Parachute landing simulation control training unit and device

Abstract

The utility model relates to a parachute landing simulation control training unit and a parachute landing simulation control training device. The parachute landing operation simulation training unit comprises a pulley mechanism used for being hung on the guide rail, a first frame fixed to the bottom of the pulley mechanism, a walking mechanism driving the pulley mechanism to roll on the guide rail, a first rotating shaft rotationally arranged at the bottom of the first frame, and a rotating motor fixed in the first frame and used for driving the first rotating shaft to rotate. The controllable swing mechanism is arranged at the bottom of the first rotating shaft, the second frame is arranged at the bottom of the controllable swing mechanism, and the control belts are fixed to the two sides of the second frame. The parachute landing control simulation training unit can simulate air transverse movement of a parachute and air rotation of the parachute, and the rotating speed is higher when the control rod is pulled downwards; if the two operating rods on the rear side are pulled down at the same time, the first steering circuit and the second steering circuit are both kept open, the rotating motor is not started and does not rotate any more, and the speed reduction action of airborne personnel before the airborne personnel make contact with the ground is simulated.

Description

Technical Field

[0001] The utility model patent relates to the field of parachuting training, and in particular to a simulated parachute landing operation training unit and device. Background Art

[0002] Skydiving, also known as airborne or parachuting, is both a sport and a military activity. Skydivers adjust direction in the air, move laterally, and close the vents on the parachute bag when landing. These operations can adjust direction, avoid obstacles, prevent collisions between skydivers, and adjust landing points. These are all important operations related to the safety of skydivers. These operations often require simulated training on the ground. Only by being proficient in the operations can you avoid panic and mistakes in the air and avoid skydiving accidents.

[0003] The airborne simulation that is close to the real scene mainly simulates the following actions: 1. Pull the joystick on the left rear side to simulate the parachute bag turning to the left, and pull the joystick on the right rear side to simulate the parachute bag turning to the right; 2. Pull a group of joysticks on the right front side and the left rear side at the same time to simulate the parachute bag turning to the left at an accelerated speed, and pull a group of joysticks on the left front side and the right rear side at the same time to simulate the parachute bag turning to the right at an accelerated speed; 3. The lower the joystick is pulled down, the faster the parachute bag turns. When the joysticks at the two rear corners are pulled at the same time, the parachute bag does not turn, which is used to simulate the braking action when landing; 4. Pull the control belt on one side of the parachute bag for controlling the lateral movement, and the parachute bag moves horizontally to the side of the control belt; 5. Pull a joystick, turn the parachute bag to the desired angle, and then release the joystick, the parachute bag stops turning and moves forward automatically. It should be pointed out that the joystick is a component of the parachute bag, including the joystick at the lower end and the control rope connected to the upper end of the joystick.

[0004] The current parachuting simulation devices only hang people on the rack, or use the unpowered hand-pulling method, which can only be turned by hand and cannot be stopped without pulling, which does not conform to the real scene; or rotate through motors, some are controlled by buttons, and some are controlled by rope switches. Not only can they not simulate and reproduce multiple parachuting states, but even this single rotation simulation cannot control the rotation speed by the stretching amplitude of the joystick. After releasing the joystick, it is even more impossible to simulate the action of the parachute bag stopping and moving forward, which is quite different from the actual operation. How to simulate the floating movement in the air and all the manipulation actions of the paratroopers in the airborne with high simulation has become a topic of common concern and research for the military and related companies, with a strong sense of urgency and mission.

[0005] In short, there is currently a lack of airborne maneuver training simulation equipment that can simulate the above-mentioned scenarios and actions. Utility Model Content

[0006] The utility model provides a simulated parachute landing manipulation training unit and a device to solve the above-mentioned technical problems.

[0007] A simulated parachute landing operation training unit includes a pulley mechanism for hanging on a guide rail, a first frame fixed to the bottom of the pulley mechanism, a traveling mechanism for driving the pulley mechanism to roll on the guide rail, a first rotating shaft rotatably provided at the bottom of the first frame, a rotating motor fixed in the first frame for driving the first rotating shaft to rotate, a controllable swing mechanism provided at the bottom of the first rotating shaft, a second frame provided at the bottom of the controllable swing mechanism, two steering simulation mechanisms, and a control belt fixed to both sides of the second frame; the controllable swing mechanism includes a baffle fixed to the first rotating shaft, a fixing plate fixed below the baffle, two first switch units arranged on the fixing plate for triggering cooperation with the baffle after pulling the control belt, a sleeve hinged to the first rotating shaft in the left-right direction, and an elastic reset mechanism. The two first switch units are respectively located on the left and right sides of the sleeve and are normally open switches. The two first switch units are arranged in independent drive circuits for driving the traveling mechanism to laterally move towards the corresponding first switch unit side. A horizontal pin shaft is fixed to the first rotating shaft in the front-rear direction, and the sleeve is hinged to the pin shaft. The elastic reset mechanism includes sleeves horizontally inserted and fixed on both sides of the sleeve, an adjustable elastic member inserted in the sleeve, and a positioning member provided at the outer end of the sleeve for pressing the adjustable elastic member. The inner end of the adjustable elastic member is in pressing cooperation with the side surface of the lower end of the first rotating shaft;

