,第二机构将控制杆链接到第二传动轴,使得控制杆绕第二轴线(Y)的旋转引起第二轴绕第六轴线(D)旋转；平台(25),该平台链接到框架,第二连接机构安装成能够在平台(25)上枢转并安装成能够在控制杆(8)上枢转。(The invention relates to a device comprising a control lever (8) associated with a frame (1), the frame (1) carrying a first plate (4) linked to the frame, a second plate (10) linked to the first plate (4); the control lever (8) is linked to the second plate (10); a first transmission shaft (12) mounted so as to be pivotable relative to the frame; a first mechanism linking the control rod to the first transmission shaft such that rotation of the control rod about the first axis (X) causes the first shaft to rotate about the fourth axis (a); a second transmission shaft (23) mounted so as to be able to pivot with respect to the frame; a second mechanism linking the control rod to the second transmission shaft such that rotation of the control rod about the second axis (Y) causes the second shaft to rotate about the sixth axis (D); a platform (25) linked to the frame, the second connection being mounted so as to be able to pivot on the platform (25) and so as to be able to pivot on the control lever (8).)

1. Aircraft flight control device comprising a control lever (8) associated with a body (1) carrying:

-a first plate (4) connected to the body by a first pivot connection about a first axis (X),

-a second plate (10) connected to the first plate (4) by a second pivotal connection about a second axis (Y) substantially perpendicular to and intersecting the first axis, the control rod (8) being connected to the second plate (10) by a third pivotal connection about a third axis (Z) perpendicular to and intersecting the first and second axes,

-a first transmission shaft (12) mounted to pivot about a fourth axis (A) with respect to the body and connected to at least one first control motor member outside the body,

-a first connection mechanism connecting the control lever to the first transmission shaft such that pivoting of the control lever about the first axis (X) causes the first shaft to pivot about the fourth axis (A), the first shaft and the first connection mechanism being connected to each other by a fifth pivot connection about a fifth pivot axis (C) which is inclined with respect to the first axis (X) and the fourth axis (A),

-a second transmission shaft (23) mounted to pivot about a sixth axis (D) with respect to the body and connected to at least one second control motor member outside the body,

-a second connection mechanism connecting the control rod to the second transmission shaft such that pivoting of the control rod about the second axis (Y) causes the second shaft to pivot about the sixth axis (D), the second shaft and the second connection mechanism being connected to each other by a seventh pivotal connection about a seventh axis (H), the seventh axis being inclined with respect to the second axis and the sixth axis,

-a platform (25) connected to the body by an eighth pivotal connection about an eighth axis (F), the second connection mechanism being pivotally mounted on the platform (25) by a ninth pivotal connection about the first axis and pivotally mounted on the control lever (8) by a tenth pivotal connection about the first axis.

2. The device according to claim 1, characterized in that it is arranged so that, when the control lever is in a neutral position, the sixth axis (D) is substantially orthogonal to a plane defined by the first axis (X) and the second axis (Y).

3. Device according to claim 1 or 2, characterized in that it is arranged so that, when said control rod is in a neutral position, said fourth axis (a) is substantially orthogonal to a plane containing said first axis (X) and said second axis (Y).

4. Device according to one of the preceding claims, characterized in that it is arranged so that said first axis (X), said second axis (Y), said third axis (Z), said sixth axis (D), said seventh axis (H) and said eighth axis (F) substantially meet at a first point and said first axis, said fourth axis (A) and said fifth axis (C) substantially meet at a second point.

5. Device according to one of the preceding claims, characterized in that it is arranged so that said fourth axis (a) and said sixth axis (D) are substantially parallel.

6. A device according to one of claims 1-5, characterised in that the first connecting means are arranged to connect the first shaft (12) to the first plate (4) by means of a universal joint.

7. Device according to one of claims 1 to 6, characterized in that the second connection means are arranged to connect the second shaft (23) to the control rod (8) by means of a universal joint.

8. Device according to one of the preceding claims, characterized in that the second plate (10) surrounds the first plate (4) externally.

