CN108428399A - Interaction parachute jumping simulation system - Google Patents
Interaction parachute jumping simulation system Download PDFInfo
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- CN108428399A CN108428399A CN201710973698.9A CN201710973698A CN108428399A CN 108428399 A CN108428399 A CN 108428399A CN 201710973698 A CN201710973698 A CN 201710973698A CN 108428399 A CN108428399 A CN 108428399A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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Abstract
The present invention provides a kind of interactive parachute jumping simulation system, belong to military training simulation system field, its structure includes four truss structure unit module, shoulder strap unit module, umbrella control manipulation module, pedal unit module units, and truss structure unit module realizes body posture change such as oscilaltion for trainer, tilts, is moved forward and backward, body flattening offer structural support；Shoulder strap unit module realizes that body posture change provides rationally distributed supporting point on canopy for trainer；Parachute posture is suspended for realizing trainer and controlled to umbrella control manipulation module in midair；Pedal unit module is used to simulate impact when jolting and landing when cabin prepares, and builds true body-sensing.The interactive parachute jumping simulation system of the present invention for the parachuting of pilot and other crews, parachuting combatant, universities and colleges relevant speciality student other than training, it can also be used to which the parachute jumping of ordinary user is experienced.
Description
(1) technical field
The present invention relates to a kind of military training simulation system, specifically a kind of interactive parachute jumping simulation system.
(2) background technology
Military parachuting practical training has that injury rate is high, expends that the time is more, cost input is big, organizational structures are difficult etc. and asks
Topic.For this purpose, according to parachute jumping hands-on process, advanced virtual reality technology and human-computer interaction technology may be used, structure is forced
Genuine aerial parachute jumping simulated training environment grasps trainee from aircraft is left to the aerial statue control in full stage of landing, canopy
Special feelings when vertical technical ability and parachute break down, which are handled, to be trained, to be the parachute jumping of crew's emergency survival, extraordinary work
The parachuting of fighting capacity amount provides advanced training tool true to nature, improves parachuting training benefit, reduces security risk.
Virtual reality technology is the core technology virtually parachuted.Skydiving simulator based on virtual reality technology is mainly used for
Parachute jumping procedural training, canopy manipulation training, and with certain special feelings processing Training Capability, at low cost, deployment is convenient, group
Knit the features such as simple, easy to spread, American and Britain, with etc. armies have been equipped with the simulator of the type.When training, wear virtual existing
The paratrooper student of real glasses is hung in midair by umbrella band, is practiceed jump under various virtual environments.By means of high-resolution display, religion
Official can see the overall process that every student penetrates all and individual parachuting and group's parachute jumping that virtual reality glasses are seen.It borrows
Help this simulator, students are familiar with entire parachute jumping process before capable of carrying out practical parachute jumping aboard, by primary another
Parachute jumping main points are grasped in secondary training, eventually become satisfactory paratrooper.Before this, this ability only passes through practical parachute jumping
It can obtain.A mostly important function of simulator is can to simulate a series of emergencies, cultivates the adaptability to changes of student.
(3) invention content
The technical assignment of the present invention is in view of the deficiencies of the prior art, to provide a kind of interactive parachute jumping simulation system.
The technical solution adopted by the present invention to solve the technical problems is：
Interaction parachute jumping simulation system, the system include：
One is realized body posture change such as oscilaltion for trainer, tilts, is moved forward and backward, body flattening
The truss structure unit module of structural support is provided；
One is realized that body posture change provides the shoulder strap unit of rationally distributed supporting point on canopy for trainer
Module；
One umbrella control manipulation module suspended in midair for realizing trainer and control parachute posture；
One, for simulating impact when jolting and landing when cabin prepares, is built the pedal unit mould of true body-sensing
Block.
