A self-rescue training simulation device

Abstract

The utility model relates to the technical field of escape training, provide a self -rescue training simulation device, including experiment cabin and the dynamic arm system of symmetry in its both sides, dynamic arm system includes first dynamic arm connecting rod, second dynamic arm connecting rod, first rocker arm subassembly and second rocker arm subassembly, in first rocker arm subassembly, first dynamic arm connecting rod front end is hinged in first rocker arm one end through second mandrel, first rocker arm other end is connected with second fixed support through third mandrel, both junctions all are equipped with first joint bearing, the third mandrel outer symmetry is equipped with third state gasket, in second rocker arm subassembly, second dynamic arm connecting rod front end is connected with second rocker arm one end through fourth mandrel and is equipped with copper bush, second rocker arm other end is connected with third fixed support through fifth mandrel and is equipped with second joint bearing, the fifth mandrel outer symmetry is equipped with fourth state gasket. According to the utility model, can realize the flexible, stable motion simulation of multiple degrees of freedom, effectively promotes the training authenticity and security.

Description

Technical Field

[0001] This utility model relates to the field of escape training technology, and in particular to a self-rescue training simulation device. Background Technology

[0002] With the widespread deployment of amphibious assault vehicles in the military, their application in amphibious operations is becoming increasingly common. Amphibious vehicles are primarily used for amphibious landing missions; however, if a vehicle is attacked and damaged or a critical component fails during operation, it is highly susceptible to flooding and rapid sinking, leading to serious accidents. Since the sinking time after flooding is extremely short, typically only 1-2 minutes, how the crew can quickly and effectively escape and save themselves in this critical situation becomes a crucial issue concerning their safety.

[0003] Currently, training facilities for amphibious vehicle crew escape training are inadequate, especially simulation systems that can accurately reproduce the various posture changes of vehicles during water ingress (such as tilting, lateral tilting, and uniform sinking). Existing training equipment mostly focuses on static or simple dynamic simulations, making it difficult to reproduce the complex motion states and multi-degree-of-freedom movements of vehicles during water ingress. This results in a significant gap between training scenarios and actual combat environments, limiting training effectiveness.

[0004] Chinese patent CN220137810U discloses a vehicle self-rescue training device that can drive a training vehicle into the water for basic wading training through a gantry hoist, which solves some of the practical teaching needs. However, it still has the shortcomings of a single movement mode and the inability to simulate the multi-posture dynamic changes of a vehicle during water entry. It is difficult to realistically reproduce the complex working conditions such as longitudinal tilt and lateral tilt when an amphibious vehicle sinks.

[0005] Therefore, how to provide an escape and self-rescue training simulation system that can realistically simulate the process of an amphibious vehicle sinking in water, achieve precise control of multi-dimensional movements, and improve the realism and safety of training has become an urgent technical problem to be solved. Utility Model Content

[0006] In view of this, in order to overcome the shortcomings of the prior art, the present invention aims to provide a self-rescue training simulation device.

[0007] This utility model provides a self-rescue training simulation device, which includes an experimental chamber and a boom system. The boom system is symmetrically arranged on both sides of the experimental chamber. The boom system includes a first boom connecting rod, a second boom connecting rod, a first rocker arm assembly, and a second rocker arm assembly. The first rocker arm assembly includes a first rocker arm, a second spindle, a second fixed support, a third spindle, a first fixed plate, a first joint bearing, and a third adjusting washer. The front end of the first boom connecting rod is hinged to one end of the first rocker arm through the second spindle, and the other end of the first rocker arm is connected to the second fixed support through the third spindle. A first joint bearing is provided at the connection points between the first rocker arm and the second and third spindles. The first fixed plate is fixedly connected to the second fixed support. The second rocker arm assembly includes a second rocker arm, a fourth spindle, a third fixed support, a fifth spindle, a copper sleeve, a second fixed plate, a second joint bearing, and a fourth adjusting washer. The front end of the second boom connecting rod is connected to one end of the second rocker arm via the fourth spindle, with a copper sleeve at the connection point. The other end of the second rocker arm is connected to the third fixed support via the fifth spindle, with a second joint bearing at the connection point. The fifth spindle has fourth adjusting washers symmetrically arranged coaxially around its outer periphery. Optionally, in this self-rescue training simulation device, the experimental chamber has a symmetrically arranged first and second water outlets.

