Emergency escape device and method for all-moving flight simulator

Abstract

The invention belongs to the field of simulation tests, particularly relates to an emergency escape device and method for a full-motion flight simulator, and aims to solve the problems that in the prior art, a simulator escape device needs to be thrown out manually, the stability is poor, the posture is uncertain in the escape process, and the climbing difficulty is increased. According to the device, the fixed end of a telescopic device is installed on a simulator, the telescopic end of the telescopic device and a locking device can be locked or unlocked, the locking device is installed on a ladder, the ladder and a circular shaft body are detachably fixed, a circular shaft body bearing is installed on a horizontal adjusting device, and the horizontal adjusting device is installed on the simulator. The invention provides a device specially used for emergency escape training, and the structure of the device can realize automatic folding and unfolding of the ladder, is convenient to store and take, has relatively high stability, can adapt to various scenes and always keep horizontal, and does not follow up the posture of the simulator.

Description

Technical Field

[0001] The invention belongs to the field of simulation tests, and in particular relates to an emergency escape device and method for a full-motion flight simulator. Background Art

[0002] The full-motion flight simulator completely simulates the cockpit of a real aircraft, uses the same data package as a real aircraft, and cooperates with a six-degree-of-freedom motion system to 100% simulate the flight control experience. Combined with the supporting airport visual database, it provides hundreds of fault simulations and various weather scenarios to meet all the requirements of pilot training. The boarding bridge is a channel connecting the simulator body with the outside world, providing personnel to enter and exit the simulator. Under normal circumstances, the boarding bridge will rise and fall according to instructions and logic, and personnel can directly enter and exit the simulator through the boarding bridge.

[0003] In some special cases, such as power outage, boarding bridge failure or simulator system failure, the boarding bridge cannot work properly and people cannot get out of the simulator. At this time, the people in the simulator can only climb down through the emergency escape ladder equipped with the simulator. The escape ladder is stored in the corridor outside the simulator. When it is needed, open the cover and drop the escape ladder to extend it to the ground. Then the trapped people climb down along the escape ladder.

[0004] This type of escape ladder is a soft ladder built by combining straps, ropes and metal. Normally, it is stacked and placed in a special storage area, and taken out for use in an emergency. It has the following shortcomings: 1. The emergency escape ladders of different types of simulators are stored in a stacked manner in a slot and can be manually taken out and thrown to the ground when needed.

[0005] 2. Most of this type of escape ladders are soft ladders built by combining binding ropes with metal or composite materials. Because they are suspended in the air and lack fixation, they will shake back and forth during the climbing process and have poor stability.

[0006] 3. Single usage scenario. This type of escape ladder is basically only suitable for the simulator in a horizontal state. The personnel in the simulator can come out to the corridor, open the cover, take out the escape ladder and throw it down. When the simulator is in an abnormal state, such as the Leanout state, the simulator is in a non-horizontal state. It will be difficult for the people inside to walk out to the corridor, open the cover and take out the escape ladder. At the same time, affected by the abnormal posture of the simulator, the released ladder will also change with the posture of the simulator, increasing the difficulty of climbing for personnel and increasing safety hazards.

[0007] Based on this, the present invention proposes an emergency escape device and method for a full-motion flight simulator. Summary of the invention

[0008] In order to solve the above problems in the prior art, namely, the simulator escape device in the prior art needs to be thrown out manually, has poor stability and uncertain posture during the escape process, and increases the difficulty of climbing, the present invention provides an emergency escape device and method for a full-motion flight simulator.

[0009] In a first aspect of the present invention, an emergency escape device for a full-motion flight simulator is provided, comprising a telescopic device, a locking device, a ladder, a circular shaft body and a horizontal adjustment device; The fixed end of the telescopic device is installed on the simulator, and the telescopic end of the telescopic device can be locked or unlocked with a locking device. The locking device is installed on the ladder. The ladder is hung with a circular shaft through a hook. The circular shaft bearing is installed on a horizontal adjustment device, and the horizontal adjustment device is installed on the simulator.

[0010] In some preferred embodiments, the telescopic device includes a motor and a telescopic actuator; The housing of the motor is fixed to the simulator, and the driving end of the motor is drivingly connected to the telescopic end of the telescopic actuator.

