Mechanized rope threading device for parachute

Abstract

The invention belongs to the field of parachute packaging, and discloses a parachute rope threading device which comprises an upper base, a lower base, a rope threading device and a rope threading device. The lower base is arranged at the lower part of the lower base in parallel; the upper end of the rope guide clamp is slidably arranged in the transverse guide rail, and the free end is provided with a rope clamp; the rope winding frames are arranged on the two transverse sides of the lower base in parallel in two groups, and rope winding forks are arranged on the rope winding frames; the rope claw frames are arranged on the two transverse sides of the lower base and between the two rope winding frames in parallel and connected to the upper base, and rope claws are arranged at the tail ends of the rope claw frames and used for limiting the rope bundles on the rope winding forks to the middles of the rope claws; the rope fixing frames are arranged on the two transverse sides of the lower base in parallel in two groups, and a plurality of hooks are arranged on the rope fixing frames and used for penetrating through the middles of the rope claw frames to take down and fix the rope bundles. Therefore, the rope threading device can improve the rope threading efficiency and accuracy, and then batch rope threading operation is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to parachute packaging, and more specifically, relates to a mechanized parachute threading device. Background Art

[0002] Parachutes are important equipment in the aerospace field. The speed of folding and sorting and the safety during use are directly related to the preparation efficiency of skydiving and the personal safety of skydivers. In the process of parachute folding, packaging and sorting, parachute rope sorting is a very critical process. During this process, the parachute rope needs to be inserted into several rope loops on the parachute bag. At present, parachute rope sorting is generally done manually, which requires the cooperation of two operators: first straighten the parachute ropes to ensure that there is no cross-entanglement, then one of the operators uses a packaging needle to pick up the parachute bag rope loops, and the other operator uses a packaging hook to insert all the parachute ropes into the rope loops on the left and right sides in a certain order. The manual operation method has many repetitive actions, takes a long time, and has low efficiency. The quality of parachute rope sorting is often difficult to guarantee. It is urgent to upgrade the parachute rope sorting process through mechanized equipment.

[0003] Prior art CN113978736A proposes a parachute threading and winding device, which realizes the mechanized operation of rapid threading and winding, and greatly improves the efficiency of parachute rope arrangement compared with manual operation. However, the defect of this device is that the parachute rope is limited in constraint during the threading and winding process, and the parachute rope is easily disturbed due to its soft material, thus affecting the threading quality; in addition, the device can only thread each rope loop in turn, and there is still a significant bottleneck in the efficiency of parachute rope arrangement. Therefore, the inability of the device to meet the needs of batch threading operations is the main reason why the existing methods are difficult to improve the threading efficiency.

[0004] The existing automated parachute rope arrangement methods generally have significant defects in the rope threading process, which is that it is difficult to strike a balance between efficiency and quality: on the one hand, the existing methods are difficult to effectively constrain and limit the rope bundle, which affects the uniformity of rope segment distribution and thus affects the quality of parachute rope arrangement; on the other hand, due to the small specifications of the parachute bag rope loops, the close spacing between adjacent rope loops, and the certain width of the rope segments carried by the rope threading actuator, the rope threading actuator cannot be arranged according to the spacing between adjacent rope loops, making it difficult to achieve batch rope threading operations, which seriously restricts the rope threading efficiency. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a parachute rope threading device, the purpose of which is to limit the rope bundle on the rope winding fork by matching the rope claw on the rope claw frame with the rope winding fork on the rope winding frame, and then the rope bundle is removed and fixed by matching the hook on the rope fixing frame with the rope claw on the rope claw frame, thereby solving the technical problems of low rope threading efficiency and quality caused by soft rope loops and small intervals in the existing parachute packaging process.