[0008] The two steering simulation mechanisms are correspondingly arranged at the left and right end parts of the second frame. The two steering simulation mechanisms are respectively a first steering simulation mechanism and a second steering simulation mechanism. The first steering simulation mechanism includes a first wire drawing box with an automatic contraction function, a wire winding wheel arranged outside the first wire drawing box, a control rope arranged on the wire winding wheel, a control rod fixed at the other end of the control rope, a second rotating shaft in anti-rotation cooperation with the wire winding wheel, a driving gear arranged at the end of the second rotating shaft, a driven wheel meshing with the driving gear, a third rotating shaft in anti-rotation cooperation with the driven wheel, a second switch unit, and a speed regulator connected to the third rotating shaft. The driven wheel includes a driven gear and a switch wheel coaxially arranged integrally with the driven gear. The circumferential surface of the switch wheel has a groove initially cooperating with the second switch unit. The second switch unit includes two travel switches arranged side by side, namely a first normally open switch and a first normally closed switch. The second steering simulation mechanism has one more fixed pulley for changing the steering of the control rope than the first steering simulation mechanism. The remaining structure of the second steering simulation mechanism is the same as that of the first steering simulation mechanism and is symmetrically arranged along the first rotating shaft. The switch unit of the second steering simulation mechanism is defined as a third switch unit, including a second normally open switch and a second normally closed switch. Among them, the first normally open switch and the second normally closed switch are connected in series to form a first steering circuit for controlling the rotation motor to drive the second frame to rotate to the left. The second normally open switch and the first normally closed switch are connected in series to form a second steering circuit for controlling the rotation motor to drive the second frame to rotate to the right. The first steering circuit and the second steering circuit are independently arranged. The end of the wire in the first wire drawing box of the first steering simulation mechanism is fixed on the wire winding wheel. The upper end of the control rope is fixed on the wire winding wheel and wound several turns. The lower end of the control rope passes downward through the bottom of the second frame. The output wire of the speed regulator is connected to the rotation motor.

[0009] Preferably, the first steering simulation mechanism and the second steering simulation mechanism further include second wire drawing boxes fixed at both ends of the front side of the second frame. The wires of the second wire drawing boxes are each independently connected to a control rod.

[0010] Preferably, the first switch unit is a proximity switch or a travel switch vertically arranged on the fixed plate.

[0011] Preferably, the second switch unit further includes a third normally-closed switch arranged side by side with the first normally-open switch and the first normally-closed switch, and the third switch unit further includes a fourth normally-closed switch arranged side by side with the second normally-open switch and the second normally-closed switch. The bottom of the first frame is connected to a horizontal positioning plate through a connecting plate, and the horizontal positioning plate is located at the rear or front side of the first rotating shaft. Two fourth switch units are arranged on the baffle, and the two fourth switch units are respectively located on the left and right sides of the first rotating shaft and are normally-open switches. The fourth switch unit is a proximity switch or a travel switch vertically arranged on the baffle. The horizontal positioning plate is used for triggering cooperation with the fourth switch unit. The third normally-closed switch and the fourth switch unit on the same side are serially arranged in an independent drive circuit, and this drive circuit is used to drive the traveling mechanism to laterally move to the left. The fourth normally-closed switch and the fourth switch unit on the same side are serially arranged in an independent drive circuit for driving the traveling mechanism to laterally move to the right.

[0012] Preferably, a conductive slip ring is arranged on the first rotating shaft between the elastic reset mechanism and the first frame. The control lines of the first switch unit, the second switch unit, the third switch unit, the fourth switch unit, and the speed regulator all enter the first frame upward through the conductive slip ring.

[0013] Preferably, the rotating motor is fixed to the bottom of the first frame through a bearing sleeve with a flange. The rotating motor is vertically arranged and the output shaft is fixedly connected to the first rotating shaft. The bearing sleeve is rotationally and cooperatively connected to the first rotating shaft through a bearing.

[0014] Preferably, the adjustable elastic member includes a first compression spring and a spring tongue arranged at the inner end of the first compression spring. The inner end of the spring tongue abuts against the side surface of the lower end of the first rotating shaft. The outer end of the sleeve has a thread, and the positioning member is a bolt screwed and cooperated with the outer end of the sleeve.

[0015] Preferably, the traveling mechanism includes an adjustable elastic unit fixed to the top of the first frame and a traveling motor fixed to the upper part of the adjustable elastic unit. A columnar driving wheel is fixed on the output shaft of the traveling motor, and the columnar driving wheel is arranged in top pressure fit with the bottom of the guide rail.