[0008] Optionally, in the self-rescue training simulation device of this utility model, the first boom connecting rod is provided with a first connecting groove and a first limiting block, and the second boom connecting rod is provided with a second connecting groove and a second limiting block.

[0009] Optionally, the self-rescue training simulation device of this utility model also includes a support platform fixed to one side of the experimental chamber.

[0010] Optionally, the self-rescue training simulation device of this utility model further includes a control system and a water tank, with the control system located in front of the experimental chamber and the water tank located behind the experimental chamber.

[0011] Optionally, the self-rescue training simulation device of this utility model includes a control system comprising a left valve group of a hydraulic pump, a right valve group of a hydraulic pump, a main body of a first hydraulic pump station, a main body of a second hydraulic pump station, an electrical distribution box, and a system control console.

[0012] Optionally, the self-rescue training simulation device of this utility model further includes a first positioning component in the boom system. The first positioning component is symmetrically arranged on the support platform. The first positioning component includes a first fixed support, a pressure-resistant sleeve, a first spindle, a first adjusting washer, and a second adjusting washer. The first fixed support is fixed on the support platform. The tail ends of the first boom connecting rod and the second boom connecting rod are rotatably hinged to the first fixed support through the pressure-resistant sleeve and the first spindle. The first adjusting washer and the second adjusting washer are symmetrically arranged at both ends of the pressure-resistant sleeve.

[0013] Optionally, the self-rescue training simulation device of this utility model further includes a lifting cylinder in the boom system, and the lifting cylinder includes a cylinder and a cylinder connecting rod.

[0014] Optionally, the self-rescue training simulation device of this utility model further includes a second positioning component in the boom system. The second positioning component includes a fourth fixed support, a sixth spindle, and a fifth adjusting washer. The fourth fixed support is fixed on the support platform, and the lower end of the hydraulic cylinder is hinged to the fourth fixed support through the sixth spindle. The fifth adjusting washer is coaxially and symmetrically arranged on the outer periphery of the sixth spindle.

[0015] Optionally, in the self-rescue training simulation device of this utility model, the second component further includes a seventh spindle and a sixth adjusting washer. The top end of the cylinder connecting rod is hinged to the first connecting groove on the first boom connecting rod or the second connecting groove on the second boom connecting rod through the seventh spindle. The sixth adjusting washer is coaxially and symmetrically arranged on the outer periphery of the seventh spindle.

[0016] The device of this utility model has the following beneficial technical effects: 1. Realistic simulation enhances training effectiveness. The device can simulate various dynamic conditions of amphibious vehicles sinking in water (such as horizontal sinking, longitudinal tilting, and lateral tilting) with high precision, providing crew members with a training environment that closely resembles actual combat. This multi-dimensional and highly realistic simulation greatly enhances the relevance and effectiveness of training.

[0017] 2. Precise control ensures safe operation. Sensor feedback and PLC closed-loop control are employed to achieve precise control of the simulator's speed and angle. Key connection parts utilize a combination of spherical bearings and copper bushings, along with mechanical limit mechanisms, ensuring the flexibility and stability of multi-degree-of-freedom motion while effectively suppressing unintended swaying, thus guaranteeing the safety of equipment and personnel.

