An emergency escape device and method for a full-motion flight simulator

Abstract

This invention belongs to the field of simulation testing, specifically relating to an emergency escape device and method for a full-motion flight simulator. It aims to solve the problems of existing simulator escape devices requiring manual deployment, poor stability during escape, and uncertain attitude, increasing climbing difficulty. The invention includes: a fixed end of a telescopic device mounted on the simulator; the telescopic end of the telescopic device can be locked or unlocked with a locking device; the locking device is mounted on a ladder; the ladder is detachably fixed to a cylindrical shaft; the cylindrical shaft bearing is mounted on a leveling device, which is also mounted on the simulator. This invention provides a device specifically for emergency escape training. The structure of this invention enables automatic ladder deployment and retraction, facilitating easy access, exhibiting high stability, adapting to various scenarios, and maintaining a horizontal position without shifting with the simulator's attitude.

Description

Technical Field

[0001] This invention belongs to the field of simulation testing, and specifically relates to an emergency escape device and method for a full-motion flight simulator. Background Technology

[0002] The full-motion flight simulator completely simulates the cockpit of a real aircraft, using the same data package as a real aircraft and a six-degree-of-freedom motion system to provide a 100% simulated flight control experience. Combined with a supporting airport visual database, it offers hundreds of simulated faults and various weather scenarios, meeting all the requirements of pilot training. The boarding bridge, serving as a passageway connecting the simulator to the outside world, allows personnel to enter and exit the simulator. Under normal circumstances, the boarding bridge will rise and fall according to instructions and logic, allowing personnel to directly enter and exit the simulator.

[0003] In certain special circumstances, such as power outages, boarding bridge malfunctions, or simulator system failures, the boarding bridges may not function properly, preventing personnel from exiting the simulator. In such cases, personnel inside the simulator can only descend via the emergency escape ladder provided with the simulator. This escape ladder is stored in the corridor outside the simulator. When needed, a cover is opened, and the ladder is lowered to the ground. Trapped personnel then climb down the escape ladder.

[0004] This type of escape ladder is a rope ladder constructed from straps, ropes, and metal. Normally, it is stacked and stored in a designated area for use in emergencies. However, it has the following drawbacks:

[0005] 1. The emergency escape ladders of different types of simulators are all stored in a stacked slot, and can be manually taken out and thrown to the ground when needed.

[0006] 2. Most of this type of escape ladder is a rope ladder made of straps and ropes combined with metal or composite materials. Because it is suspended in the air and lacks fixation, it will sway back and forth during the climbing process and has poor stability.

[0007] 3. Limited Application Scenarios. This type of escape ladder is primarily only suitable when the simulator is horizontal. People inside can exit to the corridor, open the cover, retrieve the ladder, and drop it down. When the simulator malfunctions, such as in Leanout mode, it is not horizontal. People inside will find it difficult to exit to the corridor, open the cover, and retrieve the ladder. Furthermore, the ladder's trajectory will change with the simulator's posture, increasing the difficulty of climbing and raising safety hazards.

[0008] Based on this, the present invention proposes an emergency escape device and method for a full-motion flight simulator. Summary of the Invention

[0009] To address the aforementioned problems in existing technologies—namely, the need for manual deployment of existing simulator escape devices, their poor stability and unpredictable attitude during escape, which increases the difficulty of climbing—this invention provides an emergency escape device and method for a full-motion flight simulator.

[0010] In a first aspect, the present invention provides an emergency escape device for a full-motion flight simulator, comprising a telescopic device, a locking device, a ladder, a cylindrical shaft, and a horizontal adjustment device;

[0011] 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 the locking device. The locking device is installed on the ladder, and the ladder is hooked to the round shaft through a hook. The bearing of the round shaft is installed on the leveling device, and the leveling device is installed on the simulator.

[0012] In some preferred embodiments, the telescopic device includes a motor and a telescopic actuator;

[0013] The motor housing is fixed to the simulator, and the motor drive end is driven to connect to the telescopic end of the telescopic actuator.

