CN111332478A - A parachute automatic release control and release system - Google Patents

Abstract

The invention discloses an automatic parachute-off control and separation system for a parachute, which belongs to the technical field of aircraft return and landing and comprises the following components: the device comprises a data acquisition and control module, a servo motor module, a gear lever module and a mechanical rocker arm module; the data acquisition and control module is used for sending an automatic reset control signal to the servo motor module before an airdrop task is started, and sending an automatic parachute-off control signal to the servo motor module when a parachute lands; the servo motor module is used for driving the gear lever module to contact with the mechanical rocker arm module when receiving an automatic reset control signal, so that the hook in the mechanical rocker arm module is in a locking state, and when receiving an automatic umbrella-off control signal, the gear lever module is separated from the mechanical rocker arm module to release the locking state of the hook in the mechanical rocker arm module, so that the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is separated from the parachute. The invention ensures the effectiveness and the safety of the air-drop task.

Description

A parachute automatic release control and release system

technical field

The invention belongs to the technical field of aircraft returning and landing, and more particularly, relates to a parachute automatic detachment control and detachment system.

Background technique

The parachute has a very wide range of application prospects in the fields of parachute jumping, earthquake relief, air-dropping materials, and decelerating landing of aircraft rocket return capsules. If the parachute is not separated from the object to be delivered during the airdrop landing, under the meteorological conditions of unstable wind direction and high wind speed, the parachute will move randomly due to the influence of the air force, which may easily cause the object to be delivered to be dragged by the parachute after landing. Slip and bump, or even roll over, causing damage to some precision equipment in the delivered object, or the equipment and equipment roll over and become unusable, resulting in greater losses and the failure of the airdrop mission. In order to ensure the safety of the delivered object, when the delivered object lands, it is necessary to automatically and quickly separate the parachute from the delivered object, which has become an urgent problem to be solved. However, the existing technology has problems such as difficulty in ensuring the effectiveness of the airdrop and the safety of the delivered object.

Therefore, the invention of a parachute automatic escape control and escape system is of great significance to the effectiveness of the airdrop and the safety of the delivered objects.

SUMMARY OF THE INVENTION

In view of the above defects or improvement needs of the prior art, the present invention provides a parachute automatic parachute escape control and escape system, thereby solving the technical problem of the prior art that it is difficult to ensure the effectiveness of airdrops and the safety of the delivered objects.

In order to achieve the above purpose, the present invention provides a parachute automatic parachute detachment control and detachment system, including: a data acquisition and control module, a servo motor module, a gear lever module and a mechanical rocker arm module;

The data acquisition and control module is connected with the servo motor module through a circuit, and the servo motor module is fixedly connected with the gear lever module;

The data acquisition and control module is used to send an automatic reset control signal to the servo motor module before the start of the airdrop mission, and to send an automatic parachute release control signal to the servo motor module when the parachute lands;

The servo motor module is used to drive the gear lever module to contact the mechanical rocker arm module when receiving the automatic reset control signal, so that the hook in the mechanical rocker arm module is in a locked state, and when receiving the automatic parachute release control signal, the drive gear The rod module is separated from the mechanical rocker arm module, and the locked state of the hook in the mechanical rocker arm module is released, so that the rope of the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivered object is automatically separated from the parachute.

Further, the mechanical rocker arm module includes a first cantilever arm, a first limit shaft, a first rotating shaft, a second rotating shaft, a second cantilever arm, a rocker arm, a third rotating shaft and a second limit shaft,

The free end of the first cantilever is located above the rotating end, the rotating end of the first cantilever has a hollow hole structure for rotating around the first rotating shaft, and the first limiting shaft is located on the left side of the first cantilever, used for block and limit the rotational position of the first boom;

The second cantilever is located on the right side of the first cantilever, the rotating end of the second cantilever has a hollow hole structure for rotating around the second rotation axis, and the free end of the second cantilever is located below the rotating end;

The rocker arm is located on the right side of the second cantilever arm, and a hollow hole is provided at the upper position of the right side of the rocker arm for rotating around the third rotation axis, and the second limit shaft is located on the right side of the rocker arm, used for Blocks and limits the rotational position of the swingarm.