[0018] 3. Integrated and optimized for convenient and efficient operation. The system adopts an integrated electromechanical-hydraulic design, allowing for centralized control and monitoring of all parameters via a central control console, making operation simple. The hydraulic system is modular, facilitating maintenance; the experimental chamber is equipped with a quick-drainage outlet, shortening training preparation time, and overall meeting the requirements of high efficiency, reliability, and ease of use for training facilities. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is a structural example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 2 This is another structural example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 3 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 4 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 5 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 6 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 7 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; Figure 8 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model; In the diagram, 1-Experimental chamber, 2-Boom system, 3-Control system, 4-Water tank, 11-First drain outlet, 12-Second drain outlet, 21-Support platform, 22-First positioning assembly, 23-First boom connecting rod, 24-Second boom connecting rod, 25-First rocker arm assembly, 26-Second rocker arm assembly, 27-Lifting cylinder, 28-Second positioning assembly, 31-Left valve group of hydraulic pump, 32-Right valve group of hydraulic pump, 33-Main body of first hydraulic pump station, 34-Main body of second hydraulic pump station, 35-Electrical distribution box, 36-System control panel, 221-First fixed support, 222-First adjusting washer, 223-Second adjusting washer, 224-Pressure-resistant sleeve, 225-First spindle, 231-First connecting groove, 2 32-First limiting block, 241-Second connecting groove, 242-Second limiting block, 251-First rocker arm, 252-Second spindle, 253-Second fixed support, 254-Third spindle, 255-Third adjusting washer, 256-First fixed plate, 257-First joint bearing, 261-Second rocker arm, 262-Fourth spindle, 263-Third fixed support, 264-Fifth spindle, 265-Fourth adjusting washer, 266-Second fixed plate, 267-Second joint bearing, 268-Copper sleeve, 271-Hydraulic cylinder, 272-Hydraulic cylinder connecting rod, 281-Fourth fixed support, 282-Fifth adjusting washer, 283-Sixth spindle, 284-Seventh spindle, 285-Sixth adjusting washer. Detailed Implementation

[0021] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0022] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Figure 1 This is a structural example diagram of a self-rescue training simulation device according to an embodiment of the present utility model. Figure 2 Here is another structural example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown in the figure. Figure 1 , Figure 2 As shown in the figure, in this embodiment, a self-rescue training simulation device includes an experimental cabin 1, a boom system 2, a control system 3, and a water tank 4.

[0025] The boom system 2 is symmetrically arranged on the left and right sides of the experimental chamber 1. The control system 3 is located in front of the experimental chamber 1 and is used to centrally control the movement of the boom system 2. The water tank 4 is located behind the experimental chamber 1. The water tank 4 can temporarily store water and the control system 3 injects water into the experimental chamber 1 through pipelines according to instructions.

[0026] According to an optional example, in this embodiment, the experimental chamber 1 is provided with two symmetrical first drain outlets 11 and second drain outlets 12, which are used to quickly drain the water accumulated in the chamber after training.

[0027] According to an optional example, in this embodiment, the boom system 2 includes a support platform 21, a first positioning assembly 22, a first boom link 23, a second boom link 24, a first rocker arm assembly 25, a second rocker arm assembly 26, a lifting cylinder 27, and a second positioning assembly 28. The support platform 21 is fixed to one side of the experimental chamber 1, and the swingable first boom link 23 and second boom link 24 are mounted on it via the first positioning assembly 22. The front end of the first boom link 23 is connected to the simulation chamber via the first rocker arm assembly 25, and the front end of the second boom link 24 is connected to the simulation chamber via the second rocker arm assembly 26. The lifting cylinder 27 is mounted on the support platform 21 via the second positioning assembly 28.

[0028] Figure 3 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown below. Figure 1 , Figure 3 As shown, in this embodiment, the first positioning component 22 includes a first fixed support 221, a first adjustable washer 222, a second adjustable washer 223, a pressure-resistant sleeve 224, and a first mandrel 225.

