A method and apparatus for gun recoil simulation

Abstract

A method and apparatus for a firearm training simulator that simulates the real recoil of a conventional firearm. The method and apparatus uses a linear motor and controllable mass to produce the recoil. One embodiment provides an adjustment system for adjusting the amount of recoil. Also provided are devices that simulate semi-automatic and / or fully automatic operating firearms. One embodiment can include a laser emitter for simulating the path of a bullet fired by the firearm simulated by the method and apparatus.

Description

[0001] This case is a divisional application based on the invention patent filed on May 22, 2013, with application number 201380029721.9 and titled "A Method and Apparatus for Simulating Gun Recoil". Background Technology

[0002] One embodiment relates to the simulation of gun recoil. More specifically, one embodiment provides a method and apparatus for simulating the recoil of a selected conventional firearm. Another embodiment provides a laser for simulating the path of a bullet fired by a firearm simulated using the method and apparatus.

[0003] In addition to marksmanship, firearms training for military personnel, law enforcement officers, and ordinary citizens is increasingly incorporating role-playing and decision-making. This training typically involves engaging in contests with role-players and / or responding to scenarios projected onto a screen in front of the trainee.

[0004] While self-recovering screens are available for conventional firearms training, using such systems requires a suitable environment for firing conventional firearms. Furthermore, these systems are expensive and potentially unreliable. Alternatives to conventional firearms have been developed, including paintball, simunitions, and the use of lasers to display the path of fired bullets.

[0005] However, such alternatives cannot replicate all the essential characteristics of actual weapons firing live ammunition, and existing alternatives limit the extent to which training can be applied to the use of real firearms. In various embodiments, the characteristics of a conventional firearm to be replicated may include size, weight, grip construction, trigger arm length, trigger pull pressure, sight type, accuracy level, method of reloading ammunition, operating method, location and operation of control mechanisms, and recoil.

[0006] Realistic recoil is the most difficult characteristic to replicate. The inability to acclimatize trainees to the recoil produced by a particular firearm is one of the most detrimental factors in using various firearms training simulators. Recoil not only forces shooters to re-aim after firing, but also forces them to adapt to discomfort commensurate with the energy of the specific bullet fired. Recoil is far more difficult to control in fully automatic fire than in semi-automatic fire, making recoil and cycle rate of fire crucial for ensuring that simulated training is applicable to the use of real firearms.

[0007] While the appended claims point out certain novel features of the invention shown and described below, it is not intended to limit the invention to the details described. Those skilled in the art will understand that various omissions, modifications, substitutions, and alterations can be made to the form, details, and operation of the device without departing from the spirit of the invention. Unless expressly stated as “critical” or “substantial,” such features should not be considered critical or substantial features of the invention. Summary of the Invention

[0008] One embodiment provides a firearm training simulation apparatus whose recoil energy can simulate the recoil pattern of firing bullets of a specific size and type. In one embodiment, the method and apparatus may include a laser beam projector for projecting the path of a bullet fired by the simulated specific firearm.

[0009] In various embodiments, the method and apparatus can also simulate further operations of a specific firearm, such as aiming, positioning of the firearm control mechanism, and various control operations of the firearm. Specific firearms that can be simulated include the M-4A1, AR-15, or M-16 rifles and other conventional firearms.

[0010] In one embodiment, the method and apparatus can be controlled by a trigger assembly, bolt, and linear motor. In various embodiments, the method and apparatus can simulate semi-automatic and fully automatic firing modes. In various embodiments, the cycle rate of fire simulated in the fully automatic firing mode is substantially the same as that of a conventional automatic rifle.

[0011] One embodiment provides a laser capable of essentially tracking the path of an actual bullet fired by a simulated firearm. A laser emitter may be mounted in the barrel of a firearm simulation body. In one embodiment, the laser emitter may be effectively connected to a controller, which in turn may be effectively connected to recoil. One embodiment of the switch may be a roller switch actuated by a switch lever extending forward from the bolt. When the trigger is pulled, the bolt moves forward, the switch lever engages with the roller of the switch, thereby depressing the switch and activating the laser. Another embodiment uses a proximity switch mounted at a position that allows a magnet to contact it when the bolt moves forward. The preferred position is adjacent to the engagement point between the barrel and the upper receiver. The magnet fixed to the bolt should be structured such that the magnet is brought close to the proximity switch when the bolt is in its foremost position, causing the proximity switch to activate the laser.

[0012] One embodiment provides a method and apparatus by which a user can program the recoil level passed to him / her.

[0013] One embodiment provides a method and apparatus capable of performing semi-automatic and fully automatic operations.

[0014] One embodiment provides a method and apparatus by which a user can program different fully automatic firing cycle rates.

[0015] One embodiment provides a method and apparatus for including a laser assembly capable of projecting laser light substantially along the path of a bullet fired from a simulated firearm.

[0016] One embodiment provides a method and apparatus for simulating the recoil of a conventional firearm using a linear electric motor with a controllable slider and effectively connected to a controller.

[0017] A linear motor can be viewed as a motor whose stator and rotor unfold to generate a linear force along its longitudinal length without producing torque (i.e., through rotation). The most common operating mode of a conventional linear motor is as a Lorentz actuator, where the force is linearly proportional to the current and the magnetic field.

[0018] Many linear motor designs have been proposed, which can be divided into two main categories: low-acceleration and high-acceleration linear motors. Low-acceleration linear motors are suitable for maglev trains and other land-based transportation applications. High-acceleration linear motors are typically shorter and designed to accelerate objects to very high speeds, such as railguns. They are often used in research on hypersonic collisions, serving as mass projectors for weapons or spacecraft propulsion. High-acceleration motors are typically AC linear induction motors (LIMs) with active three-phase windings on one side of the air gap and passive conductor plates on the other. However, the DC linear railgun is another type of high-acceleration linear motor design. Low-acceleration, high-speed, and high-power motors are typically linear synchronous motor (LSM) designs, with a positive winding on one side of the air gap and a set of alternating magnetic pole magnets on the other. These magnets can be permanent magnets or excitation magnets. Transrapid Shanghai Electric is an example of an LSM.

[0019] Linear motors operate on the principle of direct current electromagnetics. Electromagnetic force provides direct linear motion without the use of cams, gears, conveyors, or other mechanical devices. The motor consists of only two parts: a slider and a stator. The slider is a precision assembly made of a stainless steel tube with threaded fixing holes at both ends, filled with neodymium magnets. The stator comprises coils, slider bearings, position sensors, and a microprocessor board, specifically designed for harsh industrial environments.

[0020] A solenoid is a coil wound into a compressed helical structure. The term "sophoid" refers to a long, thin coil of metal wire (usually wound around a metal core) that generates a magnetic field when an electric current flows through it. Specifically, the term "sophoid" refers to a coil used to generate a uniform magnetic field in a space (where some experiments might be conducted). In engineering, the term "sophoid" can also refer to various transducer devices that convert energy into linear motion. The term is commonly used to refer to solenoid valves, which are integrated devices where electromechanical solenoids can actuate pneumatic or hydraulic valves, or electromagnetic switches. An electromagnetic switch is a specific type of relay that uses an electromechanical solenoid to operate an electrical switch; examples include the solenoid in a car starter or linear solenoid.

[0021] An electromechanical solenoid consists of an electromagnetic induction coil wound around a movable steel or iron core (called an armature). The shape of the coil allows the armature to move in and out of the center, changing the coil's inductance, thus acting as a magnet. The armature is used to provide mechanical force to a mechanism (such as for controlling pneumatic valves). Although its effect on anything is usually weak, the distance is very short, so the solenoid can be directly controlled by a control circuit, resulting in a very short response time. The force applied to the armature is proportional to the change in inductance in the coil relative to the armature's position and the current flowing through the coil (see Faraday's law of electromagnetic induction). The force applied to the armature always causes the armature to move in the direction that increases the coil's inductance. The armature is made of a ferromagnetic material.

[0022] Free recoil is the industry term or jargon for the recoil energy generated when a firearm is not supported from the rear. Free recoil refers to the translational kinetic energy (Et) transferred to the shooter during firing, expressed in joules (J) and foot-pounds (ft.lbf) in non-International units. More generally, the term refers to the recoil of a freestanding firearm, as opposed to a firearm that is bolt-locked or supported by a large, heavy frame or wall.

[0023] Free recoil should not be confused with recoil. Free recoil is the name used to describe the translational kinetic energy transferred from a small arms to the shooter. Recoil, on the other hand, is the name used to describe the conservation of momentum, as it is generally applicable to everyday situations.

[0024] Free recoil, sometimes called recoil energy, is the side effect of the propulsive force generated by the gunpowder in the chamber (for magazine-fed firearms) or breech (for black powder firearms). The physical effect of free recoil occurs when the chemical energy of the gunpowder is converted into thermodynamic energy after the gunpowder detonates in the firearm. This energy is then transferred to the base of the bullet, and then to the rear of the magazine or breech, pushing the firearm backward toward the shooter while simultaneously propelling the bullet forward along the barrel to the muzzle, increasing its velocity. The backward energy of the firearm is called free recoil, while the forward energy of the bullet is called initial energy.