[0006] In order to achieve the above object, in a first aspect of the present invention, a parachute threading device is provided, the device comprising:

[0007] an upper base, on which a longitudinal guide rail and a transverse guide rail are provided;

[0008] A lower base, arranged parallel to the lower part of the upper base;

[0009] A rope guide clamp, the upper end of which is slidably disposed in the transverse guide rail for longitudinal and transverse movement on the upper base, and a rope clamp is provided at the free end;

[0010] Rope winding frames are divided into two groups and arranged in parallel on both sides of the lower base in the horizontal direction, and are provided with a plurality of rope winding forks evenly arranged;

[0011] Rope claw frames are divided into two groups and are arranged in parallel on both sides of the lower base and between the two groups of rope winding frames, connected to the upper base, and have a plurality of rope claws at their ends, which match the rope winding fork and are used to limit the rope bundle on the rope winding fork to the middle of the rope claw;

[0012] The rope fixing frames are divided into two groups and arranged in parallel on both sides of the lower base in the horizontal direction. A plurality of hooks are arranged on the frames. The hooks match the rope claws of the rope claw frames and are used to pass through the middle of the rope claw frames to remove and fix the rope bundle.

[0013] As a preferred embodiment of the present invention, each group of rope claw frames comprises two rows of rope claws; the rope claws on the two rows are arranged alternately at intervals, so that the distance between two adjacent rope claws on each row of rope claws is twice the distance between two adjacent rope loops on the parachute bag to be threaded.

[0014] As a preferred embodiment of the present invention, the rope claw on the rope claw frame includes a fixed claw and a movable claw, with an empty groove in the middle; the movable claw is arranged on the upper part of the fixed claw, and is used to limit the rope bundle on the rope fork in the rope winding frame in the empty groove by opening and closing the movable claw.

[0015] As a preferred embodiment of the present invention, the rope claw frame is slidably connected to the upper base; the main body of the rope claw frame includes a telescopic structure for driving the rope claw to move between the upper base and the lower base.

[0016] As a preferred embodiment of the present invention, the distance between the two groups of rope winding racks does not exceed the width of the transverse guide rail.

[0017] As a preferred embodiment of the present invention, each group of the rope winding frames includes two rows of rope winding forks; the rope winding forks on the two rows of rope winding forks are arranged alternately at intervals, and the interval distance between each pair of matching rope winding forks and the rope claws is equal.

[0018] As a preferred embodiment of the present invention, the number of rope winding forks on each group of the rope winding frames is equal to the number of rope claws on each group of the rope claw frames, so that the rope winding forks are matched with the rope claws in a one-to-one correspondence.

[0019] As a preferred embodiment of the present invention, the rope fixing frame includes telescopic rod structures whose number matches the hooks, and the hooks are arranged at the ends of the telescopic rods.

[0020] As a preferred embodiment of the present invention, the number of hooks on each group of the rope fixing frames is equal to the number of rope claws on each group of the rope claw frames, so that the hooks are matched with the rope claws in a one-to-one correspondence.

[0021] As a preferred embodiment of the present invention, the device includes a motor, which is electrically connected to the rope winding frame, the rope guiding frame, the rope claw frame and the rope fixing frame, respectively, and is used for driving the rope winding frame to move in the lateral direction of the lower base, driving the rope guiding frame to move in the longitudinal and lateral directions on the upper base, driving the rope claw frame to move in the longitudinal direction of the upper base and / or in the lateral direction of the upper base, and driving the rope fixing frame to electrically move in the lateral direction of the lower base.