Further, above the hollow hole of the rocker arm is the upper end, below the hollow hole is the lower end, the upper end is inclined to the left in the direction of the second cantilever, the upper end moment arm is shorter than the lower end moment arm, and the end point of the lower end is provided with a hook for hanging the rope of the object to be delivered. .

Further, when the servo motor module receives the automatic reset control signal, the drive lever module is in contact with the first cantilever to block the rotation position of the first cantilever. At this time, the hook at the end point of the lower end of the rocker arm is pulled by the rope of the object to be delivered. , the upper end rotates to the left and is stuck and fixed on the rotating end of the second cantilever, the free end of the second cantilever is stuck and fixed on the rotating end of the first cantilever, and the free end of the first cantilever rotates to the left and is stuck and fixed on the gear lever On the module, through the rigid contact between the first cantilever, the second cantilever and the rocker arm, the balance between the moments is achieved, so that the relative position of the rocker arm is kept fixed, so that the hook at the end point of the lower end of the rocker arm is in a locked state.

Further, when the servo motor module receives the automatic parachute detachment control signal, the drive lever module is separated from the first cantilever, and the first cantilever rotates counterclockwise around the first rotation axis under the force of the free end of the second cantilever, and Restricted and fixed by the first limit shaft, the second cantilever rotates clockwise around the second rotation axis under the force of the upper end of the rocker arm, and the free end of the second cantilever moves along the first cantilever and is stuck and fixed. The hook at the end point of the lower end of the rocker arm is affected by gravity or drag force and rotates counterclockwise around the third shaft to the right, and is limited by the second limit shaft and fixed on the left side of the second limit shaft. The upper end of the arm moves along the second cantilever and is stuck and fixed. At this time, the locked state of the hook at the end point of the lower end of the rocker arm is released.

Further, the system further includes: a motor output shaft,

The servo motor module and the gear lever module are fixedly connected through the motor output shaft;

The motor output shaft is used for forward rotation when the servo motor module receives the automatic reset control signal, and reverse rotation when the servo motor module receives the automatic parachute release control signal.

Further, the gear lever module is located directly below the servo motor module, and the gear lever module includes a screw rod with a bushing, a gear lever and a gear lever mounting frame,

The bushing screw is located in the middle hole of the gear lever, and the bushing screw is fixedly connected with the motor output shaft. The bushing screw is used to drive the gear lever forward when the motor output shaft rotates in the forward direction. Make a linear motion, contact with the mechanical rocker arm module, and drive the gear lever to make a linear motion backward when the motor output shaft rotates in the reverse direction, and separate from the mechanical rocker arm module;

The gear lever mounting frame is located outside the gear lever and is used for installing and fixing the gear lever.

Further, the gear lever includes a gear lever ring and a gear lever inner thread,

The gear rod mounting frame is used to install and fix the position of the gear rod ring in the vertical direction, and the external thread of the screw rod with the bushing is connected with the internal thread of the gear rod.

Further, a limit groove is provided just below the shift lever, the shift lever further includes a shift lever support plate, and the shift lever support plate moves freely in the limit groove.

Further, the system further includes: a casing, the data acquisition and control module, the servo motor module, the gear lever module and the mechanical rocker arm module are all installed inside the casing, and a through hole is arranged above the casing for passing the rope It is flexibly connected with the parachute; an open window is arranged under the casing, and the hook at the end point of the lower end of the rocker arm extends out of the window.

In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

(1) The parachute automatic detachment control and detachment system of the present invention adopts the data acquisition and control module to control the servo motor module, and controls the locked and unlocked states of the hooks in the mechanical rocker arm module through the gear lever module. When the parachute lands, it can Realize the automatic and rapid separation of the delivered object and the parachute, and prevent the parachute from dragging the delivered object and cause damage caused by the collision between the delivered object and the ground, thereby ensuring the effectiveness and safety of the airdrop mission.