[0025] The concept of free recoil comes from the tolerability of total recoil energy. It is impossible to calculate the net recoil energy (also known as recoil sensation) of a firearm. This is because while the recoil energy loss due to factors such as the muzzle brake, recoil-operated mechanisms or gas-operated mechanisms; recoil suppressor mercury tubes; recoil-reducing buttstocks and / or grips; and shooting vests or gloves can be calculated, human factors cannot.

[0026] Free recoil can be viewed as a scientific unit of measurement for recoil energy. A shooter's comfort level with free recoil is a matter of personal perception, much like how comfortable they feel with indoor or outdoor temperatures.

[0027] Many factors determine how a shooter perceives the free recoil of their small arms. These factors include, but are not limited to: body weight; gun mount; experience; firing position; recoil suppression devices; small arms suitability; or environmental stressors.

[0028] There are several different methods for calculating free recoil. However, the two most common are the momentum simplified form and the full form.

[0029] Both forms will yield the same value. The full form requires two equations, while the simplified form uses only one. When using the full form, the weapon's velocity must first be provided. Once the velocity of a small arms is known, its free recoil can be calculated using the translational kinetic energy equation. The calculation can be performed as follows:

[0030] Momentum short form:

[0031] E tgu =0.5*m gu *[[(m p *v p )*(m c *v c )] / 1000] 2 / m gu 2

[0032] Momentum long form:

[0033] v gu =[(m p *v p )+(m c *v c )] / (1000*m gu )and

[0034] and

[0035] E tgu =0 5*m gu *v gu 2

[0036] in:

[0037] E tgu Let be the translational kinetic energy of a small weapon, expressed in joules (J).

[0038] m gu The weight of light weapons is expressed in kilograms (kg).

[0039] m p The weight of the projectile is expressed in grams (g).

[0040] m c The weight of the gunpowder is expressed in grams (g).

[0041] v gu The velocity of light weapons is expressed in meters per second (m / s).

[0042] v p The velocity of the projectile is expressed in meters per second (m / s).

[0043] v c The velocity of the gunpowder is expressed in meters per second (m / s).

[0044] 1000 is the conversion factor for adjusting the equation to kilograms.

[0045] In various embodiments, the linear motor includes a slider / slider comprising a plurality of individual magnets, each having a south pole and a north pole. In various embodiments, the plurality of individual magnets are arranged longitudinally such that the like poles of adjacent magnets face each other. In various embodiments, the plurality of individual magnets are arranged longitudinally such that the opposite poles of adjacent magnets face each other. In various embodiments, the plurality of individual magnets in the slider / slider includes 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 19, 20, 25, 30, 35, 40, 45, and / or 50 magnets. In various embodiments, the number of magnets is between any two of the above numbers.

[0046] In various embodiments, the linear motor includes a plurality of electromagnetic coils, each of which is independently controllable in terms of time and / or current quantity and / or current direction.

[0047] In various embodiments, each of the plurality of independently controllable electromagnetic coils may include multiple sub-coil segments, which are spaced apart from each other but electrically connected in series to form a single independently controllable electromagnetic coil. In various embodiments, at least one sub-coil of the first independently controllable electromagnetic coil of the plurality of coils is disposed between two spaced-apart sub-coils of the second independently controllable electromagnetic coil of the plurality of coils.

[0048] In various embodiments, the linear motor includes a plurality of independently controllable electromagnetic coils, which are longitudinally aligned and closely spaced, wherein at least two adjacent independently controllable electromagnetic coils, when energized, generate magnetic fields of opposite polarity. In various embodiments, the linear motor includes a plurality of independently controllable electromagnetic coils, which are longitudinally aligned, wherein adjacent independently controllable electromagnetic coils are simultaneously energized to generate magnetic fields of opposite polarity.

[0049] In various embodiments, the linear motor includes a plurality of independently controllable electromagnetic coils, which are longitudinally aligned and closely spaced together and slidably connected to a magnetic slider, which includes a plurality of longitudinally aligned adjacent magnets, wherein the linear motor causes the magnetic slider to move by changing the current flowing through the independently controllable coils according to the proximity of a particular magnet among the plurality of magnets to a particular coil among the plurality of independently controllable electromagnetic coils.

[0050] In various embodiments, the plurality of independently controllable electromagnetic coils among the plurality of coils comprises at least 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 19, 20, 25, 30, 35, 40, 45 and / or 50 independently controllable coils. In various embodiments, the number of independently controllable electromagnetic coils is between any two of the above numbers.

[0051] The above-mentioned and other objects of the invention, as well as the various novel features embodying the characteristics of the invention, are set forth in detail in the claims appended to and forming part of this disclosure. A better understanding of the invention, its operational advantages, and the objects achievable by using it will be provided by referring to the following description of preferred embodiments illustrated in the accompanying drawings and description. Attached Figure Description

[0052] A better understanding of the invention and its other objectives, besides those described above, will be gained by taking into account the following detailed description. The following description refers to the accompanying drawings, in which:

[0053] Figure 1 This is a side view of one embodiment of a firearms training system.

[0054] Figure 2 for Figure 1 The image shows a side view of the simulated firearm body of the system.

[0055] Figure 3 for Figure 2 A three-dimensional view of the upper components of the simulated firearm.

[0056] Figure 4 for Figure 2An exploded view of the simulated firearm body.

[0057] Figure 5 A perspective view of one embodiment of a linear motor and a slider.

[0058] Figure 6 An exploded side view of one embodiment of a linear motor and slider.

[0059] Figure 7 for Figure 6 Side view of the completed assembly of the linear motor and slider.

[0060] Figure 8 A perspective view of one embodiment of a linear motor and a slider bracket.

[0061] Figure 9 A side view of one embodiment simulating the main body of a firearm.

[0062] Figure 10 for Figure 1 The diagram shows a schematic flowchart illustrating various operations of the simulated firearm system.

[0063] Figure 11 A side view showing the sequential order of the linear motor slider relative to the simulated gun body in its initial position during a simulated recoil cycle.

[0064] Figure 12 A side view showing the sequential order in which the slider of the linear motor extends its sliding shaft to the rightmost end of the mechanical device relative to the simulated gun body during a simulated recoil cycle.

[0065] Figure 13 A side view showing the sequential retraction of the linear motor relative to the simulated gun body's slider during a simulated recoil cycle.

[0066] Figure 14 A side view showing the sequence of the linear motor retracting the slider relative to the simulated gun body during a simulated recoil cycle.

[0067] Figure 15 A side view showing the sequence of events in a simulated recoil cycle, after the linear motor has retracted relative to the simulated gun body and is ready to enter the next simulated recoil cycle.

[0068] Figure 16 This is a predictive graph depicting the relationship between the recoil force of the first round and time, as well as the relationship between the force generated by the linear motor controlling the slider's motion kinematically and time.

[0069] Figure 17This is a predictive graph depicting the relationship between the recoil force of the first round and time, as well as the relationship between the force generated by the linear motor controlling the slider's motion kinematically and time.

[0070] Figures 18 to 21 This diagram illustrates the sequence in which the accuracy of repeated firearms fired by a person decreases with each shot.

[0071] Figure 22 A perspective view of another embodiment of a linear motor and a slider.

[0072] Figure 23 The following is a 3D view of the slider after the illustrative magnet has been removed.

[0073] Figure 24 This is an enlarged perspective view of a slider with an illustrative magnet.

[0074] Figure 25 A schematic diagram illustrating the operation of the coil in a linear motor.

[0075] Figure 26 and Figure 27 This diagram illustrates the operation of the coil in a linear motor under two different energized conditions.

[0076] Figure 28 and Figure 29 This diagram illustrates the motion of a magnet passing through a linear motor under two different energized conditions.

[0077] Figure 30 A diagram illustrating the relationship between magnetic flux density and voltage output.

[0078] Figure 31 and Figure 32 This is a graph showing the relationship between the sensor voltage response and time when the slider passes through the linear motor.

[0079] Figure 33 The waveform is a sampled waveform.

[0080] Figure 34 and Figure 35 The graph illustrates the relationship between sensor voltage response and time when the slider passes through a linear motor at two different constant linear velocities.

[0081] Figure 36 A graph illustrating the force versus time relationship between actual firearm recoil and simulated recoil generated by the method and apparatus with and without mechanical stops.

[0082] Figure 37 A graph illustrating the relationship between actual gun recoil acceleration and the simulated acceleration produced by the slider using and without mechanical stops in this method and apparatus, as well as the relationship between acceleration and time.