[0022] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0023] 1. Based on the technical problems of the small size of a single rope loop on the existing parachute and the close spacing between adjacent rope loops, the present invention discloses a parachute rope threading device, which, with the help of the synergistic effect of various modules, divides the rope arrangement and threading process into a rope winding process, a rope taking process and a rope threading process. Specifically, the device performs the rope winding process by the cooperation of the rope guide clamp and the rope winding frame, that is, the parachute rope is arranged to obtain a uniform and neat "S"-shaped rope segment to avoid entanglement and twisting; then the rope claw on the rope claw frame is matched with the rope winding fork on the rope winding frame to perform the rope taking process, that is, the rope bundle on the rope winding fork is positioned at the upper limit of the rope claw of the rope claw frame, especially multiple rope segments are effectively fixed and limited to minimize disturbance and keep the spacing between each rope segment consistent, so as to provide accuracy and precision guarantee for rope threading execution; finally, the rope threading process is performed by matching the hook on the rope fixing frame with the rope claw on the rope claw frame, that is, the rope bundle is taken down and fixed by the hook on the rope fixing frame, thereby realizing a parallel rope threading process of multiple rope loops, thereby improving the efficiency and quality of rope threading.

[0024] 2. The rope claws on the two rows of rope claws in the present invention are arranged in a staggered manner, and the distance between two adjacent rope claws on each row of rope claws is twice the distance between adjacent rope loops on the parachute bag to be threaded. Specifically, in the rope-taking process, the rope threading actuator is used to fix and limit each rope segment with the same spacing. In particular, by setting the rope threading actuator in multiple rows, firstly, a number of rope loops can be threaded in batches and in parallel in batches, thereby improving the efficiency of threading. Secondly, by setting in multiple rows, the distance between adjacent rope segments in each row is increased, which solves the problem of spatial arrangement of batch rope threading actuators, reduces mutual disturbance, and improves the accuracy of threading.

[0025] 3. The rope winding forks on the two rows of rope winding forks in the present invention are arranged alternately in the longitudinal direction of the lower base, and the interval between each pair of matching rope winding forks and rope claws is equal, thereby making it easier to realize batch operation of the rope taking process and improving the efficiency of the rope taking process. At the same time, a series of pretreatments provide good operating conditions for the subsequent rope threading process, further improving the precision and accuracy of the umbrella rope arrangement.

[0026] 4. The present invention also includes a motor, which is electrically connected to each module, and is used to drive the movement of the corresponding structure in each module on the upper base or the lower base to complete the coordination between the structures and then perform the rope winding process, the rope taking process and the rope threading process in sequence. Through the coordinated operation of the matching of each mechanism in the rope winding process, the rope taking process and the rope threading process, the precision of the matching of each mechanism is improved, and the fully automated process of umbrella rope arrangement is realized; especially after the motor is combined with the support of the automation system, the efficiency and accuracy of rope threading can be further improved, thereby realizing batch rope threading operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of a parachute bag with completed parachute rope arrangement according to an example of the present invention;

[0028] Figure 2 It is a schematic diagram of the rope winding process of the mechanized rope threading method of a parachute exemplified in the present invention;

[0029] Figure 3 It is a schematic diagram of the pre-winding state of the parachute rope of an example in the present invention;

[0030] Figure 4 It is a schematic diagram of the rope-taking process of the mechanized parachute rope-threading method exemplified in the present invention;

[0031] Figure 5 It is a working schematic diagram of the rope threading process of the mechanized rope threading method of a parachute exemplified in the present invention;

[0032] Figure 6 The present invention is a flowchart of the mechanized parachute threading method exemplified in the present invention.

[0033] In all the drawings, the same reference numerals are used to represent the same elements or structures, among which: 1-parachute rope loop, 2-Ⅰ row rope winding rack, 3-Ⅱ row rope winding rack, 4-rope guide clamp, 5-transverse guide rail, 6-longitudinal guide rail, 7-Ⅰ row rope claw, 8-Ⅱ row rope claw, 9-rope fixing rack. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] See also Figure 2 , Figure 4 and Figure 5 The present invention provides a mechanized parachute rope threading device suitable for parachute rope arrangement. The specific structure of the parachute mechanized parachute rope threading device is as follows:

[0036] The parachute mechanized rope threading device is a bilaterally symmetrical structure, comprising: an upper base, a lower base, a rope guide clamp 4, a rope winding frame, a rope claw frame and a rope fixing frame 9.