[0016] Preferably, the adjustable elastic unit includes a traveling motor bottom plate, at least two cylindrical spring seats arranged in the front-rear direction and below one side of the traveling motor bottom plate, and second compression springs arranged in the cylindrical spring seats. A guide shaft inserted into the second compression spring is arranged on the lower surface of the traveling motor bottom plate. A top plate for adjusting the bottom of the compression spring is arranged at the bottom of the cylindrical spring seat, and an adjusting bolt is connected to the bottom of the top plate. The adjusting bolt is screwed on the top of the first frame, and the other end of the traveling motor bottom plate is hinged and fixed to the top of the first frame.

[0017] A simulated parachute landing operation training device includes a portal frame and the simulated parachute landing operation training unit suspended on the portal frame. The portal frame includes columns and a cross beam with guide rails, and the pulley mechanism of the simulated parachute landing operation training unit is cooperatively connected with the guide rails.

[0018] For the simulated parachute landing operation training unit of the present utility model, when a paratrooper is training, pulling down the control strap on the rear side causes the simulated parachute to laterally move to that side in the air. Taking the left side as an example, pulling the left control strap causes the first switch unit on the left side to approach the baffle and be triggered to close, and the drive circuit associated with the first switch unit on the left side turns on the traveling mechanism, causing the simulated parachute landing operation training unit to laterally move to the left along the guide rail; pulling the control rod on the rear side causes the simulated parachute to rotate to that side in the air. Taking the left side as an example, pulling down the left control rod causes the control rope to rotate the wire winding wheel, and the wire winding wheel drives the driven wheel through the second rotating shaft and the driving gear. The switch wheel on the driven wheel pushes the second switch unit away from the initial position and triggers it, the first normally open switch closes, and the first steering circuit is turned on to control the rotation motor to drive the second frame to rotate to the left. At the same time, the first normally closed switch opens to prevent the second steering circuit from being turned on by mistake. During this process, as the control rod is pulled down, the third rotating shaft rotates accordingly, driving the speed governor to adjust the speed. The more the control rod is pulled down, the faster the rotation speed, simulating the adjustment of the direction of the simulated parachute in the air. Releasing the control rod causes the wire to reset under the action of the first wire box, the second switch unit resets, and the second frame stops rotating; if both control rods on the rear side are pulled down simultaneously, the first steering circuit and the second steering circuit both remain open, the rotation motor does not start and does not rotate, simulating the deceleration action of the paratrooper before touching the ground.

[0019] Furthermore, in actual parachute landings, there are also two control rods on the front side of the parachute. Pulling the diagonal control rods will increase the steering speed. Second wire boxes and control rods are respectively arranged at both ends of the front side of the second frame to simulate the parachute landing action of pulling the diagonal control rods for practice.

[0020] Furthermore, a third normally closed switch, a fourth normally closed switch, two fourth switch units, and a horizontal positioning plate are provided to simulate the forward movement after turning. In the actual parachute landing process, without any control actions or without control actions after turning, the parachute will keep moving forward. In this solution, after pulling the control rod on the rear side, for example, pulling the control rod on the side of the third normally closed switch, the second frame rotates to that side. When the fourth switch unit on that side reaches the horizontal positioning plate and is triggered, since the third normally closed switch is in the normally open state after pulling the control rod and is in series with the fourth switch unit on that side, at this time, the simulated parachute landing operation training unit does not translate along the guide rail. After releasing the control rod, the third normally closed switch resets and closes. At this time, the second frame stops rotating and the simulated parachute landing operation training unit translates along the guide rail, simulating the process of moving forward after turning in the air.

[0021] Furthermore, a conductive slip ring is arranged on the first rotating shaft between the elastic reset mechanism and the first frame, which can connect the various wires below the conductive slip ring to the first frame through the conductive slip ring, avoiding wire entanglement and the limitation of the rotation angle during the rotation of the second frame.

[0022] Furthermore, the structure of the adjustable elastic member can limit the swing amplitude of the sleeve on the first rotating shaft, prevent the sleeve from swinging too much when pulling the control belt, and ensure stability during the rotation of the first frame.

[0023] Furthermore, for the I-shaped guide rail, it is unstable to install the traveling motor on one side of the roller to drive the roller rotating shaft, and usually two traveling motors need to be set on both sides. In the solution of this application, the traveling motor is placed below the guide rail, and the simulated parachute landing control training unit is driven to move along the guide rail by the way of the columnar driving wheel rubbing the bottom of the guide rail. Since the columnar driving wheel is located directly below the guide rail, the operation is more stable and only one traveling motor is needed. In addition, in order to prevent falling off, the device for airborne simulation training usually preferably uses a C-shaped steel guide rail, and the roller can be placed inside the C-shaped steel guide rail. Due to the limited internal space of the C-shaped steel guide rail, how to drive the simulated parachute landing control training unit to move along the guide rail is a difficult problem. The traveling motor is placed below the guide rail, and this problem is well solved by the way of the columnar driving wheel rubbing the bottom of the guide rail.