[0014] 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 as follows:

[0015] The locking device includes a base plate, a guide groove, a ball head, and a locking hole;

[0016] The base plate is fixed to the ladder. A guide groove is provided on the base 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, which is provided on the base plate.

[0017] In the initial state, the ball head is positioned within the locking hole, and the ball head is fixed to the telescopic end of the telescopic actuator.

[0018] When the ball head is positioned within the locking hole, the ladder moves with the telescopic end of the telescopic actuator cylinder; when the ball head is positioned within the guide groove, the ladder rotates along the circular shaft.

[0019] In some preferred embodiments, the locking device further includes a first link, a first guide rail, a second link, a slot, a third link, a second guide rail, a spring, a fourth link, a fifth link, a direction conversion device, and a locking element;

[0020] The locking hole is provided with a hole that allows the first connecting rod to pass through. The first connecting rod is disposed in the first guide rail and moves along it. The first guide rail is fixed to the base plate. The first connecting rod is disposed in the first guide rail and moves along it. One end of the first connecting rod is fixed to one end of the second connecting rod. The other end of the second connecting rod can be disposed in the slot. The slot is provided on the third connecting rod. The third connecting rod is disposed in the second guide rail and moves along it. The second guide rail is fixed to the base plate.

[0021] One end of the third link is fixed to the hook, and the other end of the third link is hinged to the direction conversion device. The other end of the direction conversion device is used to press the locking member. The locking member overlaps with one end of the fourth link and is used to lock the fourth link. The outer shell of the locking member is fixed to the base plate. The other end of the fourth link is connected to the fifth link, and the fifth link can pass through the locking hole and abut against the ball head.

[0022] The fifth link is fixed to one end of the spring, and the other end of the spring is fixed to the base plate.

[0023] In some preferred embodiments, the ladder is a nested ladder assembly, in which the movable ladder is fixed to a cable, the cable is mounted on a cable winding device, the cable winding device is connected to a motor drive, and the motor is a dual-axis motor.

[0024] In some preferred embodiments, the horizontal adjustment device includes a three-axis gimbal.

[0025] 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.

[0026] In another aspect, the present invention proposes 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:

[0027] Step S1: When the boarding bridge or simulator system malfunctions, determine whether the actuators of the boarding bridge and simulator are in a condition that allows the ladder to be released. If so, proceed to step S2.

[0028] Step S2: Start the motor and move it towards the cylindrical shaft through the telescopic end of the telescopic actuator, thus connecting the ladder to the cylindrical shaft.

[0029] Step S3: Control the motor to drive the telescopic end of the telescopic actuator cylinder to move away from the cylindrical shaft, so that the ladder and the cylindrical shaft swing to the preset lowering angle.

[0030] In some preferred embodiments, step S4 follows step S3:

[0031] Step S4: Control the motor to drive the cable winding device to release the cable, so that the ladder stops when it touches the ground.

[0032] In some preferred embodiments, the conditions for releasing the ladder include:

[0033] The boarding bridge was not in the lowered position, and all the actuators supporting the simulator did not have real-time displacement or angle changes.

[0034] The beneficial effects of this invention are:

[0035] Improved safety: Due to the rigid connection of the metal structure, this new emergency escape device is more stable than the traditional strap-on rope ladder, reducing the risk of the ladder swaying during the climb.

[0036] The system incorporates a dual-axis motor drive, actuator cylinder extension, and cable traction mechanism to ensure the smooth deployment and retraction of the ladder, avoiding potential safety issues when using traditional escape ladders in a non-horizontal state.

[0037] The ladder has reliable anchor points at both the top and bottom, ensuring its stability and guaranteeing safe evacuation of personnel even when the simulator is in an abnormal position.