(2) When the hook in the mechanical rocker arm module is in a locked state, the large pulling force of the rope of the delivered object acts on the rocker arm, the second cantilever, the first cantilever and the gear lever and other components, through the rigidity of the different components. The optimal design of the action point of the force and the force arm at the time of contact makes the lever only need to bear a small force to lock the hook position that bears a large force. At the same time, the structural strength, size and weight of the gear lever and the servo motor can be effectively reduced.

(3) When the hook in the mechanical rocker arm module is in the unlocked state, the output shaft of the motor drives the screw rod with the bushing to rotate in the reverse direction, and the gear lever is driven to move backwards to release the blocking of the first cantilever and destroy the torque of each mechanical structure. Balance, the first cantilever arm, the second cantilever arm and the rocker arm rotate around their respective rotation axes under the action of force, thereby automatically releasing the locked state of the hook. The hook unlocking principle is very simple and easy to operate.

(4) The parachute automatic parachute detachment control and detachment system of the present invention is simple in structure, small in size, convenient in installation, use and maintenance, high in control precision, safe and reliable; at the same time, the present invention can realize repeated use for many times, has a long service life, and has a large application value.

Description of drawings

1 is a schematic structural diagram of a parachute automatic parachute detachment control and detachment system provided by an embodiment of the present invention;

FIG. 2 is a detailed structural schematic diagram of the dotted frame in FIG. 1 provided by an embodiment of the present invention;

Figure 3(a) is a front view of a gear lever provided by an embodiment of the present invention;

Figure 3(b) is a left view of a gear lever provided by an embodiment of the present invention;

Throughout the drawings, the same reference numbers are used to refer to the same elements or structures, wherein:

1 is the data acquisition and control module; 2 is the servo motor module; 3 is the motor output shaft; 4 is the gear lever module; 41 is the screw rod with bushing; 42 is the gear lever; 421 is the gear lever ring; Internal thread; 423 is the lever support plate; 43 is the lever mounting frame; 5 is the limit groove; 6 is the first cantilever; 7 is the first limit shaft; 8 is the first shaft; 9 is the second shaft; 10 is the second cantilever arm; 11 is the rocker arm; 12 is the third rotating shaft; 13 is the second limit shaft; 14 is the through hole of the casing; 15 is the casing.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

As shown in FIG. 1 , a parachute automatic parachute detachment control and detachment system includes: a data acquisition and control module 1 , a servo motor module 2 , a gear lever module 4 , a mechanical rocker arm module and a casing 15 .

The data acquisition and control module 1 is located in the upper right corner of the interior of the housing 15, including a data acquisition module and a control module, and is used to monitor the entire landing and landing process of the parachute. The data acquisition module collects the height position signal of the parachute in real time through the sensor, and transmits the height position signal of the parachute to the control module for judgment and processing in real time. When the parachute lands, the control module sends an automatic parachute detachment control signal to the motor drive system to realize the automatic detachment of the delivered object from the parachute. At the same time, a reset button is provided in the data acquisition and control module 1. When the parachute automatic parachute release control and disengagement system is used again, the reset button is used to lock the hook position in the mechanical rocker arm module again. By triggering the reset button, the control module sends an automatic reset control signal to the motor drive system, so that the rope of the delivered object is locked on the hook in the mechanical rocker arm module again, and the airdrop task is carried out again.

The servo motor module 2 is located in the upper left corner inside the housing 15, and includes a servo motor and a motor drive system. The servo motor module is connected with the data acquisition and control module through the control circuit, and works according to the control instructions issued by the data acquisition and control module. At the same time, the servo motor module is connected with the gear lever module 4 through the motor output shaft 3 . When the data acquisition and control module sends a reset command to the motor drive system, the motor output shaft rotates in the forward direction, and the gear lever module is driven to make the hook in the mechanical rocker arm module in a locked state; when the data acquisition and control module sends an automatic When the parachute is commanded, the motor output shaft rotates in the reverse direction, and the gear lever module is driven to release the locked state of the hook in the mechanical rocker arm module, so that the rope of the delivered object is automatically and quickly disengaged from the hook in the mechanical rocker arm module, and then it is connected with the parachute. break away.

