阅读说明：本技术 一种适用于降落伞的自动穿伞绳装置 (Automatic parachute-penetrating rope device suitable for parachute ) 是由 熊烽 廖圣洁 熊良才 姜顺 夏奇 史铁林 于 2021-10-20 设计创作，主要内容包括：本发明属跳伞运动个人装备相关技术领域,其公开了一种适用于降落伞的自动穿伞绳装置,所述自动穿伞绳装置包括穿绳机构、平动扣绳机构及机器视觉组件,所述穿绳机构与所述平动扣绳机构邻近设置,所述机器视觉组件设置在所述平动扣绳机构上；所述机器视觉组件用于辅助所述穿绳机构将伞绳穿过降落伞的绳圈、以及辅助所述平动扣绳机构将穿过所述绳圈的伞绳进行固定而实现自动穿伞绳。所述自动穿伞绳装置通过穿绳机构辅以机器视觉来引导伞绳穿过绳圈,穿绳后由扣绳机构进行固定,并配合导轨移动实现了精准连续作业,为后续的装包工作提供了便利,提高了效率及准确性,解决了降落伞穿伞绳效率抵、穿伞绳质量参差不齐的问题。(The invention belongs to the technical field related to personal equipment for parachute jumping, and discloses an automatic parachute threading device suitable for a parachute, which comprises a threading mechanism, a translational rope buckling mechanism and a machine vision component, wherein the threading mechanism is arranged adjacent to the translational rope buckling mechanism, and the machine vision component is arranged on the translational rope buckling mechanism; the machine vision assembly is used for assisting the rope threading mechanism to enable the umbrella rope to penetrate through a rope ring of the parachute, and assisting the translational rope buckling mechanism to fix the umbrella rope penetrating through the rope ring so as to achieve automatic umbrella rope threading. The automatic parachute threading device guides the parachute ropes to pass through the rope ring by the aid of the rope threading mechanism and machine vision, the parachute ropes are fixed by the rope buckling mechanism after being threaded, accurate continuous operation is achieved by means of movement of the guide rails, convenience is provided for subsequent packaging work, efficiency and accuracy are improved, and the problems that the parachute threading efficiency is low and the parachute threading quality is uneven are solved.)

1. The utility model provides an automatic wear parachute line device suitable for parachute which characterized in that:

the automatic umbrella rope penetrating device comprises a rope penetrating mechanism, a translational rope buckling mechanism and a machine vision component, wherein the rope penetrating mechanism is arranged adjacent to the translational rope buckling mechanism, and the machine vision component is arranged on the translational rope buckling mechanism; the machine vision assembly is used for assisting the rope threading mechanism to thread the parachute rope through a rope ring of the parachute and assisting the translational rope buckling mechanism to fix the parachute rope threaded through the rope ring so as to realize automatic parachute rope threading;

the rope threading mechanism comprises a stop lever, a first connecting plate, a support, a push plate and a first rope hook; the support is connected to one side of the first connecting plate; the push plate is connected to the support in a sliding mode and is located on the same side of the first connecting plate as the support; the stop lever and a first connecting plate connected to the support form sliding connection, one end of the stop lever penetrates through the corresponding first connecting plate and then is connected to the first rope hook, and the first rope hook and the push plate are located in an accommodating space formed by the corresponding first connecting plate and the support; the moving direction of the stop lever is perpendicular to that of the push plate, the first rope hook is used for lifting the rope loop, and the push plate is used for enabling the umbrella rope to penetrate through the rope loop.

2. The automatic parachute-threading apparatus for a parachute according to claim 1, wherein: the number of the first connecting plates is at least two, at least two first connecting plates are arranged at intervals and are sequentially connected, and the support is connected with one first connecting plate at the outermost side; the automatic umbrella rope penetrating device further comprises a supporting driving mechanism and two first air cylinders, one of the two first air cylinders is fixed on one first connecting plate far away from the support, and an air cylinder rod of the automatic umbrella rope penetrating device is connected to the other end of the stop lever after penetrating through the first connecting plate in the middle; a cylinder rod of the other first cylinder penetrates through the support and then is connected with the push plate; the supporting driving mechanism is used for driving the rope threading mechanism to move; a first connecting plate remote from the support is connected to the support drive mechanism.

3. The automatic parachute-threading apparatus for a parachute according to claim 1, wherein: the automatic rope threading device further comprises a fixed claw and a stop block, and the support and the first cylinder connected to the push plate are respectively fixed on the fixed claw; the stop block is fixed on one side of the first connecting plate adjacent to the support.

4. The automatic parachute-threading apparatus for a parachute according to claim 3, wherein: the fixed claw is of a rectangular symmetrical structure and comprises a middle part, a first end and a second end, wherein the first end and the second end are connected to the two opposite ends of the middle part; the thickness of the middle part is larger than that of the first end and that of the second end, and the thickness of the first end gradually increases from one end far away from the middle part to the middle part.

5. The automatic parachute-threading apparatus for a parachute according to claim 1, wherein: the support is connected to the one end of first connecting plate and has seted up the guide slot, the guide slot runs through the support, and it is used for acceping the push pedal and provides the guide effect for the push pedal.

6. The automatic parachute-threading apparatus for a parachute according to claim 2, wherein: the push plate is basically rectangular, one end of the push plate is connected to the first cylinder, two strip-shaped gear shaping teeth are arranged at the corner of the other end of the push plate at intervals, and a first through groove is formed between the two gear shaping teeth; the first through groove is used for a second rope hook of the translational rope buckling mechanism to penetrate through so as to tighten the umbrella rope.