[0011] In some preferred embodiments, the telescopic end of the telescopic device can be locked or unlocked with the locking device, and its specific structure is: The locking device comprises a base plate, a guide groove, a ball head and a locking hole; The bottom plate is fixed to the ladder, a guide groove is provided on the bottom plate, a ball head that can move along the guide groove is provided in the guide groove, the guide groove is connected to a locking hole, and the locking hole is provided on the bottom plate; In the initial state, the ball head is arranged in the locking hole, and the ball head is fixed to the telescopic end of the telescopic actuator; When the ball head is arranged in the locking hole, the ladder moves with the telescopic end of the telescopic actuator, and when the ball head is arranged in the guide groove, the ladder rotates along the circular shaft.

[0012] In some preferred embodiments, the locking device further comprises a first connecting rod, a first guide rail, a second connecting rod, a slot, a third connecting rod, a second guide rail, a spring, a fourth connecting rod, a fifth connecting rod, a direction conversion device and a locking member; The locking hole is provided with a hole through which a first connecting rod can pass, the first connecting rod is arranged in the first guide rail and moves along the first guide rail, the first guide rail is fixed to the bottom plate, the first connecting rod is arranged in the first guide rail and moves along the first connecting rod, the first connecting rod is fixed to one end of the second connecting rod, the other end of the second connecting rod can be arranged in a slot, the slot is provided on the third connecting rod, the third connecting rod is arranged in the second guide rail and moves along the second guide rail, and the second guide rail is fixed to the bottom plate; One end of the third connecting rod is fixed to the hook, the other end of the third connecting rod is hinged to the direction conversion device, the other end of the direction conversion device is used to press the locking piece, the locking piece is overlapped with one end of the fourth connecting rod, the locking piece is used to lock the fourth connecting rod, the outer shell of the locking piece is fixed to the bottom plate, the other end of the fourth connecting rod is connected to the fifth connecting rod, and the fifth connecting rod can pass through the locking hole to abut against the ball head; The fifth connecting rod is fixed to one end of the spring, and the other end of the spring is fixed to the bottom plate.

[0013] In some preferred embodiments, the ladder is a nested ladder group, wherein the movable ladder in the nested ladder group is fixed with a cable, wherein the cable is mounted on a cable winding device, wherein the cable winding device is drive-connected to a motor, and the motor is a dual-axis motor.

[0014] In some preferred embodiments, the horizontal adjustment device includes a three-axis gimbal.

[0015] In some preferred embodiments, the locking hole is circular in shape, and the diameter of the locking hole is larger than the diameter of the ball head.

[0016] Another aspect of the present invention provides an emergency escape method for a full-motion flight simulator, based on an emergency escape device for a full-motion flight simulator, the method comprising: Step S1, when the boarding bridge fails or the simulator system fails, determine whether the actuator cylinders of the boarding bridge and the simulator are in a condition to release the ladder, if so, jump to step S2; Step S2, starting the motor, moving the telescopic end of the telescopic actuator toward the direction close to the circular shaft body, and connecting the ladder to the circular shaft body; Step S3, controlling the motor to drive the telescopic end of the telescopic actuator to move in a direction away from the circular shaft body, so that the ladder and the circular shaft body swing to a preset angle for disembarking.

[0017] In some preferred embodiments, there is a step S4 after step S3: Step S4, controlling the motor to drive the cable winding device to release the cable, so that the ladder moves and stops when it contacts the ground.

[0018] In some preferred embodiments, the conditions for releasing the ladder include: The jet bridge was not in the lowered position and all the actuators supporting the simulator did not have real-time displacement and angle changes.

[0019] Beneficial effects of the present invention: Improved safety: Due to the rigid connection of the metal structure, the new emergency escape device is more stable than the traditional strap-type soft ladder, reducing the risk of ladder shaking during climbing.

[0020] The introduction of dual-axis motor drive, actuator push-out, cable traction and other mechanisms ensures the smooth release and retraction of the ladder, avoiding the safety problems that may be caused when traditional escape ladders are used in a non-horizontal state.

[0021] There are reliable fixing points at both ends of the ladder to ensure the stability of the ladder and ensure the safe evacuation of personnel even when the simulator is in an abnormal posture.

[0022] Enhanced stability: The spherical device of the pan / tilt function adjusts the posture of the circular axis to ensure that the ladder is always in a horizontal state, and the stability of the ladder can be guaranteed regardless of the posture of the simulator. Sensors and control systems are used to ensure the precise release and retraction of the ladder, reducing instability caused by improper operation.

[0023] Improved usability: The inconvenience of manually taking out and throwing down the traditional escape ladder has been improved. The new device can be automatically controlled by internal and external linkage logic, simplifying the operation process. The automated design reduces the number of manual operation steps and can quickly start the escape procedure even in an emergency. The release of the emergency escape device can be triggered inside or outside the simulator, improving the ability to respond to various emergencies.