[0083] Figure 38 A graph illustrating the relationship between actual gun recoil velocity and the simulated velocity generated by the slider using and without a mechanical stop in this method and apparatus, compared to the actual recoil velocity of a firearm. Detailed Implementation

[0084] This document describes one or more preferred embodiments in detail, but it should be understood that the invention can be embodied in different forms. Therefore, the specific details disclosed in this document should not be construed as limiting, but should be understood as the basis for the claims and representative of the invention for those skilled in the art to use in any suitable system, structure, or manner.

[0085] One embodiment provides a firearm simulation device body 20 that simulates an M-4A1, AR-15, or M-16 rifle. The firearm simulation device body 20 includes an upper receiver 120 and a lower receiver 140. As with a conventional M-16, the upper receiver 120 can be pivotally secured to the lower receiver 140 with screws or pins.

[0086] The lower receiver 140 may include a pistol grip 160, a trigger 170 located in front of the pistol grip 160, and a selector 450 located above the pistol grip 160. The stock 220 is fixed to the lower receiver 140.

[0087] The barrel assembly 300 is mounted on the front portion of the upper receiver 120. The barrel assembly 300 includes a barrel 310, which is directly fixed to the upper receiver 120. The upper handguard 330 and the lower handguard 340 are fixed to the barrel assembly. The front sight base 360 ​​is fitted onto 310.

[0088] Figure 1 This is a side view of one embodiment of the firearms training system 10. Figure 2 This is a side view of the simulated firearm body 20. Figure 3 This is a perspective view of the upper component 120. Figure 4 This is an exploded view of the simulated firearm body 20.

[0089] The firearm training system 10 may include a simulated firearm body 20 with a linear motor 500 and a controller 50, wherein the linear motor 500 is effectively connected to a slider 600 and the controller 50 is effectively connected to the linear motor 500.

[0090] The simulated firearm body 20 may include an upper component 120 and a lower component 140. The upper component 120 may include a barrel assembly 300, a barrel 310, and upper and lower handguards 330 and 340.

[0091] The lower assembly 140 may include a stock 220, a buffer tube 230, and a pistol grip 160. The pistol grip 160 may include a trigger 170. A magazine 250 may be detachably attached to the lower assembly 140.

[0092] The linear motor 500 can be connected to the upper assembly 120 via connector 700. Connector 700 may include a first end 710, a second end 720, tabs 721 and 722, and a connector tube 740 having a hole 750. Tab 721 includes a fastening hole 730, and tab 722 includes a fastening hole 732.

[0093] Figure 5 A perspective view of one embodiment of the linear motor 500 and the slider 600. Figure 6 An exploded side view of the linear motor 500 and the slider 600. Figure 7 A view showing the completed assembly of the linear motor 500 and the slider 600.

[0094] The linear motor 500 includes multiple individually controllable excitation coils 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, etc., which interact electromagnetically with the multiple magnets 640 in the slider 600. By controlling the time, current direction, and magnetic attraction of specific electromagnetic coils among the multiple independently controllable electromagnetic coils 520, the motion, acceleration, velocity, and position of the slider 600 can be controlled to obtain a desired momentum / impulse curve that approximates a specific impulse curve over time for a simulated specific firearm.

[0095] The linear motor 500 may include a slider 600 slidably connected to the linear motor 500. The slider 600 may include a first end 610, a second end 620, and a hole 630. A plurality of magnets 640 may be included within the hole 630. The linear motor 500 is a commonly available electric motor, but has not yet been used in simulated firearms to control recoil.

[0096] Figure 8 This is a perspective view of one embodiment of a bracket 700 for a linear motor 500 and a slider 600. The bracket may include a first end 710 and a second end 720. The first end may include first and second mating flanges 721, 722. The first mating flange 721 may include a plurality of mating holes 730. The second mating flange 722 may include a plurality of mating holes 732. From the second end 720, there may be a pipe segment 740 having a pipe hole 750. The linear motor 500 can be mounted to the bracket 700 by connecting the plurality of holes 730 and 732 to the plurality of mating holes 540. After being mounted to the bracket 700, the linear motor 500 can controllably move (e.g., slide, accelerate, etc.) the slider 600 relative to the hole 750.

[0097] In one embodiment, a stop 800 can be used to increase the free recoil generated by the slider 600. The mechanical stop 800 can be located inside the simulated firearm body 20 to stop "stiffly" (i.e., the slider 600 decelerates to zero faster than the linear motor 500) at the end of the permissible stroke 660. This rapid stop increases the maximum recoil force generated on the user 5, thus producing an enhanced recoil effect on the user 5. Since the linear motor 500 uses an electromagnetic slider 600 with an electromagnetic stator, there is coupling between them, and the device has the acceleration and deceleration achievable. To address the aforementioned disadvantages, a mechanical stop 800 can be used. Since the linear motor 500 typically brakes by reversing the direction of the driving magnetic field originally used to accelerate the slider 600 in the opposite direction, this feature is unnecessary for stopping at the end of the stroke 660. Instead of braking through contact between the second end 620 of the slider and the first end 810 of the mechanical stop in the lower assembly 140, this allows the slider 600 to brake faster than the linear motor 500. The faster braking or deceleration causes the slider 600 to generate a larger reaction force, thereby causing the system 10 to cause the slider 600 to generate a larger free recoil value at this time and place.

[0098] In various embodiments, during the simulated firing cycle, as the slider 600 moves toward and collides with the mechanical stop 800, the linear motor 500 can control the movement of the slider 600 to continue accelerating to the last 1% of the slider 600's entire stroke. In various embodiments, as the slider 600 moves toward and collides with the mechanical stop 800, it can accelerate to the last 2%, 3%, 4%, 5%, 10%, 15%, 20%, 25%, 30%, 35%, and / or 40% of the slider 600's entire stroke. In various embodiments, as the slider 600 moves toward and collides with the mechanical stop 800, the acceleration control can be between any two of the aforementioned percentages of the slider 600's entire stroke.

[0099] In various embodiments, during the simulated firing cycle, the linear motor 500 can control the movement of the slider 600, causing the slider 600 to continue accelerating until 1 millisecond before the slider 600 collides with the mechanical stop 800. In various embodiments, the acceleration can be 2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 14, 15, 16, 18, and / or 20 milliseconds before the slider 600 collides with the mechanical stop 800. In various embodiments, the acceleration control can be between any two of the above-mentioned times before the slider 600 collides with the mechanical stop 800.

[0100] The simulated firearm body 20 may include a selection switch 450, which is effectively connected to the controller 50 for controlling the operating type of the firearm training system 10. For example, the selection switch 450 may have multiple simulation modes, such as: (1) safe; (2) semi-automatic firing mode; (3) fully automatic firing mode; and (4) burst firing mode.

[0101] When using the firearms training system 10, the user selects the position of the selection switch 450, aims the simulated firearm body 20 at the target, and pulls the trigger 170. After the trigger 170 is pulled, the controller 50 causes the linear motor 500 to kinematically control the slider 600 to generate a reaction force, which is then transmitted to the user holding the simulated firearm body 20. When simulating the firing process of a specific ammunition from the simulated firearm, the reaction force generated by controlling the slider 600 can be controlled to be approximately approximated in time and amount.

[0102] In one embodiment, a diagram showing the relationship between time and force for a specific round fired by a simulated firearm can be determined, and the controller 50 can be programmed to control the movement of the slider 600 by the linear motor 500 by controlling the relationship between the acceleration of the slider and time, so that a substantially constant force is generated over time. Since force equals the product of acceleration and mass, controlling the relationship between acceleration and time controls the relationship between force and time.

[0103] In one embodiment, multiple sets of simulated data points (such as force-time ratios) can be generated. In one embodiment, the simulated firearm may use a specific type of ammunition, and a dataset showing a clear relationship between recoil force and time can be generated. In one embodiment, multiple measurements are performed to obtain multiple measurement results. In one embodiment, a program can be created for the linear motor so that the reaction force of the slider 600 is substantially consistent in time and amplitude with multiple points on the simulated force map. In one embodiment, at least three points are consistent.

[0104] In various embodiments, at least 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90 and / or 100 simulation point datasets may be substantially consistent. In various embodiments, the ranges between any two of the above-mentioned numbers of simulation point datasets may be substantially consistent.

[0105] In one embodiment, system 10 can be used to simulate the force versus time curve that would be generated by a particular size and type of ammunition fired by a particular firearm.

[0106] Recoil can be considered as the force exerted by a firearm on the user who fires it. This recoil force depends on the size and construction of the firearm and the characteristics of the bullet it fires. The recoil exerted on the user of the same firearm may differ when firing first-type ammunition compared to the second type.

[0107] In one embodiment, the total mass of the combination of linear motor 500 and slider 600 is close to the mass of the specific firearm being simulated. In another embodiment, the total mass of the simulated firearm body 20 including the combination of linear motor 500 and slider 600 is close to the mass of the specific firearm being simulated. In various embodiments, the total mass of the combination of linear motor 500 and / or slider 600 (and / or the total mass of the simulated firearm body 20 including the combination of linear motor 500 and slider 600) is approximately 65, 70, 75, 80, 85, 90, 95, and / or 100% of the mass of the specific firearm being simulated. In various embodiments, a range between any two of the above percentages may be used.