[0024] Furthermore, one side of the traveling motor base plate is hinged, and a cylindrical spring seat and an adjustable-height second compression spring are arranged on the other side. The second compression spring presses against the traveling motor base plate to press the columnar driving wheel of the traveling motor against the bottom of the guide rail. Due to the limiting effect of the hinge structure, compared with the spring structures arranged at both ends, there will be no shaking in the left and right directions and it is more stable.

[0025] The simulated parachute landing control training device can well simulate multiple operations during the airborne process, facilitating airborne personnel to train in a real-like scenario. Brief Description of the Drawings

[0026] Figure 1 is a schematic structural diagram of a simulated parachute landing control training unit in the present utility model;

[0027] Figure 2 is Figure 1 the enlarged view at A in

[0028] Figure 3 is Figure 1 the enlarged view at B in

[0029] Figure 4 is a schematic top view structure diagram of the second frame, the first steering simulation mechanism and the second steering simulation mechanism in the present utility model;

[0030] Figure 5 Yes Figure 4 Schematic diagram of the structure of the first steering simulation mechanism in

[0031] Figure 6 Schematic diagram of the structure of the driven wheel in the present utility model;

[0032] Figure 7 Schematic diagram of the structure of the simulated parachute drop control training device in the present utility model. Specific implementation mode

[0033] Embodiment 1

[0034] A simulated parachute drop control training unit, as Figures 1-6 shown, includes a pulley mechanism for hanging on the guide rail 1, a first frame fixed to the bottom of the pulley mechanism, a traveling mechanism for driving the pulley mechanism to roll on the guide rail, a first rotating shaft 12 rotatably arranged at the bottom of the first frame, a rotating motor 11 fixed in the first frame for driving the first rotating shaft to rotate, a controllable swing mechanism arranged at the bottom of the first rotating shaft, a second frame 14 arranged at the bottom of the controllable swing mechanism, two steering simulation mechanisms, and control belts 17 fixed to both sides of the second frame.

[0035] In this embodiment, the first frame includes an upper plate 8, a lower plate 10, and connecting bolts 9 and 26 connecting the upper plate and the lower plate. There is an accommodation space between the upper plate and the lower plate. The pulley mechanism includes two triangular hanging plates 6 arranged along the extending direction of the guide rail. Two rollers 2 are arranged on both sides of each triangular hanging plate along the moving direction of the guide rail. The guide rail is a C-shaped steel guide rail, including a top plate, vertical plates integrally arranged on both sides of the top plate, inclined plates at the lower ends of the vertical plates inclined inwards towards the middle, and a horizontal track plate arranged at the bottom of the inclined plates. There is a gap for the triangular hanging plate to pass between the two horizontal track plates. The rollers arranged on both sides of the triangular hanging plate are located on the horizontal track plate and are arranged in rolling cooperation with the horizontal track plate.

[0036] The traveling mechanism can be an existing traveling mechanism as long as it can satisfy the movement back and forth along the guide rail. In this embodiment, the traveling mechanism includes an adjustable elastic unit fixed to the top of the first frame and a traveling motor 3 fixed to the upper part of the adjustable elastic unit. A columnar driving wheel (not shown in the figure) is fixed on the output shaft of the traveling motor. The columnar driving wheel can be made of metal or rubber. The columnar driving wheel is arranged in pressing fit with the bottom of the guide rail.

[0037] The adjustable elastic unit includes a walking motor base plate 4, at least two cylindrical spring seats 35 arranged in the front-back direction and provided below one side of the walking motor base plate, and a second compression spring 36 arranged in the cylindrical spring seats. A guide shaft inserted into the second compression spring is provided on the lower surface of the walking motor base plate. A top plate 37 for adjusting the bottom of the compression spring is provided at the bottom of the cylindrical spring seat. The bottom of the top plate is connected with an adjusting bolt 38, and the adjusting bolt is screwed on the top of the first frame. The other end of the walking motor base plate is hinged and fixed on the top of the first frame. Specifically, the other side of the walking motor base plate is connected with a hinge plate 5, and the other end of the hinge plate 5 is hinged on a hinge seat 7, and the hinge seat is fixed on the top of the first frame. One side of the walking motor base plate is hinged, and the other side is arranged on the cylindrical spring seat and the second compression spring with adjustable height. The second compression spring presses against the walking motor base plate to press the cylindrical driving wheel of the walking motor against the bottom of the guide rail. Due to the limiting effect of the hinge structure, compared with the spring structures arranged at both ends, there will be no shaking in the left-right direction and it is more stable.