[0024] Increased flexibility: The new escape ladder is not only suitable for the simulator in a horizontal state, but can also be effectively used even when the simulator is in an abnormal posture such as lean out, which expands the scope of application. The automatic adjustment function of the device enables it to maintain the horizontal state of the ladder in more different postures, increasing the diversity of usage scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 It is a schematic structural diagram of an initial state of an emergency escape device for a full-motion flight simulator of the present invention; Figure 2 yes Figure 1 A partial enlarged view of Figure 3 It is a schematic diagram of the hook and the circular shaft body being hooked when the emergency escape device for a full-motion flight simulator of the present invention is in use; Figure 4 It is a schematic diagram of the unlocking ball head of the fifth connecting rod when the emergency escape device for a full-motion flight simulator of the present invention is used; Figure 5 It is a schematic diagram of an emergency escape device for a full-motion flight simulator of the present invention when a ladder is lowered; Figure 6 yes Figure 5 The overall schematic diagram of Figure 7 It is an overall schematic diagram of an emergency escape device locking device for a full-motion flight simulator of the present invention; Figure 8 It is a schematic diagram of a direction conversion device of an emergency escape device for a full-motion flight simulator of the present invention; Fig. 9 The present invention is a schematic flow chart of an emergency escape method for a full-motion flight simulator. DETAILED DESCRIPTION

[0026] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] like Figure 1-Figure 9 As shown, see Figure 1 and Figure 2 , the first embodiment of the present invention provides an emergency escape device for a full-motion flight simulator, comprising a telescopic device 1, a locking device 2, a ladder 3, a circular shaft body 4 and a horizontal adjustment device; The fixed end of the telescopic device 1 is installed on the simulator 5, and the telescopic end of the telescopic device 1 can be locked or unlocked with the locking device 2. The locking device 2 is installed on the ladder 3. The ladder 3 is detachably fixed to the circular shaft body 4. The bearing of the circular shaft body 4 is installed on the horizontal adjustment device, and the horizontal adjustment device is installed on the simulator 5.

[0029] When the present invention is used, two conditions need to be met: 1. The boarding bridge is not in the Down position; 2. All the actuators controlling the movement of the simulator 5 have no real-time displacement and angle changes.

[0030] The boarding bridge is not in the Down position because the device is installed below the boarding bridge entrance and exit on the simulator. When the boarding bridge is working properly, personnel can enter and exit the simulator normally through the boarding bridge. Only when the boarding bridge has problems or malfunctions and cannot be lowered, can the emergency escape device be released by pressing the switch.

[0031] The requirement that the six actuators have no real-time displacement changes is a limiting condition to prevent the simulator 5 from being released due to erroneous operation of the switch during its movement, which may result in damage to the simulator 5 .

[0032] If these two conditions are met, the telescopic device 1 is locked with the ladder 3 through the locking device 2, driving the ladder 3 to move in the direction close to the circular shaft body 4 and fixed with the circular shaft body 4. At this time, the ladder 3 and the telescopic device 1 are unlocked by the locking device 2. At this time, the telescopic device 1 is moved in the direction away from the circular shaft body 4. The ladder 3 will swing in the direction close to the ground due to gravity. Since the circular shaft body 4 and the simulator 5 are bearings, the ladder 3 will rotate with the axis of the circular shaft body 4 as the rotation point. When the telescopic device 1 stops moving, the ladder 3 stops rotating, and the inclination angle for getting off the machine is reached. Next, the horizontal adjustment device is used to detect whether the axis of the circular shaft body 4 is on the horizontal plane. If so, the pilot can arrange to disembark. If not, the horizontal adjustment device is used to adjust the inclination direction of the circular shaft body 4 to the horizontal according to the angle and inclination direction between the axis of the circular shaft body 4 and the horizontal plane. At this time, the ladder 3 will also rotate with the circular shaft body 4, so that the ladder 3 is kept horizontal relative to the ground, thereby facilitating the pilot's escape and avoiding safety hazards.

[0033] Among them, this device adopts rigid connection of metal structure, and lightweight materials are selected as much as possible to reduce weight while making the structure stable.

[0034] Among them, see Figure 1 , the telescopic device 1 of the present invention comprises a motor 11 and a telescopic actuator 12; The housing of the motor 11 is fixed to the simulator 5 , and the driving end of the motor 11 is drivingly connected to the telescopic end of the telescopic actuator 12 .