[0029] The tail ends of the first boom link 23 and the second boom link 24 are respectively fixedly assembled with the pressure-resistant sleeve 224. The pressure-resistant sleeve 224 passes through the first mandrel 225 and is connected to the first fixed support 221, forming a rotating pair that rotatably hinges the tail ends of the first boom link 23 and the second boom link 24 to the support platform 21. The first adjusting washer 222 and the second adjusting washer 223 are symmetrically arranged at both ends of the pressure-resistant sleeve 224 for precise adjustment and compensation of axial clearance.

[0030] Figure 4 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown below. Figure 1 , Figure 4 As shown, in this embodiment, the first rocker arm assembly 25 includes a first rocker arm 251, a second spindle 252, a second fixed support 253, a third spindle 254, a third adjustable washer 255, a first fixed plate 256, and a first joint bearing 257.

[0031] The front end of the first boom connecting rod 23 is hinged to one end of the first rocker arm 251 via the second spindle 252. The other end of the first rocker arm 251 is connected to the second fixed support 253 via the third spindle 254. The gap at this connection is adjusted by symmetrically arranged third adjusting washers 255. First joint bearings 257 are respectively provided at the connection points between the two ends of the first rocker arm 251 and the second spindle 252 and the third spindle 254. The second fixed support 253 is connected and fixed to the simulation cabin via the first fixing plate 256, thereby completing the power transmission path from the boom system 2 to the simulation cabin.

[0032] It should be noted that in practical applications, the design of assembling first joint bearings 257 at both ends of the first rocker arm 251 enables the connecting spindle and the side of the first rocker arm 251 to achieve a maximum tilt angle of ±17° and a rotation of 180°, providing the simulator with flexible movement capabilities of multiple degrees of freedom.

[0033] Figure 5 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown below. Figure 1 , Figure 5 As shown, in this embodiment, the second rocker arm assembly 26 includes a second rocker arm 261, a fourth spindle 262, a third fixed support 263, a fifth spindle 264, a fourth adjustable washer 265, a second fixed plate 266, a second joint bearing 267, and a copper sleeve 268.

[0034] The front end of the second boom connecting rod 24 is connected to one end of the second rocker arm 261 via the fourth spindle 262. A copper sleeve 268 is provided at this connection to achieve stable radial support and limit unnecessary rotation. The other end of the second rocker arm 261 is connected to the third fixed support 263 via the fifth spindle 264, and a second joint bearing 267 is provided at this connection to enable multi-angle tilting and rotation. The fifth spindle 264 is symmetrically provided with fourth adjusting washers 265 on its outer periphery. The third fixed support 263 is fixedly connected to the simulation cabin via the second fixing plate 266.

[0035] It should be noted that, in practical applications, the combination of the fourth spindle 262 and the copper sleeve 268 can provide stable radial support and effectively limit unnecessary rotation. The purpose is to ensure that the simulator will not sway when tilting, thereby enhancing the stability of the motion.

[0036] Figure 6 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown below. Figure 1 , Figure 6 As shown, in this embodiment, the lifting cylinder 27 is composed of a cylinder 271 and a cylinder connecting rod 272, and its installation and power transmission are achieved through the second positioning component 28.

[0037] It should be noted that in practical applications, the lifting cylinder has a built-in displacement sensor. The simulated signal from the tilt sensor in the simulation chamber and the analog signal from this displacement sensor are fed back to the control system 3 for comprehensive processing and to issue precise action commands.

[0038] Figure 7 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model. Figure 8 This is a partial example diagram of a self-rescue training simulation device according to an embodiment of the present utility model, as shown in the sixth part. Figures 1 to 8As shown, in this embodiment, the second positioning component 28 includes a fourth fixed support 281, a fifth adjustable washer 282, a sixth spindle 283, a seventh spindle 284, and a sixth adjustable washer 285.

[0039] The lower end of the hydraulic cylinder 271 is hinged to the fourth fixed support 281 fixed on the bracket platform 21 via the sixth spindle 283, and the fifth adjusting washer 282 is symmetrically arranged at the hinge point. The top end of the hydraulic cylinder connecting rod 272 is hinged to the first connecting groove 231 on the first boom connecting rod 23 via the seventh spindle 284, and the sixth adjusting washer 285 is symmetrically arranged coaxially on the outer periphery of the seventh spindle 284.