[0037] An upper base, on which a longitudinal guide rail 6 and a transverse guide rail 5 are provided; a lower base, which is arranged in parallel with the lower part of the upper base; a rope guide clamp 4, whose upper end is slidably arranged in the transverse guide rail 5 to move longitudinally and transversely on the upper base, and a rope clamp is provided at the free end; a rope winding frame, which is divided into two groups and arranged in parallel, and is arranged on both sides of the lower base in the transverse direction, and is provided with a number of rope winding forks evenly arranged; a rope claw frame, which is divided into two groups and arranged in parallel, and is arranged on both sides of the lower base in the transverse direction and between the two groups of rope winding frames, and is connected to the upper base, and has a number of rope claws at its end, which match the rope winding forks to limit the rope bundle on the rope winding fork to the middle of the rope claw; a rope fixing frame 9, which is divided into two groups and arranged in parallel, and is arranged on both sides of the lower base in the transverse direction and on the side away from the rope claw frame, and is provided with a number of hooks, which match the rope claws of the rope claw frame to pass through the middle of the rope claw frame to remove and fix the rope bundle.

[0038] The transverse guide rail 5 and the longitudinal guide rail 6 are vertically slidably arranged on a working surface; the longitudinal guide rail 6 is connected to the upper base, and the number is at least one, so that the guide rope clamp 4 can move forward and backward, left and right between the lower base and the lower base, thereby guiding and adjusting the position of the parachute rope. For example, if there are two longitudinal guide rails 6, they are distributed on both sides of the upper base, and the two ends of the transverse guide rail 5 are respectively slidably arranged on the two longitudinal guide rails.

[0039] Preferably, each set of rope winding frames includes two rows of rope winding forks, and the rope winding forks on the two rows of rope winding forks are arranged alternately at intervals, so that the interval distance between each pair of matching rope winding forks and rope claws is equal. Figure 2 As shown, each group of rope winding frames includes row I rope winding frames 2 and row II rope winding frames 3, and the spacing between adjacent rope winding forks is the same as the spacing between adjacent parachute bag rope loops 1.

[0040] Preferably, each set of rope claw racks includes two rows of rope claws, and the rope claws on the two rows of rope claws are arranged alternately, so that the distance between two adjacent rope claws on each row of rope claws is twice the distance between two adjacent rope loops on the parachute bag to be threaded. A plurality of rope claws are arranged at the lower ends of the first row of rope claws 7 and the second row of rope claws 8, and the two sets of rope claws are arranged alternately. Figure 4 As shown, each set of rope claw frames includes a row I rope claw 7 and a row II rope claw 8, and the longitudinal distance between the rope claws is consistent with the spacing between adjacent parachute rope loops 1, and the spacing between adjacent rope claws in the same row is twice the spacing between adjacent parachute rope loops 1. In this embodiment, the row I rope claws 7 are arranged on the outside of the row II rope claws 8 in the transverse direction.

[0041] Preferably, the rope claw on the rope claw frame includes a fixed claw and a movable claw, with an empty slot in the middle; the movable claw is arranged on the upper part of the fixed claw, so that the rope bundle on the rope fork in the rope winding frame can be restricted in the empty slot by opening and closing the movable claw. Figure 4 As shown, the ends of row I rope claws 7 and row II rope claws 8 include fixed claws and movable claws, with an empty groove in the middle. The movable claw is arranged obliquely above the fixed claw to facilitate the opening and closing of the rope claws. When working, the rope bundle is confined in the clamping cavity between the movable claw and the fixed claw.

[0042] Preferably, the rope claw frame is slidably connected to the upper base, driving the rope claw to move in the longitudinal direction and the transverse direction of the upper base. The main body of the rope claw frame includes a telescopic structure to drive the rope claw to move between the upper base and the lower base. The main body of the rope claw frame, for example, the main body vertically between the upper base and the lower base is a hydraulic rod, so that the rope claw is driven to move between the upper base and the base through the hydraulic rod.