[0035] The motor 11 is equipped with a wireless communication module, which can be connected to the control system in the simulator 5 , and a control button is installed inside the simulator 5 , so that the pilot can remotely control the start and stop of the motor 11 .

[0036] In the present invention, see Figure 2 and Figure 7 The telescopic end of the telescopic device 1 can be locked or unlocked with the locking device 2, and its specific structure is: The locking device comprises a base plate 21, a guide groove 22, a ball head 23 and a locking hole 24; The bottom plate 21 is fixed to the ladder 3, a guide groove 22 is provided on the bottom plate 21, a ball head 23 that can move along the guide groove 22 is provided in the guide groove 22, the guide groove 22 is connected to a locking hole 24, and the locking hole 24 is provided on the bottom plate 21; In the initial state, the ball head 23 is disposed in the locking hole 24, and the ball head 23 is fixed to the telescopic end of the telescopic actuator 12; When the ball head 23 is disposed in the locking hole 24 , the ladder 3 moves with the telescopic end of the telescopic actuator 12 , and when the ball head 23 is disposed in the guide groove 22 , the ladder 3 drives the circular shaft 4 to rotate.

[0037] The locking hole 24 is circular in shape, and the diameter of the locking hole 24 is greater than the diameter of the ball head 23 .

[0038] Through the above content, when the device of the present invention is in use, in the initial state, the ball head 23 is arranged in the locking hole 24, and the telescopic actuator 12 is driven by the motor 11 to move in the direction close to the circular shaft body 4. The telescopic actuator 12 drives the ladder 3 to move in the direction close to the circular shaft body 4 through the ball head 23 until the hook on the ladder 3 is hooked with the circular shaft body 4, and the telescopic actuator 12 is controlled to move in the direction away from the circular shaft body 4. At this time, the ball head 3 disengages from the locking hole 24 and continues to move along the guide groove 22 in the direction away from the circular shaft body 4. Since the ladder 3 is no longer supported by the telescopic actuator 12, it will tilt and swing in the direction close to the ground due to gravity. When it swings to the preset angle for getting off the machine, the telescopic actuator 12 stops moving.

[0039] For further explanation of the present invention, see Figure 1 The ladder 3 is a nested ladder group, and the mobile ladder in the nested ladder group is fixed with a cable 31. The cable 31 is installed on a cable winding device 32. The cable winding device 32 is driven and connected to the motor 11. The motor 11 is a double-axis motor.

[0040] At this time, the ladder 3 has not been completely put on the ground, and the main part has been put down and fixed in position. The mobile ladder in the nested ladder group will release the mobile ladder while the motor 11 drives the gear to cooperate with the cable winding device 32 to extend the cable 31 until the sensor at the end of the ladder detects that it is close to the ground and stops working.

[0041] Wherein, the movable ladder in the nested ladder set of the present invention is affected by gravity when tilted, and when a person steps down hard, the movable ladder will not retract.

[0042] At this time, the emergency escape device has been put into place, the upper part of the ladder 3 is hung with a round shaft 4 to make it firm, and the lower part is grounded to provide a firm support. The trapped person only needs to climb down the ladder 3.

[0043] The process of retracting the device is just the opposite of the process of releasing. That is, firstly, the mobile ladder in the nest is pulled back by the cable 31 through the motor 11 and the cable winding device 32, and then the entire ladder 3 is pushed to a horizontal state through the telescopic actuator 12. After the ball head 23 enters the locking hole 24 and is locked, the motor reverses to drive the telescopic actuator 12 to retract, and the ball head 23 drives the ladder 3 to be retracted, at which time it is separated from the circular shaft body 4, and the ladder 3 is locked with the telescopic actuator 12, and finally the telescopic actuator 12 is used to retract the ladder 3 and store it.

[0044] As a further explanation of the present invention, the horizontal adjustment device includes a three-axis gimbal.

[0045] In the present invention, since the ladder 3 is released in an inclined state mainly relying on its own gravity, the posture of the ladder 3 depends on the circular shaft 4 connected to the simulator 5 above. The ladder 3 is to be hooked on it. If the circular shaft 4 is crooked, the ladder 3 will also be crooked; if the circular shaft 4 is horizontal, the ladder 4 will be straight instead of crooked when it is finally put into place. Therefore, the circular shaft 4 must be kept horizontal and not change with the posture of the simulator 5. A three-axis gimbal is introduced, which detects and adjusts the posture of the circular shaft 4, and releases it to make it horizontal and then fixes it; if it is in a normal horizontal state, it does not need to be adjusted and can be released directly. Retraction is the opposite process.