[0040] It should be noted that the first boom link 23 and the second boom link 24 are both hinged to the corresponding lifting cylinder 27 through the second positioning assembly 28 with the same structure. Similarly, the top of the cylinder link 272 is hinged to the second connecting groove 241 of the second boom link 24 through the seventh spindle 284. The sixth adjusting washer 285 is symmetrically arranged on the outer periphery of the seventh spindle 284.

[0041] According to an optional example, in this embodiment, the first boom link 23 and the second boom link 24 are further provided with a first limiting block 232 and a second limiting block 242. In practical applications, since the two boom systems 2 constitute a non-rigid double-link mechanism, while providing multi-degree-of-freedom motion flexibility, there is also a risk that the simulator may swing uncontrollably along the link direction. The first limiting block 232 and the second limiting block 242 can eliminate this hidden danger, enabling the boom system 2 to drive the simulator to perform six-dimensional movements while ensuring controllable and safe motion.

[0042] According to an optional example, in this embodiment, the control system 3 includes a left hydraulic pump valve group 31, a right hydraulic pump valve group 32, a first hydraulic pump station main body 33, a second hydraulic pump station main body 34, an electrical distribution box 35, and a system control panel 36. The left hydraulic pump valve group 31 and the right hydraulic pump valve group 32 are responsible for controlling the on / off state, flow direction, and flow rate of the hydraulic oil circuits on both sides of the boom, respectively, to drive the precise movement of the lifting cylinder 27.

[0043] The main body 33 of the first hydraulic pump station and the main body 34 of the second hydraulic pump station serve as the power source of the system, providing a stable and adjustable hydraulic oil flow for the entire hydraulic system. The power distribution box 35 is responsible for power distribution and safety protection for the control system 3. The system control console 36 is used to centrally set training parameters, send control commands, and monitor the system operation status in real time.

[0044] The operating principle of this device is as follows: At the start of training, the operator sets the training mode and parameters through the system control panel 36, and issues commands to the control system 3. The power distribution box 35 supplies power to the entire system, and the main bodies of the first hydraulic pump station 33 and the second hydraulic pump station 34 are started to provide hydraulic power. The left valve group 31 and the right valve group 32 of the hydraulic pump control the on / off state, flow direction and flow rate of the hydraulic oil according to the commands, driving the boom system 2 symmetrically arranged on both sides of the experimental chamber 1 to move.

[0045] The lifting cylinder 27 extends and retracts under the drive of hydraulic oil, and the linear motion of the lifting cylinder 27 is converted into the swinging motion of the first boom link 23 and the second boom link 24. The tail ends of the first boom link 23 and the second boom link 24 are rotatably hinged to the support platform 21 through the first positioning assembly 22. Their front ends transmit the motion to the simulation cabin through the first rocker arm assembly 25 and the second rocker arm assembly 26, respectively, realizing multi-degree-of-freedom motion of the cabin, such as pitching, rolling, and lifting. During this process, the first limit block 232 and the second limit block 242 ensure that the motion is controllable and prevent the experimental cabin 1 from swinging unexpectedly along the link direction.

[0046] During the exercise, the displacement sensor built into the lifting cylinder 27 and the tilt sensor on the simulation chamber detect the position and attitude signals in real time and feed them back to the control system 3. The control system 3 then performs closed-loop control to ensure that the movements of the experimental chamber 1 accurately reproduce the preset submerged posture. Simultaneously, water from the water tank 4 is injected into the experimental chamber 1 under the control of the control system 3 to simulate a water ingress scenario. After the training is completed, the accumulated water is quickly discharged through the first drain port 11 and the second drain port 12.