[0043] Preferably, the distance between the two groups of rope winding frames does not exceed the width of the transverse guide rail.

[0044] Preferably, the rope fixing frame includes a telescopic rod structure having a matching number of hooks, and the hooks are arranged at the ends of the telescopic rods. Figure 5 As shown, the rope fixing frame 9 includes a plurality of rope fixing forks, and the rope fixing forks include telescopic rods, at the ends of which hooks are provided, and the hooks match the empty slots of the two rows of rope claws 7 and 8, so that the rope bundle can be removed and fixed by passing through the middle of the rope claws when threading the rope.

[0045] Preferably, the number of rope winding forks on each set of rope winding frames is equal to the number of rope claws on each set of rope claw frames, so that the rope winding forks and the rope claws are matched one-to-one.

[0046] Preferably, the number of hooks on each group of rope fixing frames is equal to the number of rope claws on each group of rope claw frames, so that the hooks and rope claws are matched one-to-one, and the spacing between adjacent rope fixing forks is consistent with the spacing between the parachute bag rope loops 1.

[0047] For example, in this embodiment, the number of the rope forks of the I-row rope winding frame 2 and the II-row rope winding frame 3 are both 6 pairs, the number of the rope claws of the I-row rope claws 7 and the II-row rope claws 8 are both 6 pairs, and the number of the rope fixing forks of the rope fixing module 9 and the number of the parachute bag rope loops 1 are both 12 pairs. It can be understood that in other embodiments, the number of the rope forks, rope claws and rope fixing forks can be increased or decreased according to actual needs.

[0048] Preferably, the main body of the rope guide clamp is a telescopic structure, and the rope clamp is arranged at the end of the telescopic structure to drive the rope clamp to move between the upper base and the lower base. For example, the part of the rope guide clamp connected to the rope clamp is a hydraulic rod.

[0049] Preferably, the device includes a motor, which is electrically connected to the rope winding frame, the rope guiding frame, the rope claw frame and the rope fixing frame, respectively, and is used to drive the rope winding frame to move in the lateral direction of the lower base, drive the rope guiding frame to move in the longitudinal and lateral directions on the upper base, drive the rope claw frame to move in the longitudinal direction of the upper base and / or in the lateral direction of the upper base, and drive the rope fixing frame to move in the lateral direction of the lower base.

[0050] Preferably, the motor is driven by a control system to realize a fully automated process of the rope threading process, and can further improve the efficiency and accuracy of rope threading, thereby realizing batch rope threading operations.

[0051] See also Figure 1 The state of the parachute bag when the parachute mechanized threading device performs the threading process is as follows: Figure 1 See Figure 6 The working process of the parachute mechanized threading device mainly includes the following steps:

[0052] The rope winding process includes step S1, combining Figure 2 and Figure 3 As shown, including the following:

[0053] S1: Arrange the parachute ropes to be flat and not entangled with each other; pre-wind the rope bundle: clamp one end of the rope bundle with the guide rope clamp 4 and move it to the front of the two sets of rope winding frames. The guide rope clamp 4 drives the parachute rope to move to the left with the help of the transverse guide rail 5, and then moves back a short distance, and the rope bundle turns at the corresponding left rope winding fork; then the guide rope clamp 4 drives the parachute rope to move to the right with the help of the transverse guide rail 5, and then moves back a short distance, and the rope bundle turns at the corresponding right rope winding fork; this cycle continues until the rope bundle is passed around the corresponding number of rope winding forks on the left and right sides one by one according to the number of parachute rope loops 1, and the pre-wound rope bundle is completed in a continuous "S" shape with consistent spacing. Move the two groups of rope claws to just above the two groups of rope winding frames, adjust the longitudinal position of the rope claws, from front to back, the rope claws 7 in row I correspond one to one with the rope winding forks of the rope winding frames 2 in row I (the 1st, 3rd, 5th, 7th, 9th and 11th pairs of rope winding forks on the left and right sides), and the rope claws 8 in row II correspond one to one with the rope winding forks of the rope winding frames 3 in row II (the 2nd, 4th, 6th, 8th, 10th and 12th pairs of rope winding forks on the left and right sides).