[0046] The three-axis gimbal is provided with an angle sensor. When it is detected that the simulator 5 is not in a horizontal state, the ladder 3 is hung on the circular shaft 4, and the circular shaft 4 is kept in a horizontal state by adjusting its own angle, thereby keeping the ladder 3 horizontal.

[0047] The sensor for detecting the ground on the ladder 3 of the present invention can also monitor the surrounding environment, for example, to detect whether there are obstacles blocking the deployment path of the ladder 3, or whether there are people approaching the ladder 3. The sensor can be a laser radar sensor.

[0048] During the process of unfolding or retracting the ladder 3 of the present invention, if the movement of the ladder 3 is not coordinated with the length change of the cable 31, the cable 31 may be too tight or too loose, or even entangled. In order to ensure the safety and stability of the ladder 3 during movement, the length of the cable 31 needs to be adjusted accordingly with the movement of the ladder 3.

[0049] For example, when the ladder 3 is lowered, the cable 31 should be able to automatically release an appropriate length to prevent the ladder 3 from being too tight and unable to descend smoothly; on the contrary, when the ladder 3 is pulled back, the cable 31 should also be able to be recovered in time to avoid dragging on the ground or causing chaos due to being too long. This synchronization mechanism is achieved through the cable winding device 32, which can manage the length of the cable 31, thereby ensuring the safety and efficiency of the operation of the ladder 3.

[0050] In addition, a pressure sensor or a human infrared sensor is installed on the ladder 3. When it is detected that someone is using the ladder 3, the position of the ladder 3 is automatically locked to ensure safety during use.

[0051] The specific contents are as follows: Obstacle detection is performed using a LiDAR sensor because it provides highly accurate distance and angle information as point cloud data.

[0052] Point cloud data can be obtained in the form of point clouds, which can be used to construct a three-dimensional model of the surrounding environment.

[0053] Point cloud processing and obstacle recognition: Receive point cloud data from LiDAR.

[0054] Filter the point cloud data to remove noise, for example, using a mean filter or a median filter.

[0055] Apply clustering algorithms (such as DBSCAN) to segment the point cloud to identify different objects.

[0056] Let each point in the point cloud p i All have coordinates ( x i , y i , z i ).

[0057] Use DBSCAN clustering algorithm to divide the point cloud into multiple clusters 1, 2, ..., C 1, C 2,…, C n .

[0058] For each cluster C j , calculate the average coordinates of all points as the center point of the cluster.

[0059] If the cluster C j The center point The path from ladder 3 is less than the set safety thresholdd threshold , then the cluster is considered to represent an obstacle.

[0060] Distance of obstacles d It can be calculated by the following formula: ; in( ) is the current position coordinate of ladder 3.

[0061] Decision-making process: If the detected obstacle is closer to the ladder path than the safety threshold d threshold d, then the ladder 3 stops moving and an alarm is sounded.

[0062] Human body detection method: Use a depth camera to obtain RGB-D images (i.e. images that contain both color and depth information).

[0063] Utilize depth information and human silhouette features to perform human detection.

[0064] Deep Image Processing: Get the RGB-D image output by the depth camera.

[0065] Convert the depth map to a grayscale image, where the grayscale value of each pixel represents the depth of that point.

[0066] Use an edge detection algorithm (such as Canny edge detection) to extract the edges of the depth image.

[0067] Hough transform is used to detect lines and circles in the image, which helps to identify the shape features of the human body.

[0068] For each detected edge point l i , calculate the distance between it and the ladder h i : h i =∣ z i − z ladder ∣; in z i yes l i The depth coordinate of z ladder is the depth coordinate of the plane where ladder 3 is located.

[0069] If the detected edge points l iDepth h i Less than the set threshold d human , then it is considered that the human body exists.

[0070] The distribution of edge points is further analyzed, and if they form typical outlines of a human body (such as a head and torso), the detection of a human body is confirmed.

[0071] Human body recognition: Template matching method is used to further verify the detected human body regions.

[0072] If the matching score is higher than a preset threshold, a human body is considered to be detected.

[0073] When a human body or an obstacle is detected, the movement of the ladder 3 is stopped.