[0108] In one embodiment, a basically balanced simulated firearm body 20 is provided. Better weight balance and a more realistic starting position for the simulated reaction force vector are achieved by positioning the linear motor 500 at the front portion of the simulated firearm body 20. By positioning the movement of the slider 600 in this way, the weight of the barrel 300 and the center of gravity of the simulated firearm body 20 are more realistic to the user 5 when the system 10 is idle and the trigger 170 is not depressed. This is due to the starting position of the slider 600. In one embodiment, the material of the barrel 310 used in the upper assembly 120 will not be steel. Because the weight distribution of the upper assembly 120 is different compared to the upper assembly of the simulated actual firearm, it may feel unrealistic to the user 5. To address this issue, at the beginning of the recoil simulation cycle, a portion of the slider 600 may remain in the barrel 310. This portion of the slider simulates the additional "missing" weight in the barrel 310, supplemented by the additional weight of the stator of the linear motor 500. When the user activates system 10, slider 600 moves from barrel 310 toward the rear of simulated firearm body 20 and is blocked by stop 800 (and even the beginning of the stock). Slider 600 then returns to its initial position and creates a seamless effect for user 5, meaning that the weight distribution of the gun "feels" correct when firing.

[0109] In different embodiments, the position of the linear motor 500 may be moved upwards from the grip (such as in the stock 220) into the receiver, if necessary.

[0110] Figure 9This is a side view simulating one embodiment of the gun body 20. The linear travel of the slider 600 is indicated by arrow 660. In this figure, the actual position 666 of the second end 620 of the slider 600 is indicated by the "time-dependent" vertical line 666'", which indicates the instantaneous position of the second end 620 of the slider 600 during the travel 660. Arrow 1320 represents the time-dependent recoil force generated by the linear motor 500 accelerating the slider 600 over time. Before or after installing the linear motor 500, the clip 650 can be removed from the slider 600 to allow (if necessary) the first and second ends 610 and 620 of the slider 600 to enter the multiple coils 520 of the linear motor 500 between the first and second ends 530, 534 of the multiple coils 520 during the control of the slider 600.

[0111] Figure 10 for Figure 1 The flowchart illustrates various operations of a simulated firearm system. In one embodiment, the controller 50 can be programmed to control the linear motor 500 to control the kinematic movement of the slider 660 within the free travel 660 of the slider 600, thereby causing the slider to produce a desired force-time curve, wherein the force-time curve simulates the force-time curve of a specific bullet fired by the simulated specific firearm. The linear motor 500 includes the controlled slider 600 and a motor logic controller 504. The motor logic controller 504 is effectively connected to the controller 50. A power supply 60 (e.g., 24 volts) can be connected to the linear motor logic controller 504 and the controller 50. Because the stator current requirement of the linear motor 500 is relatively high, a separate power supply 60 (e.g., 72 volts) can be connected to the linear motor 500.

[0112] Order of precedence

[0113] Figures 11 to 15The image shows a sequential side view of the slider 600 of the linear motor 500 at different positions relative to the simulated firearm body 20. In one embodiment, the system 10 can be programmed to simulate the recoil of different types of ammunition that a user 5 might use in a particular rifle. The system 10 can be programmed by measuring the force-time relationship of an actual shot in a specific weapon system to be simulated by the system 10 and calculating the energy generated by the simulated actual firearm system using the "free recoil" formula. Once the force-time relationship of the simulated actual firearm system and the free recoil of that actual system are known, the system 10 can be programmed to generate a reaction force such that, at least at a first plurality of pre-selected data points, the same or similar force-time relationship and free recoil energy can be transmitted to the user 5, providing them with the same perceived recoil as a live round fired from the simulated real firearm.

[0114] Therefore, by changing the travel distance, speed, acceleration, and / or deceleration at pre-selected time intervals or points on the slider 600, the reaction recoil force transmitted from the simulated firearm body 20 to the user 5 can be controlled. This reaction recoil force can be controlled to simulate or mimic the action.

[0115] (1) The recoil force generated by a specific type of ammunition fired in a specific firearm being simulated;

[0116] (2) The recoil force generated by one (or multiple) rounds of different types of ammunition in the specific firearm being simulated; which different types of ammunition may use more / less gunpowder or use heavier / lighter bullets or a combination of both.

[0117] Different types of recoil forces can be simulated simply by changing the dynamic motion of the slider 600 over time using the linear motor 500. For example, if a larger force is needed at a specific point in the recoil period, the linear motor can generate the reaction force simply by increasing the instantaneous acceleration of the slider 600 at that specific point in time.

[0118] Figure 16 The graphs depict the hypothetical recoil force of the first round of ammunition versus time (as shown by the green line with square checkmarks) and the force versus time generated by the linear motor kinematically controlling the slider's dynamics (as shown by the brown line with triangular checkmarks). Figure 16 Can be in sequence Figures 11 to 15 A comparison is performed. At "0" seconds, the second end 620 of slider 600... Figure 11As shown, at position 666, acceleration only begins in the opposite direction of arrow 1300 (resulting in a reaction force in the direction of arrow 1300 applied to the simulated gun body 20 and the user holding the body 20). The linear motor 500 accelerates the second end 620 of the slider 600 and moves it in the opposite direction of arrow 1300 until the second end 620 reaches position 666' (as shown). Figure 12 (As shown) and contacts the first end 810 of the stop 800. Just before reaching 666', the acceleration of the slider 600 generates a reaction force in the direction of arrow 1300 (as shown). Figure 16 (As shown at "16 milliseconds" and the negative reaction force). However, immediately following the impact of the second end 620 and the first end 810, the collision / contact causes the slider 600 to accelerate in the opposite direction to arrow 1310, thereby generating a reaction force in the direction of arrow 1310 (in... Figure 16 The curve showing the negative reaction force is between 16 and 36 milliseconds. During the same period when the second end 620 contacts / collides with the first end 810, the linear motor 500 can unaffectedly accelerate the slider in the opposite direction to arrow 1310 (by applying a force vector to...). Figure 12 The reaction force shown is 1310. From Figure 16 The curve from "36" milliseconds to "66" milliseconds in the graph can be used to program the controller 50 to control the acceleration of the slider 500 by the linear motor 500 to generate the desired simulated recoil reaction force.

[0119] Figure 13 The second end 620 is shown at position 666", where the linear motor can accelerate the slider 600 to produce... Figure 16 The reaction force is shown at "41 milliseconds". Figure 14 The second end 620 is shown at position 666'", where the linear motor can accelerate the slider 600 to produce... Figure 16 The reaction force is shown at "56" milliseconds. Figure 15 This shows the second end 620 at the start position 666 of the next recoil cycle. Now, in Figure 14 The possible positions shown are 666”' and Figure 15 Between positions 666 and 666, the linear motor 500 must also accelerate the slider in the direction of arrow 1330 (until final deceleration and stopping the slider 600 at position 666 in preparation for the next recoil cycle). However, this deceleration and acceleration can be controlled to a minimum to minimize the amount of negative reaction force applied to the simulated firearm body 20 and the user 5. This negative reaction force... Figure 16The image is not shown and may be relatively small. In this way, the magnitude and duration of the recoil force experienced by a user firing a specific type of bullet with a specific firearm can be simulated by the programmed movement of a slider 600 controlled by a linear motor 500.

[0120] When simulating multiple firing cycles, the linear motor 500 can control the dynamic movement of the slider 600 to produce a repetitive force-time relationship of the kinematic action of the slider 600 for a desired number of times or cycles.

[0121] Figure 17 The graphs depict the hypothetical recoil force of the first round of ammunition versus time (as shown by the green line with square checkmarks) and the force versus time generated by the linear motor kinematically controlling the slider's dynamics (as shown by the brown line with triangular checkmarks). Figure 17 The curves show different force-time relationships to be simulated by a programmed linear motor 500 that controls the dynamic movement of the slider 600 for different bullets. Furthermore, the total duration of the curves may differ from 66 milliseconds and vary depending on the recoil characteristics of the firearm firing the specific bullet being simulated.

[0122] The ability of the linear motor 500 to generate a reaction force using the slider 600 is further enhanced by varying the mass of the slider 600. In one embodiment, the slider 600 can use different total lengths (the longer length has a larger mass). For a given acceleration of the slider, the reaction force generated when the mass is larger can be calculated using the formula "force = mass * acceleration". In various embodiments, the length of the slider 600 can be 270 mm or 350 mm, and the optional sliders 600, 600' can be interchanged with the linear motor 500 for improvement.