[0038] Enhanced stability: The spherical device with a pan-tilt mechanism adjusts the attitude of the cylindrical shaft, ensuring the ladder remains level regardless of the simulator's orientation. Sensors and a control system ensure precise ladder deployment and retraction, reducing instability caused by improper operation.

[0039] Improved usability: The new device overcomes the inconvenience of manually retrieving and throwing traditional escape ladders. It is automatically controlled by internal and external linkage logic, simplifying the operation process. The automated design reduces manual operation steps, allowing for rapid activation of the escape procedure even in emergencies. The emergency escape device can be triggered from inside or outside the simulator, enhancing the ability to respond to various unexpected situations.

[0040] Increased flexibility: The new escape ladder is not only suitable for simulators in a horizontal position, but also effective when the simulator is in an abnormal position such as a Lean Out, expanding its applicability. The device's automatic adjustment function allows it to maintain the ladder's horizontal position in a wider variety of postures, increasing the versatility of its use cases. Attached Figure Description

[0041] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0042] Figure 1This is a schematic diagram of the initial state structure of an emergency escape device for a full-motion flight simulator according to the present invention;

[0043] Figure 2 yes Figure 1 A magnified view of a portion of the image;

[0044] Figure 3 This is a schematic diagram of the hook being attached to a cylindrical shaft during use of an emergency escape device for a full-motion flight simulator according to the present invention;

[0045] Figure 4 This is a schematic diagram of the fifth linkage unlocking ball joint during the use of an emergency escape device for a full-motion flight simulator according to the present invention;

[0046] Figure 5 This is a schematic diagram of an emergency escape device for a full-motion flight simulator of the present invention when the ladder is lowered;

[0047] Figure 6 yes Figure 5 Overall schematic diagram;

[0048] Figure 7 This is an overall schematic diagram of an emergency escape device locking device for a full-motion flight simulator according to the present invention;

[0049] Figure 8 This is a schematic diagram of a direction conversion device for an emergency escape system used in a full-motion flight simulator according to the present invention;

[0050] Figure 9 This is a flowchart illustrating an emergency escape method for a full-motion flight simulator according to the present invention. Detailed Implementation

[0051] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0052] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0053] like Figures 1-9 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, including a telescopic device 1, a locking device 2, a ladder 3, a cylindrical shaft 4, and a horizontal adjustment device;

[0054] The fixed end of the telescopic device 1 is mounted on the simulator 5. The telescopic end of the telescopic device 1 can be locked or unlocked with the locking device 2. The locking device 2 is mounted on the ladder 3. The ladder 3 is detachably fixed to the round shaft 4. The bearing of the round shaft 4 is mounted on the horizontal adjustment device. The horizontal adjustment device is mounted on the simulator 5.

[0055] When using this invention, two conditions must be met:

[0056] 1. The boarding bridge is not in the Down position;

[0057] 2. The actuators controlling the movement of simulator 5 do not change displacement or angle in real time.

[0058] The boarding bridge is not in the "Down" position because this device is installed below the boarding bridge entrance / exit on the simulator. When the boarding bridge is functioning normally, personnel can use it to enter and exit the simulator. Only when the boarding bridge malfunctions or cannot be lowered can the emergency escape device be activated by pressing a switch.

[0059] The requirement that the six actuators have no real-time displacement change is a constraint imposed to prevent the simulator 5 from being accidentally activated during operation, which could release the device and potentially damage the simulator 5.

[0060] If these two conditions are met, the telescopic device 1 locks with the ladder 3 through the locking device 2, causing the ladder 3 to move closer to the circular shaft 4 and be fixed to the circular shaft 4. At this time, the ladder 3 and the telescopic device 1 are unlocked through the locking device 2. Then, the telescopic device 1 is moved away from the circular shaft 4. Due to gravity, the ladder 3 will swing closer to the ground. Since the circular shaft 4 and the simulator 5 are bearings, the ladder 3 will rotate around the axis of the circular shaft 4. When the telescopic device 1 stops moving, the ladder 3 stops rotating, and the tilt angle for getting off the machine is reached.