[0074] like Figure 2-Figure 8 As shown, the second embodiment of the present invention proposes an emergency escape device for a full-motion flight simulator, based on the emergency escape device for a full-motion flight simulator described in the first embodiment, on the basis of the first embodiment, the locking device 2 also includes the locking device 2 also includes a first connecting rod 241, a first guide rail 242, a second connecting rod 243, a slot 244, a third connecting rod 245, a second guide rail 246, a spring 247, a fourth connecting rod 248, a fifth connecting rod 249, a direction conversion device 250 and a locking member 251; The locking hole 24 is provided with a hole through which a first connecting rod 241 can pass. The first connecting rod 241 is arranged in a first guide rail 242 and moves along the first guide rail 242. The first guide rail 242 is fixed to the bottom plate 21. The first connecting rod 241 is arranged in the first guide rail 242 and moves along the first connecting rod 241. The first connecting rod 241 is fixed to one end of a second connecting rod 243. The other end of the second connecting rod 243 can be arranged in a slot 244. The slot 244 is provided on a third connecting rod 245. The third connecting rod 245 is arranged in a second guide rail 246 and moves along the second guide rail 246. The second guide rail 246 is fixed to the bottom plate 21. One end of the third connecting rod 245 is fixed to the hook 6, and the other end of the third connecting rod 245 is hinged to the direction conversion device 250. The other end of the direction conversion device 250 is used to press the locking member 251. The locking member 251 overlaps with one end of the fourth connecting rod 248. The locking member 251 is used to lock the fourth connecting rod 248. The outer shell of the locking member 251 is fixed to the bottom plate 21. The other end of the fourth connecting rod 248 is connected to the fifth connecting rod 249. The fifth connecting rod 249 can pass through the locking hole 24 to abut against the ball head 23. The fifth connecting rod 249 is fixed to one end of the spring 247 , and the other end of the spring 247 is fixed to the bottom plate 21 .

[0075] Initially, see Figure 1 and Figure 2 The fifth connecting rod 249 extends into the locking hole 24 to abut against the ball head 23. The ball head 23 pushes the first connecting rod 241 upward in the locking hole 24. The first connecting rod 241 drives the second connecting rod 243 not to be set in the slot 244. At this time, the telescopic end of the telescopic actuator 12 drives the ball head 23 to move, thereby driving the ladder 3 and the hook 6 to move toward the direction of the circular shaft body 4. See Figure 3 and Figure 4 When the hook 6 is hooked on the circular shaft 4 and continues to move forward, the hook 6 and the third connecting rod 245 will pull the direction conversion device 250, and the direction conversion device 250 will press the pressing head of the locking member 251, driving the fourth connecting rod 248 to press the fifth connecting rod 249 to unlock. At this time, the fifth connecting rod 249 does not resist the ball head 23. Next, see Figure 5 and Figure 6 The telescopic end of the telescopic actuator 12 drives the ball head 23 to move in the opposite direction into the guide groove 22. After the ball head 23 is separated from the locking hole 24, the first connecting rod 241 falls down under the action of gravity, driving the second connecting rod 243 to be set in the slot 244, locking the fifth connecting rod 249 so that it cannot be pulled. Therefore, the hook 6 can be firmly hung on the circular shaft body 4, and it is also to prevent gravity from unlocking the locking piece 251 when people go down the ladder. As the ball head 23 continues to move in the opposite direction, the ladder 3 will continue to tilt. When the preset tilt angle is reached, the telescopic end of the telescopic actuator 12 stops moving.

[0076] Among them, during the unlocking process, the fifth connecting rod 249 will be pressed in the direction of the ball head 23 before it retracts. At this time, the telescopic end of the telescopic actuator 12 drives the ball head 23 to move away from the fifth connecting rod 249 by the pressing distance, thereby preventing the fifth connecting rod 249 from pressing against the ball head 23 when pressed, making it impossible for the locking member 251 to be unlocked.

[0077] Among them, see Figure 8 , the direction conversion device 250 is a three-section structure, specifically including a first section 2501, a second section 2502 and a third section 2503; A guide sleeve 2504 capable of moving along the first section 2501 is arranged on the outside, and the guide sleeve 2504 is hinged to the third connecting rod 245. The other end of the first section 2502 is vertically fixed to one end of the second section 2502, and the other end of the second section 2502 is vertically fixed to the third section 2503. The third section 2503 is used for pressing the pressing head of the locking member 251. The second section 2502 is rotatably connected to the base plate 21. The rotatable connection can be a hinge connection, a bearing connection, or a pin connection with a clearance fit.

[0078] The direction conversion device 250 may also be a C-shaped structure. The present invention does not specifically limit the structure of the direction conversion device 250. Any device that can achieve direction conversion is within the protection scope of the present invention.