[0123] 1) Mass of slider 600. The mass of 270mm slider 600 is 215 grams, and the mass of 350mm slider 600' is 280 grams. Changes in mass can produce different reaction forces and different free recoil energies during acceleration, which can be used to more closely approximate the force-time relationship curves generated by certain types of ammunition.

[0124] 2) In addition, since the length of the slider 600 changes the overall acceleration and stroke 660, the linear motor 500 must approximate the curve of the relationship between force and time generated by a specific ammunition.

[0125] When the slider 600 is shorter, the linear motor 500 can achieve a higher speed due to the longer acceleration time, thus giving the user a greater free recoil energy.

[0126] The maximum reaction force of different sliders 600 and 600' can be calculated using the following formula:

[0127] E tgu =0 5*m gu *v gu 2

[0128] Since there is no gunpowder or the velocity of gunpowder, these values ​​(v) c and m c Since 0.5mv is zero, the standard kinetic energy formula is K = (0.5mv) / ( ... 2 For both types of sliders, E tgu The maximum values ​​achieved are as follows:

[0129]

[0130] Figures 18 to 21 These diagrams illustrate the sequential decrease in accuracy of repeated firearms fired by a simulated subject 20 over 5 rounds. The diagrams show training exercises to improve an individual's accuracy using a simulated firing mode with electronic recoil, transitioning between semi-automatic and automatic fire.

[0131] One embodiment uses an M4A1 rifle simulating the firing of a specific type of ammunition, and a firearm simulation body 20 with a linear motor 500 (although other types of firearms and ammunition are envisioned in different embodiments). In one embodiment, the selection switch may have three operating modes: (1) semi-automatic 454, (2) burst fire 456, and (3) fully automatic 458. Figures 18 to 21 The firing mode 452 is displayed after the user selects the burst fire mode. In burst fire mode (2), the system 10 will perform a series of three simulated bullet firings.

[0132] Individual 5 uses the selection switch 450 to choose the desired simulation type for this specific weapon. For example... Figure 18 As shown, user 5 aims the simulated firearm body 20 at target area 1400. Next, the user pulls the trigger 170, which is connected to a trigger switch 172, which sends a signal to controller 50. Controller 50 controls a linear motor 500, which in turn controls a slider 600. Controller 50 also controls a laser emitter 1200.

[0133] The controller 50 causes the linear motor 500 to move the slider 600 according to a predetermined relationship between reaction force and time, performing pre-programmed dynamic movements to simulate the recoil force experienced by a user with a specific gun and a specific bullet. The controller 50 is also connected to an infrared laser system 1200, which can be synchronized with the user pulling the trigger 170. The laser 1200 simulates on the target screen (area 1400 or 1410) where the bullet will travel from the simulated firearm body 20.

[0134] exist Figure 19 In the first of the three simulated bursts, laser 1200 emits laser line 1220, which hits 1221 in the target area 1400. Figure 20 In the second of the three simulated bursts, laser 1200 emits laser line 1230, which hits 1231 in the target area 1400 (but is close to the non-target area 1410). Figure 21 In the second of the three simulated bursts, laser 1200 emits laser line 1230, which hits 1231 in the non-target area 1410.

[0135] Arrow 1350 indicates the simulated recoil applied to the main body 20, causing the user 5 to lower their aim. By repeatedly using the system 10, the user 5 can become accustomed to the simulated recoil and adjust their aim.

[0136] In actual training exercises, the projection system will simulate "target areas" and "non-target areas" for user 5. If user 5 fires repeatedly at screen 1400, this is considered a "non-target area" 1410. These targets 1400 can be moving or stationary and can vary greatly in size and shape. However, the projection system will count and sum the total number of bullet hits (such as 1221, 1231) in both the target and non-target areas. This allows the use of the following formula:

[0137] Accuracy = [[Total - (Non-target area)] / Total] * 100%

[0138] To determine the accuracy of user 5.

[0139] For example, if the user fires a total of 10 bullets, with 4 bullets in the target area 1400 and 6 bullets in the non-target area 1410, then the formula is:

[0140] Accuracy = [[10-6] / 10]*100%.

[0141] The user's accuracy in this simulation was 40%. Because it produces a realistic recoil effect that causes the user's sight to deviate from the target area 1400, system 10 will help train user 5 to be more accurate when firing actual firearms systems without firing live ammunition.

[0142] A laser emitter 1200 may be housed within the barrel 310. A preferred laser emitter assembly may be from "Laser Shooting" products located in Stanford, Texas. The laser emitter 1200 assembly includes a circuit board, a battery compartment, a switch, and the laser emitter itself. The laser emitter 1200 is preferably housed within the barrel 310 and oriented substantially parallel to the longitudinal centerline of the barrel 310, emitting a laser beam coaxially.

[0143] The typical cycle rate of fully automatic fire with a lower rate of fire is approximately 600 rounds per minute. The typical cycle rate of fully automatic fire with a higher rate of fire is approximately 900 rounds per minute, which closely simulates the cycle rate of fire of the M-4A1, AR-15, and / or M-16 rifles.

[0144] Therefore, firearm training simulators simulate recoil, rate of fire, construction, control mechanisms, and the operating modes of firearms used by training shooters. Thus, the training simulators provide opportunities for decision-making training scenarios projected onto a screen. Using lasers instead of live ammunition offers safety and reduces facility costs, while replicating enough characteristics of conventional firearms to allow training to be effectively applied to conventional firearms.

[0145] Figure 22 This is a perspective view of another embodiment of the linear motor 500 and the slider 600. The linear motor 500 may include sensors 550 and 552, which may be Hall effect sensors. Figure 23 A perspective view of slider 600 after removing multiple illustrative magnets 640. Figure 24 This is an enlarged perspective view of the slider 600 with an illustrative magnet 640. Figure 23 and 24 In this embodiment, the plurality of magnets 640 (such as magnets 642, 644, 646, etc.) may be made of neodymium. Additionally, spacers may be provided between each pair of magnets 640 (e.g., spacer 643 between magnets 642 and 644, and spacer 645 between magnets 644 and 645). In a preferred embodiment, the spacers may be made of iron (such as ferromagnetic iron). In one preferred embodiment, the plurality of magnets 640 are arranged with like poles facing like poles (e.g., north pole to north pole, south pole to south pole). Figure 23 and Figure 24 In the slider / follower 600, starting from the left, the left-hand pole of magnet 642 is north and the right-hand pole is south, while the left-hand pole of magnet 644 is south and the right-hand pole is north. Therefore, the like poles of the plurality of magnets 640 contained in the slider / follower 600 face each other, creating a repulsive force. In a preferred embodiment, the housing of the slider 600 securely binds the plurality of magnets 640 and the spacer blocks together in the longitudinal direction. In a preferred embodiment, the housing may be made of stainless steel, which may be a non-magnetic material that substantially does not interfere with the magnetic force between the plurality of coils 520 of the linear motor 500 and the plurality of magnets 640 of the slider 600.

[0146] Figures 25 to 29 The operation of the linear motor 500 and slider 600 is shown when the plurality of magnets 640 are driven by the plurality of coils 520. Figure 25 A schematic diagram illustrating the operation of the plurality of coils 520 in the linear motor 500. Figure 26 and Figure 27To illustrate the operation of the plurality of coils 520 in the linear motor 500 under two different energizing states.

[0147] exist Figure 25 In the linear motor 500, coils 521, 523, and 525 in the stator can be connected in series and labeled as phase 1 (when connected in series, these coils of phase 1 can be considered as sub-coils of a single independently controllable electromagnetic coil). Coils 522 and 524 are also connected in series and labeled as phase 2 (when connected in series, these coils of phase 2 can be considered as sub-coils of a single independently controllable electromagnetic coil). According to the design, the plurality of independently controllable electromagnetic coils 520 of the linear motor 500 can be wound in the same or different directions. Each independently controllable coil in phase 1 and phase 2 generates its own magnetic field when energized. This allows the plurality of independently controllable coils 520 of phase 1 and phase 2 to either repel each other or attract each other, depending on the phase polarization and the way the coils are wound. These selectable polarization states are as follows: Figure 26 and Figure 27 As shown. In Figure 26 In this configuration, phase 1 and phase 2 are polarized in the same direction so that the coils in the two phases attract each other. Figure 27 In this configuration, phase 1 and phase 2 are polarized in opposite directions to repel each other. It can be seen that by changing the polarization of the phases in the plurality of independently controllable electromagnetic coils 520 of the linear motor 500, the slider 600 can be controllably passed through the plurality of coils 520 as needed to generate a desired reaction force on the user 5, such as time-dependent controlled force, acceleration, velocity, position, and / or momentum; or total impulse.

[0148] Figure 28 and Figure 29 This is a schematic diagram illustrating how the plurality of magnets 640 of the slider 600 pass through the plurality of coils 520 of the linear motor 520 under different energized states.