As shown in FIG. 2 , the gear lever module 4 is located directly below the servo motor module 2 , and includes a screw rod 41 with a bushing, a gear lever 42 and a gear lever mounting frame 43 . The motor output shaft 3 is rigidly connected with the shaft sleeve screw 41 in the gear lever module, and the servo motor module will drive the shaft sleeve screw rod 41 to rotate forward or reverse when it works. As shown in Figures 3(a) and 3(b), the external thread of the screw rod 41 with bushing is connected with the internal thread 422 of the gear rod in the middle hole of the gear rod, because the screw rod 41 with bushing is not fixed in the axial direction. The gear lever 42 is driven to perform linear motion forward or backward in the axial direction, and the gear lever 42 is mainly used to block the rotational position of the first cantilever 6 . The gear lever mounting frame 43 is used to install and fix the position of the gear lever ring 421 in the vertical direction. At the same time, a limit groove 5 is provided inside the housing 15 , the lever support plate 423 can move freely in the limit groove 5 , and the lever support plate 423 is snapped into the limit groove 5 to strengthen the lever ring 421 Bearing force in the vertical direction.

The mechanical rocker arm module includes a first shaft 8 , a second shaft 9 , a third shaft 12 , a first cantilever 6 , a second cantilever 10 and a rocker 11 , as well as a first limit shaft 7 and a second limit shaft 13 . The rotating end of the first cantilever 6 has a hollow hole structure and can rotate around the first rotating shaft 8 , and the free end of the first cantilever 6 is located above the rotating end. The first limiting shaft 7 is located on the left side of the first cantilever 6 and is used to block and limit the rotational position of the first cantilever 6 . The second cantilever 10 is located on the right side of the first cantilever 6. The rotating end of the second cantilever 10 has a hollow hole structure and can rotate around the second shaft 9. The free end of the second cantilever 10 is located below the rotating end, and the free end of the second cantilever 10 It is inclined to the left by a certain angle in the direction of the first cantilever 6 so as to better rigidly contact the first cantilever 6 and be stuck and fixed. The rocker arm 11 is located on the right side of the second cantilever arm 10 , and a hollow hole is provided at the upper part of the right side of the rocker arm 11 , which can rotate around the third shaft 12 . The two ends of the rocker arm 11 are quite different in structure. The hollow hole is used as the dividing point. The upper end of the rocker arm 11 is inclined to the left by a certain angle in the direction of the second cantilever arm 10. Small; its lower lever arm is longer, and the width of the lever arm increases gradually along the direction of the lower endpoint. At the same time, the end position of the lower end is designed as a hook structure, which is used for hanging the rope of the delivered object. The center of gravity of the hook end of the rocker arm 11 is to the right. In the free state, the hook end is affected by gravity or drag force, and the rocker arm 11 will rotate counterclockwise around the third axis 12 and tilt at a certain angle to reach equilibrium. At this time, the hook is inclined, In the unlocked state, at this time, the hook cannot hang the rope of the delivered object under the action of no external force, and the rope automatically disengages from the hook.

The housing 15 is used to install the data acquisition and control module 1 , the servo motor module 2 , the gear lever module 4 and the mechanical rocker arm module. At the same time, a through hole is provided above the housing 15, which is flexibly connected to the parachute through a rope; an open window is provided on the left side of the housing 15. When the first cantilever 6 rotates counterclockwise around the first rotating shaft 8, it will exceed the The boundary of the housing 15 and extends a certain distance from the window. An open-type window is provided below the housing 15, and the rocker arm 11 is hooked out of the window for suspending or disengaging the rope of the object to be delivered. At the same time, the casing 15 is provided with a casing through hole 14 at the position where the rocker arm 11 is hooked, and the rope of the delivered object passes through the casing through hole 14 .