9. Device according to one of the preceding claims, characterized in that two plates surround the platform (25) externally.

10. Device according to one of the preceding claims, comprising at least one abutment for limiting the movement of the control rod (8) about the first axis or about the second axis, the abutment having the form of a rotating roller.

Technical Field

The invention relates to an aircraft flight control device.

Background

Aircraft flight control devices typically include a control lever pivotally mounted on the body of the control device to pivot about at least two axes perpendicular to each other to enable control of the roll and pitch motions of the aircraft. To this end, the control stick is mechanically or electrically connected to one or more aircraft control members, such as control surfaces.

In order to assist the pilot in controlling the roll and pitch of the aircraft, flight control devices are known which comprise control motors associated with the stick, so that for each pivoting movement of the stick relative to the body, one of the motors acts to simulate the forces fed to the pilot moving the stick. Thus, the pilot can move the stick easily and effortlessly compared to a device in which the control is performed via a direct mechanical connection between the stick and the control member.

However, in such an architecture, the forces felt on the control lever when pivoting about the pitch axis are typically different depending on whether the control lever is also tilted to the right or to the left about the roll axis.

To alleviate the disadvantages of this linkage, it has been proposed to servo-control the control motor so that the forces felt on the control lever when pivoting about the pitch axis are symmetrical, regardless of whether the control lever is also tilted about the roll axis.

However, this makes it necessary to develop a servo controller which is specific and limits the use of the motors which may be involved. Furthermore, the motor must be oversized in order to deliver such symmetrical forces.

Disclosure of Invention

The object of the present invention is to provide a flight control device which is able to eliminate at least partially the above-mentioned drawbacks.

To achieve this object, an aircraft flight control device is proposed, comprising a control lever associated with a body carrying:

a first plate connected to the body by a first pivot connection about a first axis,

a second plate connected to the first plate by a second pivotal connection about a second axis substantially perpendicular to and intersecting the first axis, the lever being connected to the second plate by a third pivotal connection about a third axis perpendicular to and intersecting the first and second axes,

a first transmission shaft mounted to pivot about a fourth axis relative to the body and connected to at least one first control motor member outside the body,

a first connecting mechanism connecting the control lever to the first transmission shaft such that pivoting of the control lever about the first axis causes the first shaft to pivot about the fourth axis, the first shaft and the first connecting mechanism being connected to each other by a fifth pivot connection about a fifth pivot axis, the fifth pivot axis being inclined with respect to the first axis and the fourth axis,

a second transmission shaft mounted to pivot about a sixth axis with respect to the body and connected to at least one second control motor member outside the body,

a second connection mechanism connecting the control rod to the second transmission shaft such that pivoting of the control rod about the second axis causes the second shaft to pivot about a sixth axis, the second shaft and the second connection mechanism being connected to each other by a seventh pivotal connection about a seventh axis, the seventh axis being inclined with respect to the second axis and the sixth axis,

-a platform connected to the body by an eighth pivotal connection about an eighth axis, the second connection mechanism being pivotally mounted on the platform by a ninth pivotal connection about the first axis and pivotally mounted on the control lever by a tenth pivotal connection about the first axis.

By having this particular configuration for the flight control device, the flight control device is found to provide control about the second and sixth axes that is completely decoupled from control about the first and fourth axes. Furthermore, it was found that the control about the first axis and the control about the second axis are symmetrical.

With this construction, the force felt from the control lever when pivoting about the second axis is therefore naturally substantially constant, irrespective of whether the control lever is also tilted to the right or to the left about the roll axis.

This makes it possible to dispense with the installation of a special servo-controller, so that the feedback force perceived on the control stick is symmetrical. The invention naturally allows the feedback force felt on the control rod to be decoupled and symmetrical.

This also makes it easier to install a passive and mechanically optional redundant emergency system for generating a force feedback perceived on the control stick by means of the invention.

In the present application, an axis a "inclined" with respect to an axis B means that the axis a is neither parallel nor perpendicular to the axis B.