[0054] The rope taking process includes step S2, combining Figure 4 As shown, including the following:

[0055] S2: The I-row rope frame 2 and the II-row rope frame 3 move horizontally until the I-row rope frame 2 is located below the I-row rope claw 7 and the II-row rope frame 3 is located below the II-row rope claw 8. The I-row rope claw 7 moves downward, the movable claw opens, and moves horizontally through the middle of each rope fork of the I-row rope frame 2, and the movable claw closes downward to clamp the rope bundle; at the same time, the II-row rope claw 8 moves downward, the movable claw opens, and moves horizontally through the middle of each rope fork of the II-row rope frame 3, and the movable claw closes downward to clamp the rope bundle. Then the two rows of rope claws 7 and 8 are lifted upward, and the clamped rope bundle is moved to the top of the parachute rope loop 1.

[0056] The rope threading process includes steps S3, S4 and S5, combined with Figure 5 As shown, including the following:

[0057] S3: The two rows of rope claws 7 and 8 move as a whole in the longitudinal direction until the first pair of rope claws on the front side of row I are flush with the first pair of parachute rope loops 1. The rope fixing frame 9 moves in the longitudinal direction until the first pair of rope fixing forks, the first pair of rope claws 7 in row I and the first pair of parachute rope loops 1 are in the same longitudinal position. After the rope claws 7 in row I and the rope claws 8 in row II are in place, from front to back, the rope claws 7 in row I correspond to the 1st, 3rd, 5th, 7th, 9th and 11th pairs of rope loops (rope loops in row I) on the left and right sides, and the rope claws 8 in row II correspond to the 2nd, 4th, 6th, 8th, 10th and 12th pairs of rope loops (rope loops in row II). The rope claws 7 in row I and the rope claws 8 in row II move in the transverse direction and adjust to the transverse position specified in the rope threading process.

[0058] S4: The I-row rope claws 7 move downward, move horizontally and clamp the rope bundle to pass through the 1st, 3rd, 5th, 7th, 9th and 11th pairs of rope loops (I-row rope loops) on the left and right sides. During this process, each movable claw opens upward to open the parachute rope loop 1, and the I-row rope claws 7 push the rope bundle into the parachute rope loop 1. Adjust the lateral position of the rope fixing frame 9 until the rope fixing fork is located directly above the center of each parachute rope loop 1. From front to back, the 1st, 3rd, 5th, 7th, 9th and 11th rope fixing forks of the rope fixing frames 9 on both sides move downward to fix the rope bundle inserted into the parachute rope loop 1, and then the I-row rope claws 7 withdraw from the rope loop and lift upward, and the I-row rope claws 7 move out of the working area. At this point, the rope threading operation of the I-row rope loops on the left and right sides is completed, and the II-row rope claws 8 are ready to thread the rope.

[0059] S5: The II row of rope claws 8 go down, move horizontally and clamp the rope bundle through the 2nd, 4th, 6th, 8th, 10th, and 12th pairs of rope loops (II group of rope loops) on the left and right sides. Each movable claw opens upward to open the parachute rope loop 1. The II row of rope claws 8 pushes the rope bundle into the parachute rope loop 1. The 2nd, 4th, 6th, 8th, 10th, and 12th rope forks of the rope fixing racks 9 on both sides go down. After the rope bundle is fixed, the II row of rope claws 8 withdraw from the rope loop and lift upward, and the II row of rope claws 8 move out of the working area. At this point, the rope threading operation of all the parachute rope loops 1 on the left and right sides is completed. All the rope forks rise upward and reset, and the rope fixing racks 9 withdraw from the working area.