The system of the present invention is applied to airdrop tasks, specifically:

After the airdrop mission starts, when the data acquisition and control module 1 detects that the parachute has landed, the data acquisition and control module 1 sends an automatic parachute release control signal to the motor drive system in the servo motor module 2, the servo motor starts to work, and the motor output shaft 3 and the screw rod 41 with the bushing rotates in the reverse direction, and the gear lever 42 is driven to move backward along the gear lever mounting frame 43 , thereby releasing the blocking of the first cantilever 6 . The first cantilever 6 rotates counterclockwise around the first rotation axis 8 under the force of the free end of the second cantilever 10 , and is limited by the first limiting axis 7 and fixed in a certain position to achieve a balance of torque. The second cantilever 10 rotates clockwise around the second rotating shaft 9 under the force of the upper end of the rocker arm 11 , and its free end moves along the first cantilever 6 and is fixed at a certain position to achieve a balance of torque. The hook of the rocker arm 11 rotates counterclockwise around the third shaft 12 under the influence of gravity or drag force, and is fixed on the left side of the second limit shaft 13 under the influence of the second limit shaft 13. At the same time, the rocker arm 11 The upper end moves along the second cantilever 10 and is stuck and fixed at a certain position to achieve the balance of the moment. At this time, the hook of the rocker arm 11 in the mechanical rocker arm module is in the unlocked state, and the hook is inclined upward to the right, so that the rope of the delivered object is automatically and quickly disengaged from the hook of the rocker arm 11 in the mechanical rocker arm module, and then disengages from the parachute.

Before the airdrop task is carried out again, the hook of the rocker arm 11 in the mechanical rocker arm module is in an unlocked state. At this time, the hook of the rocker arm 11 is inclined, and the rope of the delivered object is suspended on the hook. At the same time, a rightward force is applied to the first cantilever 6 through the open window on the left side of the housing 15 . side, then remove the applied force. During this process, the first cantilever 6 acts on the free end of the second cantilever 10 , and makes the second cantilever 10 rotate counterclockwise around the second rotation axis 9 to the right. The free end of the second cantilever arm 10 acts on the upper end of the rocker arm 11, so that the rocker arm 11 rotates clockwise around the third rotation axis 12. At this time, the hook end of the rocker arm 11 rotates to the left, and the rocker arm 11 changes from the inclined state to the vertical state. , so that the rope of the delivered object is located in the through hole of the housing 15 . Then trigger the reset button in the data acquisition and control module 1, the data acquisition and control module 1 sends an automatic reset control command to the servo motor module 2, the servo motor module starts to work, the motor output shaft 3 of the servo motor module and the lead screw with the bushing 41 rotates in the forward direction, and the drive lever 42 extends forward along the lever mounting frame 43 and is blocked on the left side of the first cantilever 6 . At this time, when the hook of the rocker arm 11 is pulled by the rope of the object to be delivered, its upper end rotates to the left and is stuck and fixed near the rotating end of the second cantilever 10, and the free end of the second cantilever 10 is stuck and fixed on the first cantilever. Near the rotating end of Balance and keep their relative positions fixed. At this time, the hook of the rocker arm 11 is in a locked state, and the rope of the object to be delivered is locked in the through hole 14 of the casing by the hook.