Optionally, the sixth axis is substantially orthogonal to a plane defined by the first axis and the second axis when the control lever is in the neutral position.

Optionally, the fourth axis is substantially orthogonal to a plane containing the first axis and the second axis when the lever is in the neutral position.

Optionally, the first, second, third, sixth, seventh and eighth axes substantially meet at a first point and the first, fourth and fifth axes (a, C) substantially meet at a second point.

Optionally, the fourth axis and the sixth axis (D) are substantially parallel.

Optionally, the first mechanism is arranged to connect the first shaft to the first plate by a universal joint.

Optionally, the second mechanism is arranged to connect the second shaft to the control rod via a universal joint.

Optionally, the second plate externally surrounds the first plate.

Optionally, the two plates externally surround the platform.

Optionally, the device comprises at least one abutment for limiting the movement of the control rod about the first axis or about the second axis, the abutment having the form of a rotating roller.

Drawings

The invention may be better understood in view of the following description of non-limiting embodiments of the invention given with reference to the accompanying drawings, in which:

FIG. 1 is a view of a flight control device according to a particular embodiment of the invention;

figure 2 is a perspective view of the device schematically shown in figure 1,

FIG. 3 is a longitudinal section of the device schematically shown in FIG. 1,

FIG. 4 is a perspective view of a portion of the device schematically shown in FIG. 1, without specifically showing the lever and the first plate of the device,

figure 5 is an enlarged perspective view of a portion of the device schematically shown in figure 1,

fig. 6 is a variant of the abutment shown in fig. 5.

Detailed Description

Referring to fig. 1 to 4, a flight control apparatus in a first embodiment of the present invention includes a body 1. In particular, the body 1 extends longitudinally and comprises a bottom plate 2 and at least two mutually opposite side walls 3a, 3b, both extending vertically with respect to the bottom plate 2.

The device further comprises a first plate 4, in this example the first plate 4 is in the general shape of an elongated frame.

The first plate 4 is directly connected to the body 1 by a first pivot connection about a first pivot axis X.

The first axis X is associated with the roll axis of the aircraft.

To this end, the first plate 4 is mounted on the body 1 by means of two bearings (not shown) on the same axis, which are mounted respectively on two opposite side walls 3a and 3b of the body 1. Thus, the first plate 4 comprises two lateral walls 6a and 6b parallel to the lateral walls 3a and 3b of the body 1, and two longitudinal walls 6c and 6d extending between the lateral walls 6a and 6b of the first plate 4.

The device also comprises a control rod 8 associated with the body 1, and the control rod 8 comprises, in this example, a handle forming a free end of the control rod. The control rod 8 is connected to the first plate 4 by a second plate 10, the shape of the second plate 10 being visible in fig. 4.

The second plate 10 is directly connected to the first plate 4 by a second pivot connection about a second pivot axis Y, which is perpendicular to and intersects the first axis X. The second axis Y is associated with the pitch axis of the aircraft.

To this end, the second plate 10 of the control rod 8 is mounted on the first plate 4 by means of two bearings (not shown) on the same axis, which are mounted on the opposite longitudinal walls 6c and 6d, respectively, of the first plate 4. It should be noted that the second axis Y is connected to the first plate 4, i.e. pivoting of the first plate 4 about the first axis X causes the second axis Y to pivot about the first axis X.

In this example, the second plate 10 is shaped to be pivotally mounted on the first plate 4 externally of the first plate 4. Thus, the second plate 10 is mounted on the first plate 4 via the outer surfaces of the opposite longitudinal walls 6c and 6d of the first plate 4. In general, the second plate 10 comprises a connection base 14 for connection to the control rod 8, the connection base 14 having two branches 15c and 15d projecting therefrom, each of the branches 15c and 15d being mounted on a respective one of the longitudinal walls 6c, 6d of the first plate 4. Thus, the second plate 10 is generally in the shape of an inverted U.

