IK animation Key frames

Hello all,

I have one question about key frames and IK animation.
What is a problem ?
Lets say i have 3 planes which are linked and made IK limb solver, like arm of 2D character. When i animate helper and put key frames on time line i got only key frames for that helper. Does anyone know can I get key frames for my planes same as IK helper or any script that can change ?

Thank you so much!