[0149] Figure 28 The image shows a slider 600 with multiple magnets 640 just beginning to pass through multiple coils 520 of a linear motor 500. Figure 28 In this process, the first magnet 642 of slider 600 enters multiple coils 520 of linear motor 500, then energizes the multiple coils 520, causing phase 2 to be polarized as shown in the figure, while phase 1 is de-energized (or turned off). This pulls magnet 642 (and slider 600) further and further into the multiple coils (as indicated by the rightward arrow). Figure 29As shown, when the first magnet 642 is halfway into coil 522, phase 1 can be energized (or turned off) to generate a pulling force on magnet 642 and accelerate the second magnet 644 to the center of coil 521, while simultaneously repelling magnet 642. When the plurality of magnets 640 and the plurality of coils 520 reach a stable state, the slider 600 finally stops moving. In this case, reaching a stable state means that the north poles of coils 521 and 522 are aligned with the north poles of magnets 642 and 644, respectively, coil 522 is aligned with the south pole of magnet 644, and coil 521 is aligned with the south pole of magnet 644. Thus, the magnetic force is in equilibrium, the movement stops, while phases 1 and 2 remain energized with this polarization. Therefore, by switching the coils on / off and changing the coil polarization, the slider (filled with neodymium magnets) can be pushed or pulled through the stator (composed of many coils). Moreover, Figures 25 to 29 The number of coils shown can be increased to have a larger acceleration cross section.

[0150] The velocity, acceleration, and linear distance of slider 600 can be measured using Hall sensors 550 and 552, which have a 90° phase difference. Both out-of-phase Hall effect sensors 550 and 552 can generate linear voltages in response to increases or decreases in the magnetic field. Figure 22 The mechanical alignment of the linear motor 5000 and sensors 550 and 552 is shown. The responses of sensors 550 and 552 based on the relationship between magnetic field strength (magnetic flux through the sensor) and voltage (sensor output) are as follows: Figure 30 As shown, Figure 30 A diagram illustrating the relationship between magnetic flux density and voltage output.

[0151] Figure 31 and Figure 32 This diagram illustrates the voltage response versus time relationship of sensors 550 and 552 as the slider passes through the linear motor. When the slider 600 passes through the plurality of coils 520 of the linear motor 500, sensors 550 and 552, with a 90° phase difference, provide a voltage response versus time relationship, constituting... Figure 31 and Figure 32The sine or cosine functions are shown (sine(x) for sensor 550, cosine(x) for sensor 552). These formed waves are generated by sensors 550 and 552 because the magnetic flux produced by the plurality of magnets 640 of slider 500 is strongest at their magnetic poles. Therefore, the wave is positive when the north poles of the two magnets are close together and reaches a crest directly above the magnetic poles. Continuing in the same direction, the wave is negative when the south pole is close together and reaches a trough directly above the magnetic poles. Thus, one sensor 550 gives a Sin(x) function, and the other sensor 552 gives a Cos(x) function. It can be seen that these functions are 90 degrees out of phase. The two sensors 550 and 552 are used for better accuracy feedback and control of slider 600 through the plurality of coils 520 of linear motor 500, and as a method to ensure continuous and accurate tracking of the slider.

[0152] Figure 31 The cosine wave generated by sensor 550 is plotted below to provide additional explanation, and the following section will further examine how to use this graph to track the velocity, acceleration, and displacement of slider 600. Figure 33 The waveform diagram illustrates the various components of the waveform generated by sensor 550. The wavelength (λ) is related to the speed at which slider 600 passes through the plurality of coils 520 of linear motor 500. As the wavelength shortens, the frequency can be calculated as f = 1 / λ. Therefore, as the wavelength shortens, the frequency increases.

[0153] Figure 34 and Figure 35 A graph illustrating the relationship between sensor voltage response and time when slider 600 passes through linear motor 500 at two different constant linear velocities. For example, in Figure 34 In this context, slider 600 can be assumed to pass through multiple coils 520 at a speed of 1 meter per second, generating this wave. As slider 600 accelerates to 2 meters per second, the generated... Figure 35 It can be seen that the increase in wave frequency corresponds to the speed at which the slider 600 passes through the plurality of coils 520 of the linear motor 500. Furthermore, the waveform changes from... Figures 34 to 35 The change is related to the acceleration of slider 600. Figure 34 and Figure 35 Each represents a constant speed of slider 600 (although) Figure 35 The constant velocity in is Figure 34 (twice the constant speed) to ensure no acceleration in either of the two graphs; however, as slider 600 approaches 2 meters per second, as... Figure 35 The linear velocity shown, with frequency increasing to Figure 35The value in the equation, frequency changing over time, can be used to calculate the acceleration of the transmission body 600. Finally, by knowing the lengths of the multiple magnets 640 in the slider and calculating the number of wavelengths passing through the sensor 550, the distance traveled by the transmission body 600 can be calculated. Each wavelength corresponds to the full length of the permanent magnet within the main body of the slider 600. Therefore, the velocity, acceleration, and distance can be calculated from the curves relating the voltage and magnetic flux of sensors 550 and 552.

[0154] Simulated total recoil impulse

[0155] In one embodiment, the linear motor 500 and the slider 600 can be used to simulate the total recoil impulse of a particular firearm firing a particular type of ammunition.

[0156] "Actual recoil force" is the force generated at a specific point in time after a particular type of firearm fires a particular type of ammunition, and that force is transmitted to the user. A graph of the actual recoil force can be plotted over a specific period from the start of firing the ammunition to the end of any actual recoil force after firing.

[0157] On the other hand, the "generated recoil force" is the reaction force generated by the linear motor 500 that controls the movement of the slider 600. The generated recoil force is transmitted to the user 5 who is holding the simulated gun body 20 of the simulation system 10.

[0158] The actual recoil impulse is the area below the diagram showing the relationship between force and time, where the force is generated by a specific type of firearm firing a specific type of ammunition. The generated recoil force is the area below the diagram 1600 showing the relationship between force and time (such as acceleration, velocity, and distance) of the reaction force generated by the linear motor 500 that controls the movement of the slider 600.

[0159] Figure 16 This is a illustrative example illustrating the relationship between the actual recoil force 1500 and time, and the relationship between the generated recoil force 1600 and time. The area below the graph 1500 showing the relationship between the actual recoil force and time represents the actual recoil impulse. The area below the graph 1600 showing the relationship between the generated recoil force and time represents the generated recoil impulse. Note that the area below the generated recoil impulse can be positive (above zero) or negative (below zero). In a preferred embodiment, the negative area is subtracted from the positive area when calculating the total impulse. In other embodiments, the negative area may be ignored when calculating the total impulse.

[0160] In these two diagrams, diagrams 1500 and 1600, showing the relationship between actual recoil and the reaction force generated by the linear motor 500 and slider 600 over time, closely track each other so that the impulse and reaction impulse are approximately equal. However, in different embodiments, diagram 1500 showing actual recoil over time and diagram 1600 showing the reaction force generated by the linear motor 500 and slider over time can vary considerably, provided that the two calculated impulses (obtained from the area below the diagram) are close to each other at the end of the firing cycle.

[0161] Figure 36 A single graph showing the relationship between three forces and time is displayed: (1) the force versus time of the actual force 1500 (the first curve represents the M16 / AR-15 rifle firing a 0.223 Remington bullet with a total weight of approximately 7.5 pounds (3.4 kg) per round), (2) the force versus time of the reaction force generated by the linear motor and slider using the mechanical stop 1600, and (3) the force versus time of the reaction force generated by the linear motor and slider without the mechanical stop 1600'. A negative force value indicates that the force pushes the user 5 backward. The time indicates that the firing cycle takes approximately 90 milliseconds.

[0162] Diagram 1600 includes a spike 1610, which occurs when slider 600 impacts mechanical stop 800. The areas below each curve 1500, 1600 should be approximately the same to obtain equal total impulse. For diagram 1600, time 1700 represents the initial contact time between slider 600 and mechanical stop 800. In different embodiments, since the collision time between slider 600 and mechanical stop 800 is extremely short (approximately less than 5 milliseconds), the time of initial contact 1700 can be calculated using the time of the reaction force peak 1620.

[0163] exist Figure 36 In the actual recoil force 1500, the peak value 1520 is 1630, compared to the peak value 1620 of the generated recoil force 1600. In various embodiments, the mechanical stop 800 can be used to form a spike 1610 in the generated recoil force, where the difference between the spike 1620 and the peak value 1520 of the actual recoil force 1500 is 1630.

[0164] In various embodiments, the peak value 1620 may be a value that minimizes the difference 1630. In various embodiments, during the simulated firing sequence, the difference 1630 is less than 50% of the peak value 1620. In various other embodiments, the difference 1630 is less than or equal to 45, 40, 35, 30, 25, 20, 15, 10, 5, 4, 3, 2, and / or 1% of the peak value 1620. In various embodiments, the difference 1630 may be within the range of any two of the aforementioned percentages of the peak value 1620.