The control lever 8 is also connected to the second plate 10 by a third pivot connection about a third pivot axis Z, which is perpendicular to and intersects the first axis X and the second axis Y. For this purpose, the control rod 8 is mounted on a connection base 14 of the second plate 10 by means of two bearings (not shown) on the same axis, this connection base 14 itself extending along the third axis Z.

It should be noted that the third axis Z is linked to the first plate 4, i.e. pivoting of the first plate 4 about the first axis X (or about the second axis Y) causes the third axis Z to pivot about the first axis X (or about the second axis Y).

In this example, the control rod 8 is shaped so as to present a main portion 9 which extends along the third axis Z and is pivotally mounted on the connection base 14. The distal end of the main portion 9 is extended by a U-shaped piece having two opposite sides 11a and 11 b. In this example, the sides 11a and 11b of the U-shaped piece extend parallel to the side walls 3a and 3b of the body 1 when the control lever 8 is in its neutral position.

It should be noted that the two branches 15c and 15d of the second plate 10 pass under the main portion 9 between the two sides 11a and 11b of the U-shaped element in order to reach the first plate 4.

The device comprises a first transmission shaft 12, which first transmission shaft 12 is directly connected to the body 1 by a fourth pivotal connection about a fourth pivot axis a. To this end, the first transmission shaft 12 extends partially inside a hole 13 in the bottom plate 2 of the body 1 and is pivotally mounted in the hole 13 by means of two bearings (not shown) on the same axis.

In this example, the first drive shaft 12 is arranged such that the fourth axis a intersects the first axis X. In this example, the first transmission shaft 12 is also arranged so that the fourth axis a is orthogonal to the plane containing the first axis X and the second axis Y when the control lever 8 is in the neutral position (i.e. when the plane containing the first axis X and the second axis Y is parallel to the base plate 2). In this intermediate position of the control lever 8, the fourth axis a is therefore parallel to the third axis Z.

The first shaft 12 has a first end. The first end includes a straight terminal portion and a curved connecting portion connecting the straight terminal portion to the second end of the second shaft. Thus, the straight terminal portion of the first end extends obliquely with respect to the fourth axis a and the second end of the second drive shaft.

The second end of the first shaft 12 is connected to a first motor set (not shown) which is outside the body.

The apparatus further comprises a first linkage connecting the control lever 8 to the first drive shaft 12 such that pivoting of the control lever 8 about the first axis X causes the first drive shaft 12 to pivot about the fourth axis a.

Preferably, the first connection means connects the first transmission shaft 12 to the control lever 8 via a universal joint.

In this example, the first connecting means therefore comprise a first cross 18 comprising two intersecting branches extending perpendicularly with respect to each other.

In particular, the first connecting means is directly connected to the first plate 4 by a fifth pivotal connection about a fifth pivotal axis B. To this end, the first end of the first branch of the first cross 18 is mounted on one of said longitudinal walls 6d of the first plate 4 by means of a first bearing fixed to the longitudinal wall 6d, and the second end of the first branch of the first cross 18 is mounted on said longitudinal wall 6c of the first plate 4 by means of a second bearing fixed to the other longitudinal wall 6c, the first and second bearings being on the same axis. As a result, the first branch extends transversely in the first plate 4 between the two longitudinal walls 6c and 6d of the first plate 4.

The first cross 18 is arranged such that, when the control rod 8 is in its neutral position, the fifth axis B coincides with the first axis X and the fourth axis a and it extends parallel to the second axis Y.

In this example, the second branch of the first cross 18 is provided with a central hole extending along the entire length of the second branch. The first transmission shaft 12 is directly connected to the first cross 18 by a sixth pivot connection for about the fifth pivot axis C. For this purpose, the straight terminal portion of the first transmission shaft 12 extends inside the second branch and is pivotally mounted in the central hole of the second branch by means of two bearings on the same axis.

The device is arranged such that the sixth axis C is inclined relative to and intersects the first, fourth and fifth axes X, a, B. In this example, the first drive shaft 12 is shaped such that the straight terminal portion extends at 25 degrees relative to the second end of the first drive shaft 12, and then the sixth axis C extends at 25 degrees relative to the fourth axis a in this example.