[0079] Among them, the locking member 251 is a locking structure on a ballpoint pen, which is a prior art and will not be described in detail here. In addition, the fourth connecting rod 248 can be understood as the core of the ballpoint pen, and the fifth connecting rod 249 can be understood as the pen tip.

[0080] Among them, since the fourth connecting rod 248 is inclined, the fourth connecting rod 248 and the fifth connecting rod 249 are set to a hinged structure, so that when the locking member 251 presses the fourth connecting rod 248, the fifth connecting rod 249 can smoothly enter the locking hole 24.

[0081] The surface of the first connecting rod 241 that contacts the ball head 23 is tilted, so that after the ball head 23 enters the locking hole 24 again, it contacts the tilted surface of the first connecting rod 241 to push the first connecting rod 241 upward.

[0082] Among them, the first guide rail 242, the second connecting rod 243, the slot 244, the third connecting rod 245, the second guide rail 246, the spring 247, the fourth connecting rod 248, the fifth connecting rod 249, the direction conversion device 250 and the locking piece 251 are symmetrically arranged in two groups along the center of the ladder 3, so that the fifth connecting rod 249 locks the ball head 23 from two directions.

[0083] The first guide rail 242, the second connecting rod 243, the slot 244, the third connecting rod 245, the second guide rail 246, the spring 247, the fourth connecting rod 248, and the fifth connecting rod 249 are arranged inside the bottom plate 21, and this part of the bottom plate 21 is hollow.

[0084] The fifth connecting rod 249 is also provided with a guide rail to prevent it from being unable to pass through the hole provided on the locking hole position 24 when it is locked again after being unlocked.

[0085] The locking member 251 is overlapped with one end of the fourth connecting rod 248, and its specific structure is as follows: A through hole is provided on the pressing end of the locking member 251, and the fourth connecting rod 248 can be arranged in the through hole and abut against a protrusion arranged on the inner wall of the through hole. In this way, the through hole can provide certain support to the fourth connecting rod 248, and the pressing end of the locking member 251 can also press the fourth connecting rod 248 through the protrusion.

[0086] The pressing end of the locking member 251 is the moving end.

[0087] Among them, since the circular shaft body 4 is fixed to the simulator 5, the hook 6 needs to partially overlap with the bottom surface of the simulator 5 in order to be hung with the circular shaft body 4, and the overlapping part is grooved to avoid the hook 6 and the circular shaft body 4 being unable to hang.

[0088] See also Fig. 9 The third embodiment of the present invention provides an emergency escape method for a full-motion flight simulator, based on the emergency escape device for a full-motion flight simulator described in the first embodiment, the method comprises: Step S1, when the boarding bridge fails or the simulator system fails, determine whether the actuating cylinders of the boarding bridge and the simulator are in a condition to release the ladder 3, if so, jump to step S2; Step S2, starting the motor 11, moving the telescopic end of the telescopic actuator 12 toward the direction close to the circular shaft body 4, and connecting the ladder 3 to the circular shaft body 4; Step S3, controlling the motor 11 to drive the telescopic end of the telescopic actuator 12 to move in a direction away from the circular shaft body 4, so that the ladder 3 and the circular shaft body 4 swing to a preset angle for disembarking; Step S4, controlling the motor 11 to drive the cable winding device 32 to release the cable 31, so that the ladder 3 moves and stops when it contacts the ground.

[0089] The conditions for releasing ladder 3 include: The jet bridge was not in the lowered position and all the actuators supporting the simulator did not have real-time displacement and angle changes.

[0090] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0091] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus / device.

[0093] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An emergency escape device for a full-motion flight simulator, characterized in that: It comprises a telescopic device (1), a locking device (2), a ladder (3), a circular shaft (4) and a horizontal adjustment device; The fixed end of the telescopic device (1) is mounted on a simulator (5); the telescopic end of the telescopic device (1) can be locked or unlocked with a locking device (2); the locking device (2) is mounted on the ladder (3); the ladder (3) is connected to a circular shaft (4) via a hook (6); a bearing of the circular shaft (4) is mounted on a horizontal adjustment device; and the horizontal adjustment device is mounted on the simulator (5).

2. The emergency escape device for a full-motion flight simulator according to claim 1, characterized in that: The telescopic device (1) comprises a motor (11) and a telescopic actuator (12); The housing of the motor (11) is fixed to the simulator (5), and the driving end of the motor (11) is drivingly connected to the telescopic end of the telescopic actuator (12).