[0060] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of protection of the present invention and its equivalent technology, the present invention is also intended to include these changes and variations. The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and their protection scope is not limited thereto. Equivalent substitutions or changes made by those skilled in the art on the basis of the present invention are all within the scope of protection of the present invention.

Claims

1. A parachute threading device, characterized in that: The device comprises: an upper base, on which a longitudinal guide rail and a transverse guide rail are provided; A lower base, arranged parallel to the lower part of the upper base; A rope guide clamp, the upper end of which is slidably disposed in the transverse guide rail for longitudinal and transverse movement on the upper base, and a rope clamp is provided at the free end; Rope winding frames are divided into two groups and arranged in parallel on both sides of the lower base in the horizontal direction, and are provided with a plurality of rope winding forks evenly arranged; Rope claw frames are divided into two groups and are arranged in parallel on both sides of the lower base and between the two groups of rope winding frames, connected to the upper base, and have a plurality of rope claws at their ends, which match the rope winding fork and are used to limit the rope bundle on the rope winding fork to the middle of the rope claw; The rope fixing frames are divided into two groups and arranged in parallel on both sides of the lower base in the horizontal direction. A plurality of hooks are arranged on the frames. The hooks match the rope claws of the rope claw frames and are used to pass through the middle of the rope claw frames to remove and fix the rope bundle.

2. The parachute threading device according to claim 1, characterized in that: Each group of rope claw frames comprises two rows of rope claws; the rope claws on the two rows are arranged alternately at intervals, so that the distance between two adjacent rope claws on each row of rope claws is twice the distance between two adjacent rope loops on the parachute bag to be threaded.

3. The parachute threading device according to claim 1, characterized in that: The rope claw on the rope claw frame includes a fixed claw and a movable claw, with an empty groove in the middle; the movable claw is arranged on the upper part of the fixed claw, and is used to limit the rope bundle on the rope fork in the rope winding frame in the empty groove by opening and closing the movable claw.

4. The parachute threading device according to claim 1, characterized in that: The rope claw frame is slidably connected to the upper base; the main body of the rope claw frame includes a telescopic structure for driving the rope claw to move between the upper base and the lower base.

5. The parachute threading device according to claim 1, characterized in that: The distance between the two groups of rope winding frames does not exceed the width of the transverse guide rail.

6. The parachute threading device according to claim 1, characterized in that: Each group of the rope winding frames includes two rows of rope winding forks; the rope winding forks on the two rows of rope winding forks are arranged alternately at intervals, and the interval distance between each pair of matching rope winding forks and the rope claws is equal.

7. The parachute threading device according to claim 1, characterized in that: The number of the rope winding forks on each group of the rope winding frames is equal to the number of the rope claws on each group of the rope claw frames, so that the rope winding forks are matched with the rope claws in a one-to-one correspondence.

8. The parachute threading device according to claim 1, characterized in that: The rope fixing frame includes telescopic rod structures having a number matching the hooks, and the hooks are arranged at the ends of the telescopic rods.

9. The parachute threading device according to claim 1, characterized in that: The number of hooks on each group of the rope fixing frames is equal to the number of rope claws on each group of the rope claw frames, so that the hooks are matched with the rope claws in a one-to-one correspondence.

10. The parachute threading device according to claim 1, characterized in that: The device includes a motor, which is electrically connected to the rope winding frame, the rope guiding frame, the rope claw frame, and the rope fixing frame, respectively, and is used to drive the rope winding frame to move in the lateral direction of the lower base, drive the rope guiding frame to move in the longitudinal and lateral directions on the upper base, drive the rope claw frame to move in the longitudinal direction of the upper base and / or in the lateral direction of the upper base, and drive the rope fixing frame to electrically move in the lateral direction of the lower base.

Images