Due to the particular curved shape of the first transmission shaft 12, it is possible to have a pivot connection between the first shaft 12 and the connection mechanism, which has its tilt axis, in particular with respect to the first axis X and the fourth axis a.

Thus, torque is transmitted between the control rod 8 and the first transmission shaft 12 via the first plate 4 and the first cross 18. When the pilot moves the control lever 8 about the first pivot axis X, the first plate 4 is also caused to pivot relative to the body 1 about the first pivot axis X, acting via the universal joint formed by the first cross 18 to pivot the first transmission shaft 12 about the fourth axis a.

The device comprises a second transmission shaft 23, which second transmission shaft 23 is directly connected to the body 1 by a seventh pivotal connection about a seventh pivot axis D. To this end, the second transmission shaft 23 extends partially inside a hole 24 in the bottom plate 2 of the body 1 and is pivotally mounted in the hole 24 by means of two bearings (not shown) on the same axis.

In this example, the second transmission shaft 23 is arranged such that the seventh axis D intersects the first axis X and the second axis Y. In this example, the second transmission shaft 23 is also arranged so that the seventh axis D is orthogonal to the plane containing the first axis X and the second axis Y when the control rod 8 is in its intermediate position (i.e. when the plane containing the first axis X and the second axis Y is parallel to the base plate 2).

Thus, the seventh axis D is parallel to the fourth axis a, such that the first and second transmission shafts 12, 23 extend parallel to each other.

The second shaft 23 has a first end. The first end includes a straight terminal portion and a curved connecting portion connecting the straight terminal portion to the second end of the second shaft 23. Thus, the straight terminal portion of the first end extends obliquely with respect to the seventh axis D and the second end.

The second end of the second shaft 23 is connected to a second motor set (not shown) which is outside the body.

The device further comprises a second connection mechanism connecting the control lever 8 to the second transmission shaft 23, such that pivoting of the control lever 8 about the second axis Y causes the second transmission shaft 23 to pivot about the seventh axis D.

Preferably, the second connection means connect the second transmission shaft 23 to the control rod 8 via a universal joint.

In this example, the second connection mechanism thus comprises a second cross 28 comprising two intersecting branches extending perpendicularly to each other.

In particular, the second connection is directly connected to the control lever 8 by an eighth pivot connection about an eighth pivot axis E, which in this example coincides with the first pivot axis X. To this end, a first end of the first branch of the second cross-piece 28 is mounted on one of the sides 11a of the U-shaped part of the control rod 8 by means of a first bearing (not shown), while a second end of the first branch of the second cross-piece 28 is mounted on the other side 11b of the U-shaped part of the control rod 8 by means of a second bearing (not shown), the first and second bearings being located on the same axis. As a result, the first branch of the first cross 28 extends longitudinally in the body 1 between the sides of the U-shaped part of the control rod 8.

Furthermore, the second connection means are connected to the body 1 by means of the platform 25 of the device. The platform 25 is directly connected to the body by a ninth pivotal connection about a ninth pivot axis F. When the control lever 8 is in its intermediate position (i.e. when a plane containing the first axis X and the second axis Y is parallel to the base plate 2), the ninth pivot axis F coincides with the second pivot axis Y.

To this end, the body 1 has two lateral flanges 26c and 26d (only one is marked in the figures), each lateral flange 26c, 26d extending orthogonally to the bottom plate 2 of the body 1. Correspondingly, the platform 25 comprises two fingers 27c and 27d, a first finger 27c being pivotally mounted on one of the flanges 26c by a bearing (not shown) and a second finger 27d being pivotally mounted on the other flange 26d by a bearing (not shown), the first and second bearings being on the same axis.

As a result, the platform 25 extends transversely in the body 1 between the two flanges 26c and 26 d.

In particular, two flanges 26ac and 26d extend between the platform 25 and the first plate 4.

Due to the positioning of said flanges, the platform 25 is therefore externally surrounded by said flanges 26c and 26d and firstly also by the first plate 4 and secondly by the second plate 10, the first plate 4 itself externally surrounding the two flanges 26c and 26d and the second plate 10 itself externally surrounding the first plate 4.