[0165] In various embodiments, dividing the impulse prior to impact at time 1700 by the time at time 1700 allows calculation of the average recoil force generated by the linear motor 500 controlling slider 600 before slider 600 begins to contact mechanical stop 800 at time 1700 during a specific simulated firing sequence. In various embodiments, the peak value 1620 of the reaction force generated before slider 600 begins to contact mechanical stop 800 at time 1700 during a specific simulated firing sequence is at least 50% greater than the average recoil force generated by the linear motor 500 controlling slider 600. In various embodiments, during a specific simulated firing sequence, before slider 600 begins to contact mechanical stop 800 at time 1700, the peak value 1620 of the generated reaction force is greater than the average recoil force generated by the linear motor 500 controlling slider 600 by 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000%. In various embodiments, the comparison may use a range between any two of the above percentages.

[0166] In various embodiments, the average recoil force generated by the linear motor 500 controlling the slider 600 during the entire simulated firing sequence can be calculated by calculating the impulse throughout the firing sequence and then dividing it by the time of the entire firing sequence. In various embodiments, the peak value 1620 of the reaction force generated during the entire simulated firing sequence is at least 50% greater than the average recoil force generated by the linear motor 500 controlling the slider 600 (i.e., before and after the slider 600 begins to contact the mechanical stop 800 at time 1700). In various embodiments, throughout the entire simulated firing sequence, the peak value of the generated reaction force is greater than the average recoil force generated by the linear motor 500 controlling the slider 600 by 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000%. In various embodiments, the comparison may use a range between any two of the above percentages.

[0167] In various embodiments, the average recoil force generated by the linear motor 500 controlling slider 600 after the slider 600 begins to contact the mechanical stop 800 at time 1700 during a specific simulated firing sequence can be calculated by dividing the impulse following the impact at time 1700 by time 1700. In various embodiments, the peak value 1620 of the reaction force generated after slider 600 begins to contact the mechanical stop 800 at time 1700 during a specific simulated firing sequence is at least 50% greater than the average recoil force generated by the linear motor 500 controlling slider 600. In various embodiments, during a specific simulated firing sequence, after slider 600 begins to contact mechanical stop 800 at time 1700, the peak value of the resulting reaction force is greater than the average recoil force generated by the linear motor 500 controlling slider 600 by 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 175, 200, 225, 250, 275, 300, 400, 500, 600, 700, 800, 900, 1000, 1200, 1500, and / or 2000%. In various embodiments, the comparison may use a range between any two of the above percentages.

[0168] Figure 37 Graphs 1502, 1602, and 1602' are used to illustrate the relationship between acceleration and time, comparing the actual recoil acceleration of a firearm 1502 with the simulated acceleration produced by the slider using and without the mechanical stop 1602'. The force generated by the acceleration graph can be calculated using the formula "Force = Mass * Acceleration".

[0169] Figure 38 Figures 1504, 1604, and 1604' are used to illustrate the relationship between the actual recoil velocity of a firearm 1504 and the simulated velocity generated by the slider using the method and apparatus with and without the mechanical stop 1604'.

[0170] In one embodiment, a stop 800 can be used to improve the recoil force generated by the linear motor 500 controlling the slider 600 by sharply increasing the reaction force when the slider 600 collides with the mechanical stop 800. The mechanical stop 800 may be located inside the simulated firearm body 20 to stop "rigidly" (i.e., the slider 600 decelerates to zero faster than the linear motor 500) at the end of the permissible stroke 660. This rapid stop produces an enhanced recoil effect on the user 5, resulting in a larger reaction force. In one embodiment, the reaction force generated when the slider 600 collides with the mechanical stop 800 is greater than any force generated by the linear motor 500 accelerating the slider 600 during the simulated firing sequence.

[0171] In various embodiments, during the simulated firing sequence, the maximum reaction force generated by the linear motor 500 accelerating the slider 600 is at most 50% of the reaction force generated when the slider 600 collides with the mechanical stop 800. In various other embodiments, the maximum reaction force generated by the linear motor 500 accelerating the slider 600 is at most 55%, 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95%, 99%, and / or 100% of the reaction force generated when the slider 600 collides with the mechanical stop 800. In various embodiments, the maximum reaction force generated by the linear motor 500 accelerating the slider 600 may be within any two of the above percentages of the maximum reaction force generated by the linear motor 500 controlling the slider 600.

[0172] In various embodiments, the actual recoil impulse and / or the recoil impulse generated by the linear motor 500 controlling the slider 600 are approximately within 50, 55, 60, 65, 70, 75, 80, 85, 90, 95 and / or 100% of each other. In various embodiments, a range between any two of the above percentages may be used.

[0173] In various embodiments, the total time of one simulated firing cycle of the linear motor 500 controlling the slider 600 can be approximately less than 200 milliseconds. In various embodiments, the maximum time of the simulated firing cycle can be approximately less than 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 110, 120, 130, 140, 150, 160, 170, 180, 190, and / or 200 milliseconds. In various embodiments, the maximum time can be between any two of the above times.

[0174] A curve simulating the relationship between force and time in firearms.

[0175] In one embodiment, an actual firearm with actual ammunition can be used for testing and plotting the actual recoil force as a function of time. In this embodiment, the motion (such as acceleration, velocity, and position) of the linear motor 500 and magnet / shaft 600 can be programmed to simulate a graph of the actual force versus time obtained in the test. In different embodiments, the simulated force versus time relationship can be within 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45, and / or 50% of the curve. In different embodiments, it can vary within a range between any two of the above values. In different embodiments, the total impulse (the whole or sum of the areas below the graph of the force versus time relationship) can simulate a sequence of relatively short time intervals, because it is generally believed that it is difficult for a user to perceive the change of force (in terms of recoil force) over time and to effectively feel the total impulse of recoil force in the firearm within very short time intervals.

[0176] Changing the magnetic field strength of a linear motor

[0177] In one embodiment, the magnetic field strength generated by the plurality of coils 520 of the linear motor 500 can be increased from an initial value when a magnet in the magnet / shaft 600 passes through and / or contacts a specific coil that generates the magnetic field. In different embodiments, the magnetic field strength can be varied by 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45 and / or 50% of the initial value. In different embodiments, it can vary within a range between any two of the above percentages.

[0178] The dynamic properties of the slider are measured directly / indirectly using sensors, and a linear motor is used based on the sensor input. Controlling the dynamic properties of the slider

[0179] In one embodiment, the relationship between acceleration, velocity, and / or position and time of magnet / shaft 600 can be measured directly and / or indirectly (e.g., using sensors 550 and / or 552), and linear motor 500 can change / set the strength of the magnetic field generated by multiple coils 520 to cause slider 600 to reach predetermined values ​​for the relationship between acceleration, velocity, and / or position and time. In different embodiments, the predetermined values ​​for simulating the relationship between acceleration, velocity, and / or position and time can be obtained from simulating a graph of the force-time relationship obtained from testing actual firearms (or simulating impulse). In different embodiments, the simulated graph can be within 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, 45, and / or 50% of the curve. In different embodiments, the values ​​can vary within a range between any two of the above values.

[0180] Options for programming the simulated firearms in different variants.

[0181] In various embodiments, users of system 10 are provided with the option to change the type of firearm for which system 10 will simulate recoil when using system 10.

[0182] (a) Different sizes / calibers / ammunition types of actual firearms to be simulated using specific types of ammunition.

[0183] (b) Add / remove muzzle suppressors for actual types of firearms to be simulated with specific types of ammunition.

[0184] (c) Different sizes / types of bolt springs for actual types of firearms to be simulated using specific types of ammunition.

[0185] For each of the above options, the system 10 causes the linear motor 500 to control the slider 600 to generate a graph (or generate impulse) showing the relationship between recoil force and time, which is different from and closer to the recoil of the firearm with the option not selected.

[0186] Using the same core simulation system with different types of firearm accessories to provide users with a better simulation experience. Options for different types of firearms

[0187] The same core simulation system is used, but with different firearm accessories for simulating different firearms. Here, the same controller 50 and the connected linear motor 500 are used for different firearm accessories (such as AR-15 rifle accessory, Glock pistol accessory). Here, the magnet / shaft 600 that is slidably connected to the linear motor 500 can also be replaced, but the same linear motor 500 must be retained.