When the hook in the mechanical rocker arm module is in a locked state, the gravity of the delivered object acts on the hook through the rope, the pulling force of the rope acts on the force arm at the hook end of the rocker arm, and the rocker arm rotates around the third rotation axis. The moment balance at both ends of the arm produces a relatively small force on the upper end of the rocker arm, which acts on the rotating end of the second cantilever, which is around the second axis of rotation, and generates a force at the free end through the torque balance, Since the force arm of the upper end of the rocker arm acting on the second cantilever arm is quite different from the force arm of the free end of the second cantilever arm, the acting force of the free end of the second cantilever arm is greatly reduced. At the same time, the free end of the second cantilever acts on the rotating end of the first cantilever, the free end of the first cantilever acts on the gear lever, and the first cantilever realizes moment balance around the first rotation axis. Since the force arm of the free end of the second cantilever acting on the first cantilever is smaller, and the force arm of the gear lever relative to the acting force of the first cantilever is relatively long, the force of the free end of the first cantilever acting on the gear lever is higher than that of the second cantilever. The force at the free end of the cantilever is greatly reduced. In this way, the acting force and moment between the different cantilever arms and the rocker arms are balanced, so that the gear lever only needs to bear a small acting force to lock the position of the hook that bears a relatively large acting force.

Therefore, the parachute automatic detachment control and detachment system of the present invention can reliably and effectively realize the automatic and rapid detachment of the delivered object from the parachute after landing, preventing the parachute from dragging the delivered object and causing damage caused by scratching and collision between the delivered object and the ground. , so as to ensure the safety of the delivered objects and ensure the effectiveness and safety of the airdrop mission.

Those skilled in the art can easily understand that the above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, etc., All should be included within the protection scope of the present invention.

Claims (10)