3. An emergency escape device for a full-motion flight simulator according to claim 2, characterized in that: The telescopic end of the telescopic device (1) can be locked or unlocked with the locking device (2), and its specific structure is as follows: The locking device comprises a base plate (21), a guide groove (22), a ball head (23) and a locking hole (24); The bottom plate (21) is fixed to the ladder (3), a guide groove (22) is provided on the bottom plate (21), a ball head (23) is provided in the guide groove (22) and can move along the guide groove, the guide groove (22) is communicated with a locking hole (24), and the locking hole (24) is provided on the bottom plate (21); In an initial state, the ball head (23) is disposed in the locking hole (24), and the ball head (23) is fixed to the telescopic end of the telescopic actuator (12); When the ball head (23) is arranged in the locking hole (24), the ladder (3) moves with the telescopic end of the telescopic actuator (12); when the ball head (23) is arranged in the guide groove (22), the ladder (3) rotates along the circular shaft (4).

4. The emergency escape device for a full-motion flight simulator according to claim 3, characterized in that: The locking device (2) further comprises a first connecting rod (241), a first guide rail (242), a second connecting rod (243), a slot (244), a third connecting rod (245), a second guide rail (246), a spring (247), a fourth connecting rod (248), a fifth connecting rod (249), a direction conversion device (250) and a locking member (251); The locking hole (24) is provided with a hole through which a first connecting rod (241) can pass. The first connecting rod (241) is arranged in a first guide rail (242) and moves along the first guide rail. The first guide rail (242) is fixed to the bottom plate (21). The first connecting rod (241) is arranged in the first guide rail (242) and moves along the first guide rail. The first connecting rod (241) is fixed to one end of a second connecting rod (243). The other end of the second connecting rod (243) can be arranged in a slot (244). The slot (244) is provided on a third connecting rod (245). The third connecting rod (245) is arranged in a second guide rail (246) and moves along the second guide rail. The second guide rail (246) is fixed to the bottom plate (21). One end of the third connecting rod (245) is fixed to the hook (6), the other end of the third connecting rod (245) is hinged to the direction conversion device (250), the other end of the direction conversion device (250) is used to press the locking member (251), the locking member (251) is overlapped with one end of the fourth connecting rod (248), the locking member (251) is used to lock the fourth connecting rod (248), the outer shell of the locking member (251) is fixed to the bottom plate (21), the other end of the fourth connecting rod (248) is connected to the fifth connecting rod (249), and the fifth connecting rod (249) can pass through the locking hole (24) to abut against the ball head (23); The fifth connecting rod (249) is fixed to one end of the spring (247), and the other end of the spring (247) is fixed to the bottom plate (21).

5. The emergency escape device for a full-motion flight simulator according to claim 2, characterized in that: The ladder (3) is a nested ladder group, wherein a movable ladder in the nested ladder group is fixed to a cable (31), wherein the cable (31) is installed on a cable winding device (32), wherein the cable winding device (32) is drivingly connected to a motor (11), and the motor (11) is a double-shaft motor.

6. The emergency escape device for a full-motion flight simulator according to claim 1, characterized in that: The horizontal adjustment device includes a three-axis gimbal.

7. The emergency escape device for a full-motion flight simulator according to claim 3, characterized in that: The locking hole (24) is circular in shape, and the diameter of the locking hole (24) is greater than the diameter of the ball head (23).

8. An emergency escape method for a full-motion flight simulator, based on an emergency escape device for a full-motion flight simulator according to any one of claims 1 to 7, characterized in that: The method includes: Step S1, when the boarding bridge fails or the simulator system fails, determine whether the actuating cylinders of the boarding bridge and the simulator are in a condition to release the ladder (3), and if so, jump to step S2; Step S2, starting the motor (11), moving the telescopic end of the telescopic actuator (12) toward the direction close to the circular shaft body (4), and connecting the ladder (3) to the circular shaft body (4); Step S3, controlling the motor (11) to drive the telescopic end of the telescopic actuator (12) to move in a direction away from the circular shaft (4), so that the ladder (3) and the circular shaft (4) swing to a preset angle for disembarking.

9. An emergency escape method for a full-motion flight simulator according to claim 8, characterized in that: After step S3, there is step S4: Step S4, controlling the motor (11) to drive the cable winding device (32) to release the cable (31), so that the ladder (3) moves until it contacts the ground and stops.

10. An emergency escape method for a full-motion flight simulator according to claim 8, characterized in that: The conditions for releasing the ladder (3) include: The jet bridge was not in the lowered position and all the actuators supporting the simulator did not have real-time displacement and angle changes.

Images