[0188] In various embodiments, the simulation device 10 may include a plurality of different main attachments 20, 20', 20'', etc., for simulating recoil patterns of multiple different types of firearms, each of which is interchangeably and effectively connected to the linear motor 500. In various embodiments, each of the plurality of main attachments 20, 20', 20'', etc., may include a unique identifier for notifying the controller 50, when one of a plurality of predefined recoils is selected, to simulate the recoil pattern of a specific type of firearm represented by that particular main attachment, wherein the plurality of predefined recoils are used to simulate the kinematic movements of the slider 600. Based on the unique identifier of the specific main attachment 20, 20', 20'', etc., effectively connected to the linear motor 500, the controller 50 may select one of the plurality of predefined kinematic movements to control the linear motor controlling the slider 600, causing the slider 600 to produce a series of predefined movements and simulate the recoil of the specific type of firearm represented by the connected specific main attachment. In various embodiments, each identifier may be a microprocessor that communicates with the microcontroller 50 when the main accessory 20 is connected to the linear motor 500 (e.g., ...). Figure 10 (As shown) and identifies the specific type of firearm whose recoil is to be simulated. In one embodiment, the plurality of interchangeable different types of body accessories 20, 20', 20'', etc. comprise a plurality of different types of rifles. In one embodiment, the plurality of interchangeable different types of body accessories 20, 20', 20'', etc. comprise a plurality of different types of shotguns. In one embodiment, the plurality of interchangeable different types of body accessories 20, 20', 20'', etc. comprise at least one type of rifle body and at least one type of shotgun body and / or at least one type of pistol body. In one embodiment, the plurality of interchangeable different types of body accessories 20, 20', 20'', etc. comprise a plurality of different types of rifles and different types of shotguns and / or pistols.

[0189] The foregoing has clearly explained the use and operation of this invention. Therefore, further discussion of its use and operation will not be provided hereafter.

[0190] The following is a list of reference numbers:

[0191]

[0192]

[0193]

[0194]

[0195] It should be understood that one, two, or more of the above-described elements can be applied together in other types of methods different from those described above. Without further analysis, the foregoing fully reveals the essence of the invention, enabling others to readily adapt it to various applications using current knowledge, provided that the features described in the appended claims clearly constitute important characteristics of the general or specific aspects of the invention from an art perspective are employed. The foregoing embodiments are provided merely as examples; the scope of the invention is limited only by the following claims.

Claims

1. A recoil simulation system for a firearm, comprising a body, a linear motor connected to the body, the linear motor controlling a slider; a controller controlling movement of the slider to cause the slider to generate a force on the body, wherein the slider comprises a plurality of permanent magnets, the permanent magnets being linearly aligned adjacent to each other and opposite in polarity; the linear motor comprising a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in a time sequence; the spaced apart sub-coil segments being electrically connected in series form a single independently controllable electromagnetic coil. Each of the plurality of independently controllable electromagnetic coils comprises a plurality of sub-coil segments, the plurality of sub-coil segments being spaced apart from each other and electrically connected in series, wherein, a body, a linear motor connected to the body, the linear motor controlling a slider; the slider comprising a plurality of permanent magnets; a controller controlling movement of the slider to cause the slider to generate a force on the body, wherein the linear motor comprises a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in a time sequence, and at least one of a magnitude and a direction of current in each electromagnetic coil being controllable; 2. A firearm recoil simulation system, comprising: each of the plurality of independently controllable electromagnetic coils comprises a plurality of spaced apart sub-coil segments electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil. at least one sub-coil segment of a first independently controllable electromagnetic coil of the plurality of coils is disposed between two spaced apart sub-coil segments of a second independently controllable electromagnetic coil of the plurality of coils.

3. A recoil simulation system for a firearm as defined in claim 2, wherein, the linear motor comprises a plurality of independently controllable electromagnetic coils, the plurality of independently controllable electromagnetic coils being longitudinally aligned and closely arranged to each other, wherein at least two adjacent independently controllable electromagnetic coils generate magnetic fields of opposite polarity when energized; 4. A recoil simulation system for a firearm, comprising a body, a linear motor coupled to the body, the linear motor controlling a slider; the slider comprising a plurality of permanent magnets; a controller controlling movement of the slider to cause the slider to generate a force on the body, wherein, the linear motor comprises a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in a time sequence; each of the plurality of independently controllable electromagnetic coils comprises a plurality of spaced apart sub-coil segments electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil. the linear motor comprises a plurality of independently controllable electromagnetic coils, the plurality of independently controllable electromagnetic coils being longitudinally aligned, wherein adjacent independently controllable electromagnetic coils generate magnetic fields of opposite polarity when energized synchronously; 5. A recoil simulation system for a firearm, comprising a body, a linear motor coupled to the body, the linear motor controlling a slider; the slider comprising a plurality of permanent magnets; a controller controlling movement of the slider to cause the slider to generate a force on the body, wherein, the linear motor comprises a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in a time sequence; each of the plurality of independently controllable electromagnetic coils comprises a plurality of spaced apart sub-coil segments electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil. ​ 6. A recoil simulation system for a firearm, comprising a body, a linear motor coupled to the body, the linear motor controlling a slider, a controller controlling movement of the slider to cause the slider to generate a force on the body, wherein, The linear motor includes a plurality of independently controllable electromagnetic coils longitudinally aligned and closely spaced from each other and slidingly connected to the slider, the slider including a plurality of longitudinally aligned adjacent magnets, wherein the linear motor varies the current through the individually independently controllable electromagnetic coils according to the proximity of a particular magnet of the plurality of magnets to a particular coil of the plurality of independently controllable electromagnetic coils, thereby causing the magnet slider to move; The linear motor includes a plurality of independently controllable electromagnetic coils, each of which can be independently controlled in a time sequence; Each of the plurality of independently controllable electromagnetic coils includes a plurality of sub-coil segments spaced apart from each other and electrically connected in series, wherein the series electrically connected spaced apart sub-coil segments form an individual independently controllable electromagnetic coil.

7. A recoil simulation system for a firearm as defined in claim 6, wherein, The plurality of independently controllable electromagnetic coils of the plurality of coils includes at least 2 independently controllable coils.

8. A firearm recoil simulation system comprising a body, a linear motor coupled to the body, the linear motor controlling a slider; a controller controlling movement of the slider to cause the slider to generate a force on the body, the system further comprising a sensor operably coupled to the linear motor, wherein, The sensor provides at least one of a signal indicative of a velocity, an acceleration, and a linear position of the slider to the controller; The linear motor includes a plurality of independently controllable electromagnetic coils, each of which can be independently controlled in a time sequence; Each of the plurality of independently controllable electromagnetic coils includes a plurality of sub-coil segments spaced apart from each other and electrically connected in series, wherein the series electrically connected spaced apart sub-coil segments form an individual independently controllable electromagnetic coil.

9. A firearm recoil simulation system comprising a body having a universal housing; an interchangeable linear motor system removably coupled to the universal housing, the linear motor system comprising a slider and a controller, the controller in communication with the linear motor and having a programmed recoil impulse value, wherein, The controller transmits the recoil impulse value to the linear motor, and the linear motor drives the slider to generate a counter force to the body that simulates the recoil impulse value, wherein the linear motor system is interchangeable with at least one other body having a universal housing for securely housing the linear motor system; The linear motor includes a plurality of independently controllable electromagnetic coils, each of which can be independently controlled in a time sequence; Each of the plurality of independently controllable electromagnetic coils includes a plurality of sub-coil segments spaced apart from each other and electrically connected in series, wherein the series electrically connected spaced apart sub-coil segments form an individual independently controllable electromagnetic coil.

10. A firearm recoil simulation system, comprising: a body; a linear motor having a slider, the slider including a plurality of permanent magnets; the linear motor connected to the body; a mechanical stop; a controller in communication with the linear motor and controlling movement of the slider, wherein the controller transmits an impulse value to the linear motor, and the linear motor drives the slider against the mechanical stop, thereby transferring a counter force to the body proportional to the impulse value; and a power unit to power at least one of the linear motor and the controller; The linear motor includes a plurality of independently controllable electromagnetic coils, each of which can be independently controlled in a time sequence; Each of the plurality of independently controllable electromagnetic coils comprises a plurality of sub-coil segments, the plurality of sub-coil segments being spaced apart from each other and electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil.

11. A recoil simulation system for a firearm, comprising: a body; a linear motor having a slider, the linear motor being coupled to the body; and a controller in communication with the linear motor and controlling movement of the slider to produce a force on the body to simulate a haptic effect, wherein the controller is configured to simulate the haptic effect by including one or more predetermined force versus time profiles, each profile characterized by its respective recoil impulse; the linear motor including a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in time sequence; each of the plurality of independently controllable electromagnetic coils comprising a plurality of sub-coil segments, the plurality of sub-coil segments being spaced apart from each other and electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil.

12. A recoil simulation system for a firearm, comprising: a body; a linear motor coupled to the body, the linear motor controlling a slider; the slider including a plurality of permanent magnets; a controller controlling movement of the slider to produce a force on the body; the linear motor including a plurality of independently controllable electromagnetic coils, each of the electromagnetic coils being independently controllable in time sequence; each of the plurality of independently controllable electromagnetic coils comprising a plurality of sub-coil segments, the plurality of sub-coil segments being spaced apart from each other and electrically connected in series, wherein the spaced apart sub-coil segments electrically connected in series form a single independently controllable electromagnetic coil. ​ ​

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