[0038] The controllable swing mechanism includes a baffle 28 fixed on the first rotating shaft, a fixing plate 27 fixed below the baffle, two first switch units 22 arranged on the fixing plate and used for triggering cooperation with the baffle after pulling the control belt, a sleeve 29 hinged on the first rotating shaft 12 in the left-right direction, and an elastic reset mechanism. The two first switch units are respectively located on the left and right sides of the sleeve and are normally open switches. The two first switch units are arranged in independent drive circuits for driving the walking mechanism to laterally move towards the corresponding first switch unit side. The first switch unit is a proximity switch or a travel switch vertically arranged on the fixing plate. A horizontal pin shaft 58 is fixed on the first rotating shaft in the front-back direction, and the sleeve is hinged with the pin shaft to realize the hinging of the sleeve 29 with the first rotating shaft 12 in the left-right direction.

[0039] The elastic reset mechanism includes sleeves 31 horizontally inserted and fixed on the left and right sides of the sleeve, an adjustable elastic member inserted into the sleeves, and a positioning member arranged at the outer end of the sleeves for pressing the adjustable elastic member. The inner end of the adjustable elastic member is in pressing cooperation with the side surface of the lower end of the first rotating shaft. In this embodiment, the adjustable elastic member includes a first compression spring 34 and a spring tongue 30 arranged at the inner end of the first compression spring. The inner end of the spring tongue abuts against the side surface of the lower end of the first rotating shaft. The outer end of the sleeve has a thread, and the positioning member is a bolt 32 screwed with the outer end of the sleeve. The outer end of the first compression spring is also inserted with a stepped shaft-shaped spring pressing plate 33. The diameter of the large-diameter section of the spring pressing plate is larger than the inner diameter of the first compression spring, and the small-diameter section of the spring pressing plate is inserted into the first compression spring. The outer end of the spring tongue also has a plug inserted into the first compression spring, so that the compression and rebound cooperation of the first compression spring with the spring pressing plate and the spring tongue is more stable. In this embodiment, the outer end of the spring tongue is tangent to the side surface of the lower end of the first rotating shaft to prevent the spring tongue from jamming with the lower end of the first rotating shaft.

[0040] The second frame 14 is a rectangular frame made of angle iron, with two parallel horizontal fixing rods fixed at the top. The bottom of the sleeve is closed by a sealing plate, and the second frame is fixedly welded to the sealing plate at the bottom of the sleeve. Two steering simulation mechanisms are respectively arranged at the left and right end parts of the second frame. The two steering simulation mechanisms are respectively a first steering simulation mechanism and a second steering simulation mechanism. The first steering simulation mechanism includes a first wire drawing box 19 with an automatic contraction function, a wire winding wheel 20 arranged outside the first wire drawing box, a control rope 18 arranged on the wire winding wheel, a control rod 16 fixed at the other end of the control rope, a second rotating shaft 40 in anti-rotation cooperation with the wire winding wheel, a driving gear 47 arranged at the end of the second rotating shaft, a driven wheel 21 engaged with the driving gear, a third rotating shaft in anti-rotation cooperation with the driven wheel, a second switch unit, and a speed regulator 39 connected to the third rotating shaft. The driven wheel 21 includes a driven gear 48 and a switch wheel 42 arranged coaxially and integrally with the driven gear. The circumferential surface of the switch wheel has a groove initially cooperating with the second switch unit. In this embodiment, the groove is a cut surface, and in other embodiments, it can also be a U-shaped groove. The second switch unit includes two travel switches arranged side by side, namely a first normally open switch 44 and a first normally closed switch 46, which are fixed on an L-shaped fixing plate 43, and the L-shaped fixing plate 43 is fixed on the second frame. The second steering simulation mechanism has one more fixed pulley 15 for changing the steering of the control rope than the first steering simulation mechanism. The remaining structure of the second steering simulation mechanism is the same as that of the first steering simulation mechanism and is symmetrically arranged along the first rotating shaft. For the convenience of distinction, the switch unit of the second steering simulation mechanism is defined as the third switch unit, including a second normally open switch and a second normally closed switch. Among them, the first normally open switch and the second normally closed switch are connected in series to form a first steering circuit for controlling the rotation motor 11 to drive the second frame to rotate to the left. The second normally open switch and the first normally closed switch are connected in series to form a second steering circuit for controlling the rotation motor 11 to drive the second frame to rotate to the right. The first steering circuit and the second steering circuit are independently arranged. The end of the wire in the first wire drawing box of the first steering simulation mechanism is fixed on the wire winding wheel. The upper end of the control rope is fixed on the wire winding wheel and wound several turns. The lower end of the control rope passes downward through the bottom of the second frame. The output wire of the speed regulator is connected to the rotation motor. The speed regulator 39 is an existing product and is connected to the third rotating shaft through a potentiometer thereon. Specifically, the third rotating shaft is connected to the potentiometer through a universal joint coupling 49. In this way, while ensuring the accurate transmission of the rotation angle from the third rotating shaft to the potentiometer, the relative position requirement between the potentiometer and the third rotating shaft is greatly reduced, which is convenient for installation. It should be noted that the winding directions of the control ropes of the first steering simulation mechanism and the second steering simulation mechanism on the corresponding wire winding wheels are both clockwise for adapting to the potentiometer. The control rope of the second steering simulation mechanism changes its direction through the fixed pulley 15 to ensure that when the control rods on both sides are pulled downward respectively, the rotation speed of the rotation motor 11 can be increased.An annular partition plate 45 is integrally provided on the winding wheel 20, dividing the winding wheel 20 into two annular grooves to form a double-groove winding wheel. The pulling wire and the control cable are respectively located in different annular grooves to avoid mutual interference and entanglement. The ends of the pulling wire and the control cable are both fixed in the corresponding annular grooves. Compared with connecting the pulling wire and the control cable and winding them on the winding wheel, when the control cable is loosened, it can avoid the problem that the winding wheel cannot be reset in place due to insufficient friction between the control cable pulling wire and the winding wheel, resulting in continuous rotation of the second frame and speed regulation failure. The second rotating shaft and the third rotating shaft are both fixed on the second frame through bearing seats.