Further, the truss structure unit module includes truss, hoist engine, sliding support, the linear guide, tilts branch
Seat, electric cylinders push rod, electric cylinders, connection relation are as follows：
The hoist engine is arranged provides power when the top of truss is used for trainer's pull-up simulation freely falling body；
Safety rope hanging ring is additionally provided at the top of truss for connecting safety rope；
The sliding support is arranged using guide rail slide in the linear guide, and the linear guide is then arranged on ramped abutment,
Ramped abutment is connected using electric cylinders push rod with the electric cylinders being arranged in the middle part of truss, sliding support, guide rail slide, the linear guide group
It is combined, sliding support is made to be moved forward and backward, for simulated training person in the air by external force in movement in the front-back direction；Tilt branch
Seat, electric cylinders push rod, electric cylinders are combined, and are formed coupled system, are made ramped abutment up and down or tilt,
It is moved in the air in vertical direction by external force for simulated training person, realizes the construction of body-sensing.
Further, the shoulder strap unit module includes chest shoulder strap, leg hanging ring and safety rope, before chest shoulder strap
Top left and right settings has suspension centre one and suspension centre two, and the rear lower of chest shoulder strap is provided with waist hook and safety rope connecting hook,
The junction of waist hook and leg hanging ring is provided with suspension centre three, the suspension centre one, suspension centre two are by manipulating band and sliding branch
Seat is connected, and the suspension centre three is connected with the hawser of hoist engine, and the both ends of safety rope are separately connected safety rope hanging ring and safety rope
Connecting hook.When trainer's freely falling body, three suspension centres play a role simultaneously, provide the reasonable support to human body；It grasps in the air
When controlling parachuting, suspension centre one, suspension centre two play a role.
Further, the umbrella control manipulation module includes manipulating band, manipulating stick, fly umbrella handle and standby umbrella handle, the behaviour
Longitudinal bands are connected with the suspension centre one of shoulder strap unit module, suspension centre two, provide the support to trainer；It manipulates stick and is connected to a pulling force
Sensor, to software systems output signal, for changing the posture of parachute；Fly umbrella handle and is used for parachute-opening；Standby umbrella handle is used for
Open standby umbrella；The winged umbrella handle and standby umbrella handle are arranged on canopy.
Further, the winged umbrella handle is arranged on the right side of canopy, and standby umbrella handle is arranged in the left side of canopy.
Further, the pedal unit module include pedal, mounting plate, pedal spring, vibrating motor, pedal electric cylinders,
The mounting plate passes sequentially through connector, pedal electric cylinders push rod is connected with pedal electric cylinders, and multiple pedals are equipped on mounting plate
Spring, pedal are mounted on pedal spring, and the bottom of pedal is equipped with vibrating motor.
The stroke of 0~500mm of pedal may be implemented under the action of four pedal electric cylinders push rods in mounting plate；It is filled under pedal
There are vibrating motor 1, spring that can simulate jolting for cabin with vibrating motor collective effect, enhances trainer's body-sensing.Realization is stepped on
The lifting of plate, and simulate jolting for cabin.
Compared with prior art, generated advantageous effect is the interactive parachute jumping simulation system of the present invention,
(1) present invention energy Whole Process Simulation paratrooper jumps off motion conditions of landing to the end from cabin is gone out, including：Freely falling body,
Parachute-opening, aerial sports, aerial special feelings, landing landing etc., and can build and the similar body-feeling of practical parachute jumping.
(2) interactive parachute jumping simulation system of the invention in addition to be used for pilot and other crews, parachuting combatant,
The parachuting training of universities and colleges relevant speciality student is outer, it can also be used to which the parachute jumping of ordinary user is experienced.
(4) it illustrates
Attached drawing 1 is trainer of the present invention in the structural schematic diagram for going out the cabin preparation stage；
Attached drawing 2 is the left view structural representation of Fig. 1；
Attached drawing 3 is the overlooking structure diagram of Fig. 1；
Attached drawing 4 is structural schematic diagram of the trainer of the present invention in the freely falling body stage；
Attached drawing 5 is the left view structural representation of Fig. 4；
Attached drawing 6 is the overlooking structure diagram of Fig. 4；
Attached drawing 7 is the structural schematic diagram in the trainer of the present invention stage of parachute-opening in the air；
Attached drawing 8 is the left view structural representation of Fig. 7；
Attached drawing 9 is the overlooking structure diagram of Fig. 7；
Attached drawing 10 is the structural schematic diagram that trainer of the present invention manipulates the stage in umbrella control；
Attached drawing 11 is the left view structural representation of Figure 10；
Attached drawing 12 is the overlooking structure diagram of Figure 10；
Attached drawing 13 is trainer of the present invention in the structural schematic diagram in the stage that lands that lands；
Attached drawing 14 is the left view structural representation of Figure 13；
Attached drawing 15 is the overlooking structure diagram of Figure 13.