[0061] Next, the horizontal adjustment device is used to check whether the axis of the cylindrical shaft 4 is on the horizontal plane. If it is, the pilot can disembark. If not, the horizontal adjustment device is used to adjust the tilt of the cylindrical shaft 4 to the horizontal plane according to the angle and tilt direction between the axis of the cylindrical shaft 4 and the horizontal plane. At this time, the ladder 3 will also rotate with the cylindrical shaft 4, so that the ladder 3 is kept horizontal relative to the ground, which facilitates the pilot's escape and avoids safety hazards.

[0062] The device uses rigid metal connections and selects lightweight materials as much as possible to reduce weight while ensuring structural stability.

[0063] Among them, see Figure 1The telescopic device 1 of the present invention includes a motor 11 and a telescopic actuator 12;

[0064] The housing of the motor 11 is fixed to the simulator 5, and the drive end of the motor 11 is drivenly connected to the telescopic end of the telescopic actuator 12.

[0065] The motor 11 is equipped with a wireless communication module, which can be connected to the control system inside the simulator 5. Control buttons are installed inside the simulator 5, allowing the pilot to remotely control the start and stop of the motor 11.

[0066] In this 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 as follows:

[0067] The locking device includes a base plate 21, a guide groove 22, a ball head 23, and a locking hole 24;

[0068] The base plate 21 is fixed to the ladder 3. A guide groove 22 is provided on the base 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. The locking hole 24 is provided on the base plate 21.

[0069] 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;

[0070] When the ball head 23 is positioned within the locking hole 24, the ladder 3 moves with the telescopic end of the telescopic actuator cylinder 12. When the ball head 23 is positioned within the guide groove 22, the ladder 3 drives the cylindrical shaft 4 to rotate.

[0071] The locking hole 24 is circular in shape, and its diameter is larger than that of the ball head 23.

[0072] Based on the above, when the device of the present invention is in use, in the initial state, the ball head 23 is set in the locking hole 24. The telescopic actuator 12 is driven by the motor 11 to move towards the cylindrical shaft 4. The telescopic actuator 12 drives the ladder 3 to move towards the cylindrical shaft 4 through the ball head 23 until the hook on the ladder 3 is engaged with the cylindrical shaft 4. At this time, the telescopic actuator 12 is controlled to move away from the cylindrical shaft 4. At this time, the ball head 3 disengages from the locking hole 24 and continues to move away from the cylindrical shaft 4 along the guide groove 22. Since the ladder 3 is no longer supported by the telescopic actuator 12, it will tilt and swing towards the ground due to gravity. When it swings to the preset lowering angle, the telescopic actuator 12 stops moving.

[0073] For further explanation of the present invention, see [link to relevant documentation]. Figure 1 The ladder 3 is a nested ladder group. The movable ladder in the nested ladder group is fixed to the cable 31. The cable 31 is installed on the cable winding device 32. The cable winding device 32 is driven by the motor 11. The motor 11 is a dual-axis motor.

[0074] At this point, ladder 3 is not yet fully placed on the ground, but the main body has been placed and its posture is fixed. The moving ladder in the nested ladder group will be released by the motor 11 driving the gear and coordinating 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 then the operation stops.

[0075] In this invention, the movable ladder in the nested ladder group is affected by gravity when tilted, and the movable ladder will not retract when a person steps down on it.

[0076] At this point, the emergency escape device has been deployed. The upper part of ladder 3 is secured by a cylindrical shaft 4, while the lower part is grounded for stable support. Trapped personnel only need to climb down ladder 3.

[0077] The retraction process of the device is exactly the reverse of the release process. First, the movable ladder inside the nest is pulled back by the cable 31 through the motor 11 and the cable winding device 32. Then, the entire ladder 3 is pushed into a horizontal state by the telescopic actuator 12. After the ball head 23 enters the locking hole 24 and locks, the motor reverses to drive the telescopic actuator 12 to retract. The ball head 23 drives the ladder 3 to retract, at which point it disengages from the cylindrical shaft 4 and locks the ladder 3 with the telescopic actuator 12. Finally, the telescopic actuator 12 retracts the ladder 3 and stores it.