[0041] The first steering simulation mechanism and the second steering simulation mechanism further include a second pulling wire box 50. The second pulling wire box is fixed at both ends of the front side of the second frame. The pulling wires of the pulling wire box are each separately connected to a control rod. During actual airborne operations, there are also two control rods on the front side of the parachute. Pulling the diagonal control rods will increase the steering speed. Pulling wire boxes and control rods are respectively arranged at both ends of the front side of the second frame to simulate the airborne action of pulling the diagonal control rods for practice.

[0042] The second switch unit further includes a third normally closed switch 51 arranged side by side with the first normally open switch and the first normally closed switch. The third switch unit of the second steering simulation mechanism further includes a fourth normally closed switch arranged side by side with the second normally open switch and the second normally closed switch. The bottom of the first frame is connected to a horizontal positioning plate (not shown in the figure) through a connecting plate. The horizontal positioning plate is located behind or in front of the first rotating shaft. Two fourth switch units 23 are provided on the baffle 28. The two fourth switch units are respectively located on the left and right sides of the first rotating shaft and are normally open switches. The fourth switch unit is a proximity switch or a travel switch vertically arranged on the baffle. The horizontal positioning plate is used to cooperate with the fourth switch unit for triggering. The third normally closed switch and the fourth switch unit on the same side are connected in series in an independent drive circuit, and this drive circuit is used to drive the traveling mechanism to laterally move to the left. The fourth normally closed switch and the fourth switch unit on the same side are connected in series in an independent drive circuit for driving the traveling mechanism to laterally move to the right.

[0043] In addition, in this embodiment, a conductive slip ring 24 is provided on the first rotating shaft between the elastic reset mechanism and the first frame. The control lines of the first switch unit, the second switch unit, the third switch unit, the fourth switch unit, and the speed regulator all enter the first frame upward through the conductive slip ring. The conductive slip ring is an existing product and will not be elaborated here.

[0044] The rotary electric machine 11 is fixed to the bottom of the first frame through a flanged bearing housing 25. The rotary electric machine 11 is vertically arranged and its output shaft is fixedly connected to the first rotating shaft 12. The bearing housing 25 is rotationally and cooperatively connected to the first rotating shaft through a bearing. Regarding the power supply, each electrical component can be powered by a fixed power supply such as a lithium battery unit arranged in the first frame, or a flexible ribbon cable used in existing 3D printers and gantry cranes can be adopted to connect to the mains power. The power supply is an existing technology and will not be elaborated here.

[0045] In the simulated parachute drop control training unit of this embodiment, when the parachutist is training, pulling down the control belt on one side at the rear simulates the parachute moving horizontally to that side in the air. Taking the left side as an example, pulling the left control belt makes the first switch unit on the left approach the baffle and be triggered to close, and the drive circuit associated with the first switch unit on the left turns on the traveling mechanism, causing the simulated parachute drop control training unit to move horizontally to the left along the guide rail; pulling the control rod on one side at the rear simulates the parachute rotating to that side in the air. Taking the left side as an example, pulling down the left control rod rotates the control rope around the winding wheel. The winding wheel drives the driven wheel through the second rotating shaft and the driving gear. The switch wheel on the driven wheel pushes the second switch unit away from the initial position and triggers it. The first normally open switch closes, and the first steering circuit is turned on to control the rotary electric machine to drive the second frame to rotate to the left. At the same time, the first normally closed switch opens to prevent the second steering circuit from being turned on by mistake. During this process, as the control rod is pulled down, the third rotating shaft rotates accordingly, driving the speed governor to adjust the speed. The more the control rod is pulled down, the faster the rotation speed, simulating the adjustment of the parachute's direction in the air. When the control rod is released, the wire rope is reset under the action of the first wire rope box, the second switch unit is reset, and the second frame stops rotating; if the two control rods at the rear are pulled down simultaneously, the first steering circuit and the second steering circuit are both open, the rotary electric machine does not start and does not rotate, simulating the deceleration action of the parachutist before touching the ground.