In figure, 1, truss, 2, hoist engine, 3, sliding support, 4, the linear guide, 5, ramped abutment, 6, electric cylinders push rod, 7, electricity
Cylinder, 8, suspension centre one, 9, suspension centre two, 10, chest shoulder strap, 11, waist hook, 12, suspension centre three, 13, leg hanging ring, 14, manipulate band,
15, stick is manipulated, 16, fly umbrella handle, 17, standby umbrella handle, 18, safety rope, 19, pedal, 20, mounting plate, 21, pedal spring,
22, vibrating motor, 23, pedal motor, 24, safety rope hanging ring, 25, guide rail slide, 26, safety rope connecting hook, 27, pedal electricity
Cylinder push rod, 28, connector.
(5) specific implementation mode
1-15 is described in detail below the interactive parachute jumping simulation system of the present invention below in conjunction with the accompanying drawings.
As shown in attached drawing 1-15, interactive parachute jumping simulation system of the invention, which includes：
One truss structure unit module realizes that entire simulation system and trainer are supported and provided trainer freely falls
Body provides power；
One is realized shoulder strap unit module of the parachutist to simulation system operation and control；
One umbrella control manipulation module realizes control of the trainer to process of parachuting；
One pedal unit module realizes the lifting of pedal, and simulates jolting for cabin.
Above-mentioned truss structure unit module of stating includes truss 1, hoist engine 2, sliding support 3, the linear guide 4, ramped abutment
5, electric cylinders push rod 6, electric cylinders 7, connection relation is as follows：
The hoist engine 2 is arranged provides power when the top of truss 1 is used for trainer's pull-up simulation freely falling body；
Safety rope hanging ring 24 is additionally provided with for connecting safety rope 18 at the top of truss 1；
Above-mentioned sliding support 3 is arranged using guide rail slide 25 in two the linear guides 4, and the linear guide 4, which is then arranged, is inclining
On oblique bearing 5, ramped abutment 5 is connected using two electric cylinders push rods 6 with two electric cylinders 7 being arranged in the middle part of truss 1, sliding branch
Seat 3, guide rail slide 25, the linear guide 4 are combined, and sliding support 3 is made to be moved forward and backward, for simulated training person in the air by
External force is in movement in the front-back direction；Ramped abutment 5, electric cylinders push rod 6, electric cylinders 7 are combined, and are formed coupled system, are made
Ramped abutment up and down tilt, and are moved in the air in vertical direction by external force for simulated training person, realize
The construction of body-sensing.
Shown in the coupled system motion analysis that ramped abutment 5, electric cylinders push rod 6, electric cylinders 7 form, wherein：
Number of components N=4, movable part number n=4-1=3, low pair number PL=3, higher pair number PH=1
Then number of degrees of freedom, F=3n-2PL-PH=3*3-2*3-1=2
It is consistent as driving link with two electric cylinders.
Therefore the coupled system that ramped abutment 5, electric cylinders push rod 6, electric cylinders 7 form may be implemented in vertical plane
Movement.
Above-mentioned shoulder strap unit module includes chest shoulder strap 10, leg hanging ring 13 and safety rope 18, before chest shoulder strap 10
Top left and right settings has suspension centre 1 and suspension centre 29, and the rear lower of chest shoulder strap 10 is provided with waist hook 11 and safety rope connects
Hook 26 is connect, the junction of waist hook 11 and two leg hanging rings 13 is provided with suspension centre 3 12, the suspension centre 1, suspension centre 29
It is connected with sliding support 3 by manipulating band 14, the suspension centre 3 12 is connected with the hawser of hoist engine 2, the both ends of safety rope 18
It is separately connected safety rope hanging ring 24 and safety rope connecting hook 26.