Furthermore, the second connection is directly connected to the platform 25 by a tenth pivot connection about a tenth pivot axis G, which in this example coincides with the first pivot axis X. To this end, a first end of the first branch of the second cross 28 is mounted on one side wall 29a of the platform 25 by means of a first bearing (not shown), while a second end of the first branch of the second cross 28 is mounted on the other side wall 29b of the platform 25 (opposite to the side wall 29 a) by means of a second bearing (not shown), the first and second bearings being on the same axis. As a result, the first branch of the first cross 28 extends longitudinally in the body 1 between the two side walls 29a and 29b of the platform 25.

Due to the positioning of the platform 25, the first cross 28 is therefore externally surrounded by said side walls 29a and 29b and firstly also by the control rod 8 and secondly by the first plate 4, the control rod 8 itself externally surrounding, by means of its sides 11a and 11b, the two sides 29a and 29b of the platform 25, the first plate 4 itself externally surrounding the control rod 8.

In this example, the second branch of the second cross 28 is provided with a central hole extending along the entire length of the second branch. The second transmission shaft 23 is directly connected to the second cross 28 by an eleventh pivot connection about an eleventh pivot axis F. To this end, the curved first end of the second transmission shaft 23 extends inside the second branch and is pivotally mounted in the central hole of the second branch by means of two bearings located on the same axis.

The device is arranged such that the eleventh axis F is inclined relative to and intersects the first, second and seventh axes X, Y and D. In this example, the second transmission shaft 23 is shaped such that the curved first end extends at 25 degrees relative to the second transmission shaft 23, and the eleventh axis F then extends at 25 degrees relative to the sixth axis D in this example.

Due to the particular curved shape of the second transmission shaft 23, it is possible to have a pivotal connection between the second shaft 23 and the second connection mechanism, which pivotal connection has its inclination axis, in particular with respect to the second axis Y and the seventh axis D.

Thus, torque is transmitted between the control rod 8 and the second transmission shaft 23 only via the second cross 28. When the pilot moves the control lever 8 to pivot about the second pivot axis Y, this acts via the universal joint formed by the second cross 28 to pivot the second transmission shaft 23 about the sixth axis D. However, this does not result in the first pivot shaft 12 pivoting about the third axis a.

Due to the construction of the device, and in particular because the second transmission shaft 23 is carried by a platform 25 which is itself connected to the body 1, it is noted that when the pilot moves the control lever 8 about the first pivot axis X, this causes the first transmission shaft 12 to pivot only about the fourth axis a. In particular, this does not cause the second transmission shaft 23 to rotate about the seventh axis D.

The described arrangement thus enables the pivoting movement of the control rod 8 about the first axis X to be completely decoupled from the pivoting movement of the second transmission shaft 23 about the seventh axis D and also the pivoting movement of the control rod 8 about the second axis Y to be completely decoupled from the pivoting movement of the first transmission shaft 12 about the fourth axis a.

This also ensures that the forces exerted on the two drive shafts 12 and 23 are symmetrical.

It should be noted that the second plate 10 is associated with roll control of the device, while the platform 25 is associated with pitch control thereof. Therefore, the second plate 10 for guiding the roll motion is arranged outside the platform 25 for guiding the pitch motion.

Likewise, the device of the first embodiment of the invention has only eleven pivotal connections and eight main elements (first 12, second 23, first 18, second 28 cross, first 4, second 10 plate, platform 25 and control rod 8), while associating one motor group with the pivotal movement of the control rod 8 relative to the body 1 about the first X and second Y axes. The apparatus in a particular embodiment of the invention thus has a substantially simplified structure.

In addition, the individual elements of the device are connected to one another only by means of bearings. This simplifies the device and makes it more reliable. In particular, there is no gear train that could jam, nor a belt that could break, and there is no linear connection that is more sensitive to wear.