[0047] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A self-rescue training simulation device, comprising an experimental chamber and a boom system, characterized in that, The boom system is symmetrically arranged on both sides of the experimental chamber. The boom system includes a first boom link, a second boom link, a first rocker arm assembly, and a second rocker arm assembly. The first rocker arm assembly includes a first rocker arm, a second spindle, a second fixed support, a third spindle, a first fixed plate, a first joint bearing, and a third adjustable washer. The front end of the first boom link is hinged to one end of the first rocker arm via the second spindle, and the other end of the first rocker arm is connected to the second fixed support via the third spindle. First joint bearings are provided at the connections between the first rocker arm and the second and third spindles. The outer circumference of the third spindle is coaxially aligned. The second rocker arm assembly includes a third adjustable washer, and the first fixed plate is fixedly connected to the second fixed support. The second rocker arm assembly includes a second rocker arm, a fourth spindle, a third fixed support, a fifth spindle, a copper sleeve, a second fixed plate, a second joint bearing, and a fourth adjustable washer. The front end of the second boom connecting rod is connected to one end of the second rocker arm through the fourth spindle, and a copper sleeve is provided at the connection. The other end of the second rocker arm is connected to the third fixed support through the fifth spindle, and a second joint bearing is provided at the connection. The fifth spindle is symmetrically and coaxially arranged with fourth adjustable washers on its outer periphery. The second fixed plate is fixedly connected to the third fixed support.

2. The self-rescue training simulation device according to claim 1, characterized in that, The experimental chamber is equipped with a first and a second water outlet arranged symmetrically.

3. The self-rescue training simulation device according to claim 1, characterized in that, The first boom link is provided with a first connecting groove and a first limiting block, and the second boom link is provided with a second connecting groove and a second limiting block.

4. The self-rescue training simulation device according to claim 1, characterized in that, The boom system also includes a support platform fixed to one side of the experimental cabin.

5. The self-rescue training simulation device according to claim 1, characterized in that, The self-rescue training simulation device also includes a control system and a water tank. The control system is located in front of the experimental chamber, and the water tank is located behind the experimental chamber.

6. The self-rescue training simulation device according to claim 5, characterized in that, The control system includes a left valve group of hydraulic pumps, a right valve group of hydraulic pumps, a main body of the first hydraulic pump station, a main body of the second hydraulic pump station, an electrical distribution box, and a system control console.

7. The self-rescue training simulation device according to claim 4, characterized in that, The boom system further includes a first positioning component, which is symmetrically arranged on the support platform. The first positioning component includes a first fixed support, a pressure-resistant sleeve, a first spindle, a first adjusting washer, and a second adjusting washer. The first fixed support is fixed on the support platform. The tail ends of the first boom connecting rod and the second boom connecting rod are rotatably hinged to the first fixed support through the pressure-resistant sleeve and the first spindle. The first adjusting washer and the second adjusting washer are symmetrically arranged at both ends of the pressure-resistant sleeve.

8. The self-rescue training simulation device according to claim 4, characterized in that, The boom system also includes a lifting cylinder, which consists of a cylinder and a cylinder connecting rod.

9. The self-rescue training simulation device according to claim 8, characterized in that, The boom system also includes a second positioning component, which includes a fourth fixed support, a sixth spindle, and a fifth adjustable washer. The fourth fixed support is fixed to the support platform, and the lower end of the hydraulic cylinder is hinged to the fourth fixed support through the sixth spindle. The fifth adjustable washer is coaxially and symmetrically arranged on the outer periphery of the sixth spindle.

10. The self-rescue training simulation device according to claim 9, characterized in that, The second positioning component also includes a seventh spindle and a sixth adjusting washer. The top end of the cylinder connecting rod is hinged to a first connecting groove on the first boom connecting rod or a second connecting groove on the second boom connecting rod via the seventh spindle. The sixth adjusting washer is coaxially and symmetrically arranged on the outer periphery of the seventh spindle.

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