1. a parachute automatic parachute detachment control and detachment system, is characterized in that, comprises: data acquisition and control module (1), servo motor module (2), gear lever module (4) and mechanical rocker arm module; The data acquisition and control module (1) is connected with the servo motor module (2) through a circuit, and the servo motor module (2) is fixedly connected with the gear lever module (4); The data acquisition and control module (1) is used for sending an automatic reset control signal to the servo motor module (2) before the start of the airdrop mission, and sending an automatic parachute release control signal to the servo motor module (2) when the parachute lands ; The servo motor module (2) is used to drive the gear lever module (4) to contact the mechanical rocker arm module when receiving the automatic reset control signal, so that the hook in the mechanical rocker arm module is in a locked state; When the control signal is used, the drive lever module (4) is separated from the mechanical rocker arm module, and the locked state of the hook in the mechanical rocker arm module is released, so that the delivered object is automatically separated from the hook in the mechanical rocker arm module, and then the delivery is realized. The object disengages from the parachute. 2. The parachute automatic parachute detachment control and detachment system according to claim 1, wherein the mechanical rocker arm module comprises a first cantilever (6), a first limit shaft (7), a first rotating shaft (8), a second rotating shaft (9), a second cantilever arm (10), a rocker arm (11), a third rotating shaft (12) and a second limiting shaft (13), The free end of the first cantilever (6) is located above the rotating end, and the rotating end of the first cantilever (6) has a hollow hole structure for rotating around the first rotating shaft (8). 7) Located on the left side of the first cantilever (6), for blocking and limiting the rotational position of the first cantilever (6); The second cantilever (10) is located on the right side of the first cantilever (6), and the rotating end of the second cantilever (10) has a hollow hole structure for rotating around the second rotating shaft (9), and the second cantilever (10) ) the free end is below the swivel end; The rocker arm (11) is located on the right side of the second cantilever arm (10), and a hollow hole is provided at the upper position of the right side of the rocker arm (11) for rotating around the third rotation axis (12). The limiting shaft (13) is located on the right side of the rocker arm (11) and is used to block and limit the rotation position of the rocker arm (11). 3. A kind of parachute automatic parachute detachment control and detachment system as claimed in claim 2, is characterized in that, above the hollow hole of described rocker arm (11) is the upper end, below the hollow hole is the lower end, and the upper end is toward the second cantilever (11). 10) The direction is tilted to the left, the upper lever arm is shorter than the lower lever arm, and a hook is set at the end point of the lower end to hang the rope of the delivered object. 4. A kind of parachute automatic parachute detachment control and detachment system as claimed in claim 3, is characterized in that, when described servo motor module (2) receives automatic reset control signal, drives gear lever module (4) and first The cantilever (6) contacts and blocks the rotation position of the first cantilever (6). At this time, the hook at the end point of the lower end of the rocker arm (11) is pulled by the rope of the object to be delivered, and the upper end rotates to the left and is stuck and fixed on the second cantilever. (10), the free end of the second cantilever (10) is stuck and fixed on the rotating end of the first cantilever (6), and the free end of the first cantilever (6) rotates to the left and is stuck and fixed on the gear lever module (4), through the rigid contact between the first cantilever (6), the second cantilever (10) and the rocker (11), the balance between the moments is achieved, thereby keeping the relative position of the rocker (11) fixed , so that the hook at the end point of the lower end of the rocker arm (11) is in a locked state. 5. A kind of parachute automatic detachment control and detachment system as claimed in claim 3, it is characterized in that, when described servo motor module (2) receives automatic detachment control signal, drives gear lever module (4) and th A cantilever (6) is separated, and the first cantilever (6) rotates counterclockwise around the first rotation axis (8) under the force of the free end of the second cantilever (10), and is limited by the first limit shaft (7). Restriction, the free end of the first cantilever (6) is stuck and fixed on the first limiting shaft (7), and the second cantilever (10) revolves around the second rotating shaft (9) under the force of the upper end of the rocker arm (11). Rotate clockwise to the left, the free end of the second cantilever (10) moves along the first cantilever (6) and is stuck and fixed, and the hook at the end point of the lower end of the rocker arm (11) is affected by gravity or drag force around the third cantilever The rotating shaft (12) rotates counterclockwise to the right, and is blocked by the second limiting shaft (13) and fixed on the left side of the second limiting shaft (13). The second cantilever arm (10) moves and is stuck and fixed. At this time, the locked state of the hook at the end point of the lower end of the rocker arm (11) is released. 6. The parachute automatic detachment control and detachment system according to any one of claims 1-5, wherein the system further comprises: a motor output shaft (3), The servo motor module (2) is fixedly connected with the gear lever module (4) through the motor output shaft (3); The motor output shaft (3) is used for forward rotation when the servo motor module (2) receives the automatic reset control signal, and reverse rotation when the servo motor module (2) receives the automatic parachute release control signal. 7. The parachute automatic detachment control and detachment system according to claim 6, wherein the gear lever module (4) is located directly below the servo motor module (2), and the gear lever module (4) ) including the screw rod with bushing, the gear lever and the gear lever mounting frame, The bushing screw is located in the middle hole of the gear lever, and the bushing screw is fixedly connected with the motor output shaft (3). When the gear lever is driven to move forward in a straight line, it is in contact with the mechanical rocker arm module, and when the motor output shaft (3) rotates in the reverse direction, the gear lever is driven to move in a straight line backward, and is separated from the mechanical rocker arm module; The gear lever mounting frame is located outside the gear lever and is used for installing and fixing the gear lever. 8. The parachute automatic parachute detachment control and detachment system according to claim 7, wherein the gear lever comprises a gear lever ring and an inner thread of the gear lever, The gear rod mounting frame is used to install and fix the position of the gear rod ring in the vertical direction, and the external thread of the screw rod with the bushing is connected with the internal thread of the gear rod. 9 . The parachute automatic parachute detachment control and detachment system according to claim 8 , wherein a limit groove (5) is provided directly below the stop lever, and the stop lever further comprises a stop lever support plate. 10 . , the lever support plate moves freely in the limiting groove (5). 10. The parachute automatic detachment control and detachment system according to any one of claims 2-5, wherein the system further comprises: a casing (15), the data acquisition and control module (1) , the servo motor module (2), the gear lever module (4) and the mechanical rocker arm module are all installed inside the casing (15), and a through hole is arranged above the casing (15) for flexible connection with the parachute through a rope; An open window is arranged below the casing (15), and a hook extends out of the window at the end point of the lower end of the rocker arm (11).

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