Preferably, the device is arranged such that the first axis X, the second axis Y, the third axis Z, the seventh axis D, the eighth axis E, the ninth axis F, the tenth axis G and the eleventh axis H all meet at a first point, and the first axis X, the fourth axis a, the fifth axis B and the sixth axis C all meet at a second point.

The respective pivot axes of the device therefore meet at only two points, which enables a particularly compact device.

In a particular aspect, in order to limit the pivoting movement of the control rod 8 about the first axis X, the device comprises at least one stroke limiting abutment. Preferably, the device comprises a first pair of abutments for limiting the travel of the control rod 8 about the first axis X.

In this example, said abutment is arranged between the first plate 4 and the body 1, so that, in use, the first plate 4 bears against the abutment to limit the movement of the control rod about the first axis X. Typically, said abutment is arranged at the connection between the first plate 4 and the body 1. For example, said abutments are carried by the opposite side walls 3a and 3b, respectively, of the body 1.

Furthermore, in order to limit the pivoting movement of the control rod 8 about the second axis Y, the device comprises at least one abutment for limiting the travel of the control rod 8 about the second axis Y. Preferably, the device comprises a second pair of abutments for limiting the travel of the control rod 8 about the second axis Y.

As shown in fig. 5 and in this example, said abutment 31 is arranged between the control rod 8 and the body 1, so that in use the control rod 8 bears against the abutment 31 to limit the movement of the control rod about the second axis Y. Typically, said abutment 31 is arranged at the connection between the control rod 8 and the second transmission. As an example, each abutment 31 is fastened to the bottom plate 2 of the body 1 so as to extend between the two flanges 26c and 26d of said body 1. As an example, the surface of each abutment 31 for receiving the corresponding surface of the control rod 8 is rounded to match the shape of the corresponding surface of the control rod 8.

Naturally, the invention is not limited to the embodiments described and modifications can be applied thereto without departing from the scope of the invention as defined in the claims.

The term "intermediate position" is generally to be understood as a position of the control lever where no force is exerted on the control lever such that, if the device is placed on a planar surface, the plane formed by the first axis and the second axis is parallel to said surface. Thus, in the neutral position, the lever is typically not tilted about the first axis, nor tilted about the second axis, nor tilted about the third axis.

Although in the described embodiment the curved portion of one of the drive shafts extends at 25 degrees to the remainder of the respective drive shaft, the curved portion may be shaped at some other angle. In general, a specific configuration should be determined for the connection mechanism and/or the propeller shaft to accommodate the inclination angles of the sixth and eleventh axes.

Although in the above the control lever is connected to the second plate by a pivotal connection, other configurations are possible. For example, the control rod may be connected to the second plate directly (the two parts then touching) or via other parts by a straight linear connection.

Of course, throughout this application, when two components are movably mounted relative to each other, this may be done directly (and then the two components are brought into contact), or via other components.

Any of the components connected together by the pivotal connection may carry one or more bearings or any other means required to provide the pivotal connection between the two components.

The device may include a passive and mechanically redundant emergency system for generating force feedback sensed on the control stick. This is made easier by the symmetry of the forces that are released and exerted on the drive shaft of the device.

The device may comprise other abutments than those described. For example, the number and/or position and/or shape of the one or more abutments for limiting the movement of the control rod about the first axis and/or about the second axis may be modified. Thus, the at least one abutment for limiting the movement of the control rod about the first axis may be arranged such that the one or more abutments are in contact with the control rod or the second plate and not with the first plate. For example, at least one abutment for limiting the movement of the control rod about the first axis may be arranged on the platform and/or on the flange of the body. In addition, the at least one abutment for limiting movement of the control rod about the second axis may be arranged such that the one or more abutments are in contact with the platform and not with the control rod. For example, at least one abutment for limiting the movement of the control rod about the first axis may be arranged on the platform and/or on the flange of the body. Instead of having a plane or rounded surface, as shown in fig. 6, each abutment (associated with the first or second axis) may have some other shape, such as, for example, the shape of a rotating roller. This makes it possible to limit the wear of the abutment.