Above-mentioned umbrella control manipulation module includes manipulating band 14, manipulating stick 15, fly umbrella handle 16 and standby umbrella handle 17, described four
It manipulates band 14 with the suspension centre 1 of shoulder strap unit module, suspension centre 29 to be connected, the support to trainer is provided；Two manipulate stick 15 and connect
A pulling force sensor is connect, to software systems output signal, for changing the posture of parachute；Fly umbrella handle 16 for opening
Umbrella；Standby umbrella handle 17 is used to open standby umbrella；The winged umbrella handle 16 and standby umbrella handle 17 are arranged on canopy, fly umbrella handle 16
It is arranged on the right side of canopy, standby umbrella handle 17 is arranged in the left side of canopy.
The pedal unit module include pedal 19, mounting plate 20, pedal spring 21, vibrating motor 22, pedal electric cylinders 23,
The mounting plate 20 passes sequentially through four connectors, 28, four pedal electric cylinders push rods 27 and is connected with four pedal electric cylinders 23, peace
Six roots of sensation pedal spring 21 is installed, pedal 19 is mounted on six roots of sensation pedal spring 21, and the bottom of pedal 19 is equipped in loading board 20
Vibrating motor 22.
The present invention jolts by manipulating harness system movement, manufacture wind-force, the sound, cabin vibrations, builds and jumped with practical
Body-feeling similar in umbrella.
(1) body-sensing is moved
The body-sensings such as impact sense when pulling when mainly providing the freely falling body sense before umbrella is not switched on, parachute-opening is felt, lands.
1. umbrella be not switched on before freely falling body sense：After disembarking, keeps posture stall to sink and feel to maintain 2 seconds.
2. pulling sense when parachute-opening：Parachute-opening moment, body have apparent pull to feel.
3. impact sense when landing：It lands moment, body has apparent impact sense.
(2) wind-force body-sensing
Skin touch feeling when main offer parachutist's aerial sports, wind speed are mutually strained with the variation of movement velocity
Change.
Wind speed can be emulated：0-10 meter per seconds.
(3) sound body-sensing
The main auditory perception for providing the environment sound simulates the operation noise of aircraft, the air that parachutist's high speed falls is made an uproar
Sound, ground environment sound etc., and aerial and ground control's voice, system prompt sound play.
The operation noise of aircraft：When in cabin, the operation noise of aircraft is consistent with actual environment.
The noise of air that parachutist's high speed falls：After stall sinking and umbrella are opened, noise of air is consistent with real process.
Aerial and ground control's voice：Worker commands password consistent with real process empty announcer and commander.
As shown in Figs. 1-3 goes out the cabin preparation stage, and pedal 19 steadily rises 450mm under the action of 4 pedal electric cylinders 23
Then hold mode；On the hook that safety rope 18 is hung over to truss 1；4 manipulate band 14 and are suspended on the hook of slider box；2 behaviour
Vertical stick 15 is also connected with the hook of slider box；Ramped abutment 5 steadily rises 450mm under the promotion of 2 electric cylinders 7 and keeps shape
State.
Trainer prepares shoulder strap and is tied up in upper body, plugs the standby umbrella handle 17 of red winged umbrella handle 16 and blue；Two
Leg hanging ring 13 has been tied up in leg, and is finally connected with waist hook 11；18 connecting hook of safety rope is connected to waist suspension hook
On 11.
Equipment is docked with personnel's, 18 one end of safety rope is connected on the suspension hook of truss 1, the other end is connected to trainer
On waist hook 11.The hawser of hoist engine 2 is connected on trainer's harness system suspension centre 3 12.4 manipulate the connection of 14 one end of band
Onto the slide hook of truss 1, the other end is connected to trainer's harness system suspension centre 1, on suspension centre 29.2 manipulation sticks 15 1
End is connected on the hook of sliding support 3, and other end trainer holds.