[0046] Furthermore, a third normally closed switch, a fourth normally closed switch, two fourth switch units, and a horizontal positioning plate are provided to simulate the forward movement after turning. In the actual parachute drop process, without any control action or no operation action after turning, the parachute will keep moving forward. In this solution, after pulling the control rod on one side at the rear, for example, pulling the control rod on the side of the third normally closed switch, the second frame rotates to that side. When the fourth switch unit on that side reaches the horizontal positioning plate and is triggered, since the third normally closed switch is in the normally open state after pulling the control rod and is in series with the fourth switch unit on that side, at this time, the simulated parachute drop control training unit does not move horizontally along the guide rail. After releasing the control rod, the third normally closed switch resets and closes. At this time, the second frame stops rotating and the simulated parachute drop control training unit moves horizontally along the guide rail, simulating the process of moving forward after turning in the air.

[0047] A conductive slip ring is arranged on the first rotating shaft between the elastic reset mechanism and the first frame, which can connect the various wires that need to be connected to the first frame below the conductive slip ring through the conductive slip ring, avoiding wire entanglement and the limitation of the rotation angle during the rotation of the second frame.

[0048] The structure of the adjustable elastic member can limit the swing amplitude of the sleeve on the first rotating shaft, prevent the sleeve from swinging too much when pulling the control belt, and ensure stability during the rotation of the first frame.

[0049] For the I-shaped guide rail, it is unstable to install the traveling motor on one side of the roller to drive the roller rotating shaft. Usually, a traveling motor needs to be set on each side. However, in the solution of this application, the traveling motor is placed below the guide rail, and the simulated parachute drop control training unit is driven to move along the guide rail by the way of the columnar driving wheel rubbing the bottom of the guide rail. Since the columnar driving wheel is located directly below the guide rail, the operation is more stable and only one traveling motor is needed. In addition, in order to prevent falling off, the device for simulated parachute drop training preferably uses a C-shaped steel guide rail, and the roller can be placed inside the C-shaped steel guide rail. Due to the limited internal space of the C-shaped steel guide rail, how to drive the simulated parachute drop control training unit to move along the guide rail is a difficult problem. The traveling motor is placed below the guide rail, and this problem is well solved by the way of the columnar driving wheel rubbing the bottom of the guide rail.

[0050] Embodiment 2

[0051] A parachute drop control training device, as Figures 1-7 shown, includes a gantry frame and a simulated parachute drop control training unit as described in Embodiment 1 hung on the gantry frame. The gantry frame includes columns 52 and a cross beam with a guide rail 1. The pulley mechanism of the simulated parachute drop control training unit is cooperatively connected with the guide rail. It can well simulate multiple operations during the parachute drop process, facilitating parachute drop personnel to train in a realistic scenario.

Claims

1. A simulated parachute maneuvering training unit, characterized in that: The invention comprises a pulley mechanism for hanging on a guide rail, a first frame fixed at the bottom of the pulley mechanism, a walking mechanism for driving the pulley mechanism to roll on the guide rail, a first rotating shaft rotatably arranged at the bottom of the first frame, a rotating motor fixed in the first frame for driving the first rotating shaft to rotate, a controllable swing mechanism arranged at the bottom of the first rotating shaft, a second frame arranged at the bottom of the controllable swing mechanism, two steering simulation mechanisms and operating belts fixed at both sides of the second frame; the controllable swing mechanism comprises a baffle fixed on the first rotating shaft, a fixing plate fixed under the baffle, and two first turning simulation mechanisms arranged on the fixing plate for triggering and cooperating with the baffle after the operating belt is pulled. A switch unit, a sleeve hinged on the first rotating shaft in the left-right direction, and an elastic reset mechanism, the two first switch units are respectively located on the left and right sides of the sleeve and are normally open switches, the two first switch units are arranged in a mutually independent driving circuit for driving the walking mechanism to move laterally to the corresponding first switch unit side, a horizontal pin shaft is fixed on the first rotating shaft along the front-back direction, the sleeve is hingedly arranged with the pin shaft, the elastic reset mechanism includes a sleeve horizontally inserted and fixed on the left and right sides of the sleeve, an adjustable elastic member inserted in the sleeve, and a positioning member arranged at the outer end of the sleeve to press the adjustable elastic member, and the inner end of the adjustable elastic member is pressed against the side surface of the lower end of the first rotating shaft; The two steering simulation mechanisms are respectively arranged at the left and right ends of the second frame, and the two steering simulation mechanisms are respectively a first steering simulation mechanism and a second steering simulation mechanism. The first steering simulation mechanism is located at the left end of the second frame, and includes a first wire pull box with an automatic retraction function, a winding wheel arranged outside the first wire pull box, a control rope arranged on the winding wheel, a control rod fixed to the other end of the control rope, a second rotating shaft matched with the winding wheel for anti-rotation, a driving gear arranged at the end of the second rotating shaft, a driven wheel meshed with the driving gear, a third rotating shaft matched with the driven wheel for anti-rotation, a second switch unit and a speed regulator connected to the third rotating shaft, the driven wheel includes a driven gear and a switch wheel arranged coaxially with the driven gear, a groove initially matched with the second switch unit is provided on the circumferential surface of the switch wheel, and the second switch unit includes two travel switches arranged side by side, which are respectively a first normally open switch and a first normally closed switch. The second steering simulation mechanism has one more fixed pulley for changing the direction of the control rope than the first steering simulation mechanism. The remaining structure of the second steering simulation mechanism is the same as that of the first steering simulation mechanism and is symmetrically arranged along the first rotation axis. The switch unit of the second steering simulation mechanism is defined as a third switch unit, including a second normally open switch and a second normally closed switch, wherein the first normally open switch and the second normally closed switch are connected in series to form a first steering circuit for controlling the rotating motor to drive the second frame to rotate to the left, the second normally open switch and the first normally closed switch are connected in series to form a second steering circuit for controlling the rotating motor to drive the second frame to rotate to the right, the first steering circuit and the second steering circuit are arranged independently of each other, the wire end of the first wire box in the first steering simulation mechanism is fixed on the winding wheel, the upper end of the control rope is fixed on the winding wheel and wound several times, the lower end of the control rope passes downward through the bottom of the second frame, and the output wire of the speed regulator is connected to the rotating motor.

2. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The first steering simulation mechanism and the second steering simulation mechanism also include a second wire drawing box, which is fixed at two ends of the front side of the second frame, and the wires of the second wire drawing box are each individually connected to a control rod.

3. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The first switch unit is a proximity switch or a travel switch vertically arranged on the fixing plate.

4. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The second switch unit also includes a third normally closed switch arranged side by side with the first normally open switch and the first normally closed switch, and the third switch unit also includes a fourth normally closed switch arranged side by side with the second normally open switch and the second normally closed switch. The bottom of the first frame is connected to the horizontal positioning plate through a connecting plate, and the horizontal positioning plate is located on the rear side or the front side of the first rotating shaft. Two fourth switch units are arranged on the baffle, and the two fourth switch units are respectively located on the left and right sides of the first rotating shaft and are normally open switches. The fourth switch unit is a proximity switch or a travel switch vertically arranged on the baffle, and the horizontal positioning plate is used to trigger and cooperate with the fourth switch unit. The third normally closed switch and the fourth switch unit on the same side are arranged in series in an independent drive circuit, and the drive circuit is used to drive the walking mechanism to move laterally to the left, and the fourth normally closed switch and the fourth switch unit on the same side are arranged in series in an independent drive circuit, and are used to drive the walking mechanism to move laterally to the right.

5. A simulated parachute maneuvering training unit according to claim 4, characterized in that: A conductive slip ring is arranged on the first rotating shaft between the elastic reset mechanism and the first frame, and the first switch unit, the second switch unit, the third switch unit, the fourth switch unit and the control circuit of the speed regulator all enter the first frame upward through the conductive slip ring.

6. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The rotating motor is fixed to the bottom of the first frame through a bearing sleeve with a flange. The rotating motor is vertically arranged and the output shaft is fixedly connected to the first rotating shaft. The bearing sleeve is rotatably connected to the first rotating shaft through a bearing.

7. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The adjustable elastic member includes a first compression spring and a spring tongue arranged at the inner end of the first compression spring, the inner end of the spring tongue abuts against the side surface of the lower end of the first rotating shaft, the outer end of the sleeve has a thread, and the positioning member is a bolt screwed together with the outer end of the sleeve.

8. A simulated parachute maneuvering training unit according to claim 1, characterized in that: The walking mechanism comprises an adjustable elastic unit fixed on the top of the first frame and a walking motor fixed on the upper part of the adjustable elastic unit. A columnar driving wheel is fixed on the output shaft of the walking motor, and the columnar driving wheel is pressed and fitted with the bottom of the guide rail.

9. A simulated parachute maneuvering training unit according to claim 8, characterized in that: The adjustable elastic unit includes a walking motor base plate, at least two tubular spring seats arranged in the front-to-back direction and arranged below one side of the walking motor base plate, and a second compression spring arranged in the tubular spring seat. The lower surface of the walking motor base plate is provided with a guide shaft inserted into the second compression spring, and the bottom of the tubular spring seat is provided with a top plate for adjusting the bottom of the compression spring. The bottom of the top plate is connected to an adjusting bolt, and the adjusting bolt is screwed on the top of the first frame. The other end of the walking motor base plate is hinged and fixed to the top of the first frame.

10. A simulated parachute maneuvering training device, characterized in that: It comprises a door-shaped frame and a simulated parachute manipulation training unit as described in any one of claims 1 to 9 hung on the door-shaped frame, wherein the door-shaped frame comprises a column and a crossbeam with a guide rail, and a pulley mechanism of the simulated parachute manipulation training unit is cooperatively connected with the guide rail.

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