[0078] As a further explanation of the present invention, the horizontal adjustment device includes a three-axis gimbal.

[0079] In this invention, because the ladder 3 relies primarily on its own weight to be released while tilted, its orientation depends on the cylindrical shaft 4 connected to the simulator 5. Since the ladder 3 is hooked onto the shaft 4, if the shaft 4 is tilted, the ladder 3 will also be tilted; if the shaft 4 is horizontal, the ladder 3 will be positioned correctly, not tilted. Therefore, the shaft 4 must be kept horizontal and not change with the orientation of the simulator 5. A three-axis gimbal is introduced. This device detects and adjusts the orientation of the shaft 4, releasing it to a horizontal position and then fixing it in place. If it is already horizontal, no adjustment is needed before releasing it. Retraction is the reverse process.

[0080] The three-axis gimbal is equipped with an angle sensor. When it detects that the simulator 5 is not horizontal, the ladder 3 is hung on the cylindrical shaft 4. By adjusting its own angle, the cylindrical shaft 4 is kept horizontal, thereby keeping the ladder 3 horizontal.

[0081] The ground-detecting sensor on the ladder 3 of this invention can also monitor the surrounding environment, such as detecting whether there are obstacles blocking the unfolding path of the ladder 3, or whether anyone is approaching the ladder 3. This sensor can be a lidar sensor.

[0082] During the unfolding or retraction of the ladder 3 of this invention, if the movement of the ladder 3 is not well coordinated with the change in the length of the cable 31, it may lead to problems such as the cable 31 being too tight or too loose, or even tangling. 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.

[0083] For example, when ladder 3 is lowered, cable 31 should automatically release an appropriate length to prevent it from becoming too tight and hindering the descent; conversely, when ladder 3 is pulled back, cable 31 should also be retracted promptly to avoid dragging on the ground or causing confusion due to excessive length. This synchronization mechanism is achieved through cable winding device 32, which manages the length of cable 31, thereby ensuring the safety and efficiency of ladder 3 operation.

[0084] In addition, a pressure sensor or human infrared sensor is installed on ladder 3. When it is detected that someone is using ladder 3, the position of ladder 3 is automatically locked to ensure safety during use.

[0085] The details are as follows:

[0086] LiDAR sensors are used for obstacle detection because they provide high-precision distance and angle information as point cloud data.

[0087] Point cloud data can be acquired in the form of point clouds, which can then be used to construct a three-dimensional model of the surrounding environment.

[0088] Point cloud processing and obstacle recognition:

[0089] Receive point cloud data from LiDAR.

[0090] Filter the point cloud data to remove noise, for example, by using mean filtering or median filtering.

[0091] Clustering algorithms (such as DBSCAN) are used to segment point clouds in order to identify different objects.

[0092] Suppose that each point pi in the point cloud has coordinates (xi, yi, zi).

[0093] The point cloud was divided into multiple clusters 1, 2, ..., C1, C2, ..., Cn using the DBSCAN clustering algorithm.

[0094] For each cluster Cj, calculate the average coordinates of all points within it. As the center point of the cluster.

[0095] If the center point of cluster Cj If the path from ladder 3 is less than the set safety threshold dthreshold, then the cluster is considered to represent an obstacle.

[0096] The distance d to the obstacle can be calculated using the following formula:

[0097] ;

[0098] in( , , ) is the current position coordinate of ladder 3.

[0099] Decision-making process:

[0100] If the detected obstacle is less than the safety threshold dthresholdd from the ladder path, the ladder 3 will stop moving and an alarm will sound.

[0101] Methods of human body testing:

[0102] Use a depth camera to acquire RGB-D images (i.e., images that contain color and depth information).