After training starts, vibrating motor 22 is started to work, and simulates jolting for cabin, trainer's standby for bailout goes out cabin.
In the freely falling body stage as Figure 4-Figure 6, when trainer goes out cabin parachute jumping, pedal 19 drops to minimum point, vibration electricity
Machine 22 is stopped.Meanwhile 5 dramatic decrease 450mm of ramped abutment, hoist engine 2 is by hanging on harness system suspension centre 3 12
Hawser makes trainer hang into horizontal attitude, simulates the movement of falling object behind cabin.
In the aerial parachute-opening stage as Figure 7-9, for freely falling body after 2 seconds, trainer pulls off winged umbrella handle 16, electric cylinders 7
Trainer is risen to peak by driving, and parachute drives the towing sense that paratrooper rises after simulation parachute-opening.
Hoist engine 2 drives, and trainer's body is put down by freely falling body posture and is changed into upright posture, and trainer manipulates two
A manipulation stick proceeds by aerial control umbrella.
Umbrella control as shown in figs. 10-12 manipulates the stage, and when meeting with air-flow or crosswind, the body posture of paratrooper will occur
Variation, may rise that either decline may left-leaning or Right deviation, it is also possible to these types movement it is compound.It is true in order to build
Body-sensing, setting air-flow or when crosswind in training system, trainer's body posture must also realize the above variation.This point is
Realized by the construction module of truss 1, the driving of two electric cylinders 7, can make 5 up and down of ramped abutment or "Left"-deviationist,
Right deviation, while sliding support 3 be free to slide in the linear guide, it is real to make trainer's body posture change
The construction of existing body-sensing.
In order to change the direction of motion of parachute, paratrooper needs to pull two to manipulate the realization umbrella control manipulation of stick 15.Training system
In system, when trainer pulls two manipulation sticks 15, output action passes to software systems in two force signals of parachute,
Make parachute and scene that corresponding variation occur.
Landing landing period as illustrated in figs. 13-15, before landing is landed, trainer is risen to peak by system.Software system
Scene in system shows when will land that electric cylinders 7 drive trainer's dramatic decrease to be experienced when trainer's foot contacts pedal 19
Impact when landing.
Claims (6)
1. interaction parachute jumping simulation system, which is characterized in that the system includes：
One is realized that body posture changes the truss structure unit module of offer structural support for trainer；
One is realized that body posture change provides the shoulder strap unit module of rationally distributed supporting point on canopy for trainer；
One umbrella control manipulation module suspended in midair for realizing trainer and control parachute posture；
One, for simulating impact when jolting and landing when cabin prepares, is built the pedal unit module of true body-sensing.
2. interactive parachute jumping simulation system according to claim 1, which is characterized in that the truss structure unit module includes
Truss (1), hoist engine (2), sliding support (3), the linear guide (4), ramped abutment (5), electric cylinders push rod (6), electric cylinders (7), even
It is as follows to connect relationship：
Hoist engine (2) setting provides power when the top of truss (1) is used for trainer's pull-up simulation freely falling body；
Safety rope hanging ring (24) is additionally provided at the top of truss (1) for connecting safety rope (18)；
The sliding support (3) is arranged using guide rail slide (25) in the linear guide (4), and the linear guide (4), which is then arranged, is inclining
On oblique bearing (5), ramped abutment (5) is connected using electric cylinders push rod (6) with the electric cylinders (7) being arranged in the middle part of truss (1), is slided
Bearing (3), guide rail slide (25), the linear guide (4) are combined, and sliding support (3) is made to be moved forward and backward, and are used for simulated training
Member is in the air by external force in movement in the front-back direction；Ramped abutment (5), electric cylinders push rod (6), electric cylinders (7) are combined, composition
Coupled system makes ramped abutment up and down or tilts, for simulated training person in the air by external force vertical
The construction of body-sensing is realized in the movement in direction.
3. interactive parachute jumping simulation system according to claim 1, which is characterized in that the shoulder strap unit module includes chest
Shoulder strap (10), leg hanging ring (13) and safety rope (18), the front upper part left and right settings of chest shoulder strap (10) have suspension centre one (8) and
Suspension centre two (9) is provided with waist hook (11) and safety rope connecting hook (26) in the rear lower of chest shoulder strap (10), is hung in waist
The junction of hook (11) and leg hanging ring (13) is provided with suspension centre three (12), and the suspension centre one (8), suspension centre two (9) pass through manipulation
Band (14) is connected with sliding support (3), and the suspension centre three (12) is connected with the hawser of hoist engine (2), and the two of safety rope (18)
End is separately connected safety rope hanging ring (24) and safety rope connecting hook (26).
4. interactive parachute jumping simulation system according to claim 1, which is characterized in that the umbrella control manipulation module includes manipulating
Band (14) manipulates stick (15), flies umbrella handle (16) and standby umbrella handle (17), and the manipulation band (14) is hung with shoulder strap unit module
One (8) of point, suspension centre two (9) are connected, and provide the support to trainer；It manipulates stick (15) and is connected to a pulling force sensor, to soft
Part system output signal, for changing the posture of parachute；Fly umbrella handle (16) and is used for parachute-opening；Standby umbrella handle (17) is used to open
Standby umbrella；The winged umbrella handle (16) and standby umbrella handle (17) are arranged on canopy.
5. interactive parachute jumping simulation system according to claim 4, which is characterized in that the winged umbrella handle (16) is arranged in umbrella
The right side of clothing, standby umbrella handle (17) are arranged in the left side of canopy.
6. interactive parachute jumping simulation system according to claim 1, which is characterized in that the pedal unit module includes pedal
(19), mounting plate (20), pedal spring (21), vibrating motor (22), pedal electric cylinders (23), the mounting plate (20) pass sequentially through
Connector (28), pedal electric cylinders push rod (27) are connected with pedal electric cylinders (23), and multiple pedal bullets are equipped on mounting plate (20)
Spring (21), pedal (19) are mounted on pedal spring (21), and the bottom of pedal (19) is equipped with vibrating motor (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710973698.9A CN108428399A (en) | 2017-09-30 | 2017-09-30 | Interaction parachute jumping simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710973698.9A CN108428399A (en) | 2017-09-30 | 2017-09-30 | Interaction parachute jumping simulation system |
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| Publication Number | Publication Date |
|---|---|
| CN108428399A true CN108428399A (en) | 2018-08-21 |
Family
ID=63155660
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710973698.9A Withdrawn CN108428399A (en) | 2017-09-30 | 2017-09-30 | Interaction parachute jumping simulation system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110782731A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
| CN111846247A (en) * | 2020-06-22 | 2020-10-30 | 厦门市足智多谋特种装备有限公司 | VR parachuting simulator equipment |
| CN112562446A (en) * | 2020-12-30 | 2021-03-26 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
| CN112591108A (en) * | 2020-12-22 | 2021-04-02 | 湖南翔鹏信息科技有限公司 | Somatosensory interactive parachute jumping simulation training equipment |
-
2017
- 2017-09-30 CN CN201710973698.9A patent/CN108428399A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110782731A (en) * | 2019-11-11 | 2020-02-11 | 北京华如科技股份有限公司 | Digital parachute harness system for parachute landing simulation training |
| CN111846247A (en) * | 2020-06-22 | 2020-10-30 | 厦门市足智多谋特种装备有限公司 | VR parachuting simulator equipment |
| CN112591108A (en) * | 2020-12-22 | 2021-04-02 | 湖南翔鹏信息科技有限公司 | Somatosensory interactive parachute jumping simulation training equipment |
| CN112591108B (en) * | 2020-12-22 | 2024-03-26 | 湖南翔鹏信息科技有限公司 | Somatosensory interactive parachuting simulation training equipment |
| CN112562446A (en) * | 2020-12-30 | 2021-03-26 | 中国人民解放军95829部队空降兵研究所 | Real sense parachuting simulation training ware based on virtual reality |
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Application publication date: 20180821 |