[0103] Human detection is performed using depth information and human contour features.

[0104] Depth Image Processing:

[0105] Acquire the RGB-D image output by the depth camera.

[0106] Convert the depth map to a grayscale image, where the grayscale value of each pixel represents the depth of that point.

[0107] Use edge detection algorithms (such as Canny edge detection) to extract edges from depth images.

[0108] Using the Hough transform to detect lines and circles in an image helps to identify the shape features of the human body.

[0109] For each detected edge point l i Calculate the distance between it and the ladder. h i :

[0110] h i =∣ z i zladder |;

[0111] in z i yes l i Depth coordinates z ladder These are the depth coordinates of the plane where ladder 3 is located.

[0112] If the detected edge points l i depth h i Less than the set threshold d human If so, then it is believed that a human body exists.

[0113] Further analysis of the distribution of edge points confirms the detection of a human body if they form a typical human outline (such as the head and torso).

[0114] Human body recognition:

[0115] Template matching methods are used to further validate the detected human body regions.

[0116] If the matching score is higher than the preset threshold, it is considered that a human body has been detected.

[0117] When a human body or obstacle is detected, the movement of ladder 3 stops.

[0118] like Figures 2-8 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, the locking device 2 further 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.

[0119] The locking hole 24 has a hole that allows the first connecting rod 241 to pass through. The first connecting rod 241 is disposed in the first guide rail 242 and moves along it. The first guide rail 242 is fixed to the base plate 21. The first connecting rod 241 is disposed in the first guide rail 242 and moves along it. One end of the first connecting rod 241 is fixed to one end of the second connecting rod 243. The other end of the second connecting rod 243 can be disposed in the slot 244. The slot 244 is opened on the third connecting rod 245. The third connecting rod 245 is disposed in the second guide rail 246 and moves along it. The second guide rail 246 is fixed to the base plate 21.

[0120] One end of the third link 245 is fixed to the hook 6, and the other end of the third link 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 link 248. The locking member 251 is used to lock the fourth link 248. The outer shell of the locking member 251 is fixed to the base plate 21. The other end of the fourth link 248 is connected to the fifth link 249. The fifth link 249 can pass through the locking hole 24 and abut against the ball head 23.

[0121] The fifth link 249 is fixed to one end of the spring 247, and the other end of the spring 247 is fixed to the base plate 21.

[0122] In the initial case, see Figure 1 and Figure 2 The fifth link 249 extends into the locking hole 24 and abuts against the ball head 23. The ball head 23 pushes the first link 241 upward within the locking hole 24. The first link 241 causes the second link 243 to move out of the slot 244. At this time, the telescopic end of the telescopic actuator 12 moves the ball head 23, thereby moving the ladder 3 and the hook 6 together toward the cylindrical shaft 4. (See also...) Figure 3 and Figure 4 When hook 6 is engaged with the cylindrical shaft 4, it continues to move forward. At this time, hook 6 and the third link 245 will pull the direction conversion device 250. The direction conversion device 250 will press the pressing head of the locking member 251, causing the fourth link 248 to press the fifth link 249, thus unlocking. At this time, the fifth link 249 is not in contact with 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 disengages from the locking hole 24, the first connecting rod 241 falls 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 round shaft 4, which also prevents the locking part 251 from being unlocked by gravity when people go down the ladder. As the ball head 23 continues to move in the opposite direction, the ladder 3 will tilt continuously. When the preset tilt angle is reached, the telescopic end of the telescopic actuator 12 stops moving.

[0123] During the unlocking process, the fifth link 249 will press towards the ball head 23 before retracting. At this time, the telescopic end of the telescopic actuator 12 will move the ball head 23 away from the fifth link 249 by the pressing distance, so as to prevent the fifth link 249 from pressing against the ball head 23 and preventing the locking part 251 from being unable to unlock.

[0124] Among them, see Figure 8The direction conversion device 250 has a three-section structure, specifically including a first section 2501, a second section 2502 and a third section 2503;

[0125] The first segment 2501 is externally provided with a guide sleeve 2504 that can move along it. The guide sleeve 2504 is hinged to the third link 245. The other end of the first segment 2502 is perpendicularly fixed to one end of the second segment 2502. The other end of the second segment 2502 is perpendicularly fixed to the third segment 2503. The third segment 2503 is used to press the pressing head of the locking member 251. The second segment 2502 is rotatably connected to the base plate 21. The rotatable connection can be a hinge connection, a bearing connection, or a clearance fit pin connection.

[0126] The direction conversion device 250 can 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 realize direction conversion is within the protection scope of the present invention.

[0127] The locking component 251 is a locking structure on a ballpoint pen, which is existing technology and will not be described in detail here. In addition, the fourth link 248 can be understood as the pen refill of the ballpoint pen, and the fifth link 249 can be understood as the pen tip.

[0128] Since the fourth link 248 is inclined, the fourth link 248 and the fifth link 249 are configured as a hinge structure so that when the locking member 251 presses the fourth link 248, the fifth link 249 can smoothly enter the locking hole 24.

[0129] The surface of the first connecting rod 241 that contacts the ball head 23 is inclined, so that after the ball head 23 re-enters the locking hole 24, it contacts the inclined surface of the first connecting rod 241, thus pushing the first connecting rod 241 upward.

[0130] 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 member 251 are symmetrically arranged in two sets along the center of the ladder 3, so that the fifth connecting rod 249 locks the ball head 23 from two directions.

[0131] 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 disposed inside the base plate 21, and this part of the base plate 21 is hollow.

[0132] The fifth link 249 is also equipped with a guide rail to prevent it from being unable to pass through the hole in the locking hole 24 when it is locked again after unlocking.

[0133] The locking member 251 overlaps with one end of the fourth link 248, and its specific structure is as follows:

[0134] The pressing end of the locking member 251 has a through hole, and the fourth connecting rod 248 can be disposed in the through hole and abut against the protrusion provided on the inner wall of the through hole. In this way, the through hole can provide a certain support for the fourth connecting rod 248, and the protrusion can also make the pressing end of the locking member 251 press the fourth connecting rod 248.

[0135] The pressing end of the locking member 251 is the moving end.

[0136] Since the cylindrical shaft 4 is fixed to the simulator 5, the hook 6 must partially overlap with the bottom surface of the simulator 5 in order to hook onto the cylindrical shaft 4. The overlapping part is grooved to prevent the hook 6 from failing to hook onto the cylindrical shaft 4.

[0137] See Figure 9 The third embodiment of the present invention proposes 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 includes:

[0138] Step S1: When the boarding bridge or simulator system malfunctions, determine whether the actuators of the boarding bridge and simulator are in a condition that allows the ladder 3 to be released. If so, proceed to step S2.

[0139] Step S2: Start the motor 11 and move it towards the cylindrical shaft 4 through the telescopic end of the telescopic actuator 12, so that the ladder 3 is connected to the cylindrical shaft 4.

[0140] Step S3: Control motor 11 to drive the telescopic end of telescopic actuator cylinder 12 to move away from the cylindrical shaft 4, so that ladder 3 and cylindrical shaft 4 swing to the preset lowering angle;

[0141] In step S4, the control motor 11 drives the cable winding device 32 to release the cable 31, so that the ladder 3 stops when it touches the ground.

[0142] The conditions for releasing ladder 3 include:

[0143] The boarding bridge was not in the lowered position, and all the actuators supporting the simulator did not have real-time displacement or angle changes.

[0144] In the description of this invention, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0145] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0146] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0147] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 all fall within the scope of protection of the present invention.

Claims

1. An emergency escape device for a full-motion flight simulator, characterized in that, It includes a telescopic device (1), a locking device (2), a ladder (3), a round shaft (4), and a horizontal adjustment device; The fixed end of the telescopic device (1) is installed on the simulator (5). 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 connected to the round shaft (4) by a hook (6). The bearing of the round shaft (4) is installed on the horizontal adjustment device. The horizontal adjustment device is installed on the simulator (5). The telescopic device (1) includes a motor (11) and a telescopic actuator (12). The outer casing of the motor (11) is fixed to the simulator (5), and the driving end of the motor (11) is driven to be connected to the telescopic end of the telescopic actuator (12). The telescopic device (1) has the following specific structure: The locking device includes a base plate (21), a guide groove (22), a ball head (23), and a locking hole (24). The base plate (21) is fixed to the ladder (3). A guide groove (22) is provided on the base 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 the locking hole (24). The locking hole (24) is provided on the base plate (21). In the initial state, the ball head (23) is set 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 set in the locking hole (24), the ladder (3) moves with the telescopic end of the telescopic actuator (12). When the ball head (23) is set in the guide groove (22), the ladder (3) rotates around the circular shaft (4).

2. An emergency escape device for a full-motion flight simulator according to claim 1, characterized in that, The locking device (2) further includes a first link (241), a first guide rail (242), a second link (243), a slot (244), a third link (245), a second guide rail (246), a spring (247), a fourth link (248), a fifth link (249), a direction conversion device (250), and a locking element (251). The locking hole (24) is provided with a hole through which the first connecting rod (241) can pass. The first connecting rod (241) is set in the first guide rail (242) and moves along it. The first guide rail (242) is fixed to the base plate (21). The first connecting rod (241) is set in the first guide rail (242) and moves along it. One end of the first connecting rod (241) is fixed to the second connecting rod (243). The other end of the second connecting rod (243) can be set in the slot (244). The slot (244) is opened on the third connecting rod (245). The third connecting rod (245) is set in the second guide rail (246) and moves along it. The second guide rail (246) is fixed to the base plate (21). One end of the third link (245) is fixed to the hook (6), and the other end of the third link (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 link (248). The locking member (251) is used to lock the fourth link (248). The outer shell of the locking member (251) is fixed to the base plate (21). The other end of the fourth link (248) is connected to the fifth link (249). The fifth link (249) can pass through the locking hole (24) and abut against the ball head (23). The fifth link (249) is fixed to one end of the spring (247), and the other end of the spring (247) is fixed to the base plate (21).

3. An emergency escape device for a full-motion flight simulator according to claim 1, characterized in that, The ladder (3) is a nested ladder group. The movable ladder in the nested ladder group is fixed with the cable (31). The cable (31) is installed on the cable winding device (32). The cable winding device (32) is driven by the motor (11). The motor (11) is a dual-axis motor.

4. An 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.

5. An 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 larger than the diameter of the ball head (23).

6. An emergency escape method for a full-motion flight simulator, based on the emergency escape device for a full-motion flight simulator as described in claim 5, characterized in that, The method includes: Step S1: When the boarding bridge or simulator system malfunctions, determine whether the actuators of the boarding bridge and simulator are in a condition that satisfies the release of the ladder (3). If so, proceed to step S2. Step S2: Start the motor (11), move it towards the cylindrical shaft (4) through the telescopic end of the telescopic actuator (12), and connect the ladder (3) to the cylindrical shaft (4); Step S3: Control motor (11) drives the telescopic end of the telescopic actuator (12) to move away from the cylindrical shaft (4), so that the ladder (3) and the cylindrical shaft (4) swing to the preset lowering angle.

7. An emergency escape method for a full-motion flight simulator according to claim 6, characterized in that, Step S4 follows step S3: Step S4: Control motor (11) to drive cable winding device (32) to release cable (31), so that the ladder (3) moves to stop when it contacts the ground.

8. An emergency escape method for a full-motion flight simulator according to claim 6, characterized in that, The conditions for releasing the ladder (3) include: The boarding bridge was not in the lowered position, and all the actuators supporting the simulator did not have real-time displacement or angle changes.

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