7. An automatic parachute harness installation for a parachute according to any one of claims 1 to 6, wherein: the first rope hook is in a wide-mouth shape and is provided with a mounting groove and a first accommodating groove, and the central axis of the mounting groove is vertical to the central axis of the first accommodating groove; the first rope hook is connected to the corresponding stop lever through the mounting groove; the first accommodating groove is used for accommodating a rope ring on the parachute.

8. The automatic parachute-threading apparatus for a parachute according to claim 7, wherein: the first accommodating groove comprises an arc-shaped part, two connecting parts and two inclined parts, one sides of the two inclined parts are respectively connected to the two sides of the arc-shaped part through the two connecting parts, and the first accommodating groove is of a symmetrical structure.

9. An automatic parachute harness installation for a parachute according to any one of claims 1 to 6, wherein: the translational rope buckling mechanism comprises a stepping motor, a pressing component, a guide rail platform, a second cylinder and a rope buckling component, wherein the pressing component is slidably arranged on the guide rail platform, and the rope buckling component is slidably arranged on the pressing component; the second air cylinder is arranged on the guide rail platform and connected to the pressing assembly so as to drive the pressing assembly to move towards or away from the umbrella bag; the stepping motor is arranged on the guide rail platform, is connected to the rope buckling assembly and is used for driving the rope buckling assembly to move along the arrangement direction of the rope ring; wherein, the compressing assembly is used for fixing the umbrella bag.

10. The automatic parachute-threading apparatus for a parachute according to claim 9, wherein: the rope buckling assembly comprises two third cylinders, a second connecting plate, a second rope hook, a sliding seat and a rope hook cross beam; the third air cylinder is arranged on the sliding seat, an air cylinder rod of the third air cylinder is connected with the second connecting plate, and the second connecting plate is connected with the other third air cylinder; one end of the rope hook cross beam is connected to a cylinder rod far away from the sliding seat; the second rope hook is basically Z-shaped, one end of the second rope hook is connected to the other end of the rope hook cross beam, and the other end of the second rope hook is used for tensioning the umbrella rope penetrating through the rope ring.

Technical Field

The invention belongs to the technical field related to personal equipment for parachuting sports, and particularly relates to an automatic parachute rope penetrating device suitable for a parachute, in particular to a man-machine integrated parachute rope penetrating device in the automatic packaging process of the parachute.

Background

With the increasing requirements on rapidity and safety of parachute folding and sorting, the adoption of an automatic parachute folding, sorting and packaging process is more and more important. In the automatic production process of folding, arranging and packaging the parachute, the parachute stringing is an important process. The umbrella rope is to pass the umbrella rope through the rope loops of the umbrella bag orderly according to a certain sequence. Because the umbrella rope needs to be threaded through the rope loop in the umbrella rope threading work, the umbrella rope can be guided to complete the umbrella rope threading work by considering that the umbrella bag, the rope loop on the umbrella bag and the umbrella rope are both made of soft materials. Meanwhile, the rope rings are distributed on two sides of the umbrella bag, umbrella rope threading operation needs to be carried out on two sides when umbrella ropes are threaded, the umbrella ropes are threaded on one side and then on the other side, and when the umbrella ropes are threaded on the opposite side, umbrella ropes which are threaded on the umbrella rope part are easy to loosen, so that the umbrella rope part needs to be fixed, and the umbrella ropes distributed on the outer sides of the rope rings are guaranteed to be relatively fixed in length.

In addition, the position and the gesture of the rope circle are different when the rope is threaded, the action amplitude of the rope threading mechanism is required to be monitored when the rope is threaded, the umbrella rope threading link is manually operated, the time consumption is long, the umbrella rope threading quality is directly hooked with the operation level of a technician, and the umbrella rope threading efficiency and the umbrella rope threading quality cannot be guaranteed.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides the automatic parachute threading device suitable for the parachute, the automatic parachute threading device guides the parachute rope to pass through the rope ring through the rope threading mechanism with the assistance of machine vision, the parachute rope is fixed by the rope fastening mechanism after being threaded, and the precise continuous operation is realized by matching with the movement of the guide rail, so that the convenience is provided for the subsequent packing work, the efficiency and the accuracy are improved, and the problems of low parachute threading efficiency and uneven parachute threading quality are solved.

In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic parachute threading device for a parachute, the automatic parachute threading device comprising a threading mechanism, a translational rope fastening mechanism and a machine vision component, the threading mechanism being disposed adjacent to the translational rope fastening mechanism, the machine vision component being disposed on the translational rope fastening mechanism; the machine vision assembly is used for assisting the rope threading mechanism to thread the parachute rope through a rope ring of the parachute and assisting the translational rope buckling mechanism to fix the parachute rope threaded through the rope ring so as to realize automatic parachute rope threading;

the rope threading mechanism comprises a stop lever, a first connecting plate, a support, a push plate and a first rope hook; the support is connected to one side of the first connecting plate; the push plate is connected to the support in a sliding mode and is located on the same side of the first connecting plate as the support; the stop lever and a first connecting plate connected to the support form sliding connection, one end of the stop lever penetrates through the corresponding first connecting plate and then is connected to the first rope hook, and the first rope hook and the push plate are located in an accommodating space formed by the corresponding first connecting plate and the support; the moving direction of the stop lever is perpendicular to that of the push plate, the first rope hook is used for lifting the rope loop, and the push plate is used for enabling the umbrella rope to penetrate through the rope loop.

Furthermore, the number of the first connecting plates is at least two, at least two first connecting plates are arranged at intervals and are sequentially connected, and the support is connected with one first connecting plate at the outermost side; the automatic umbrella rope penetrating device further comprises a supporting driving mechanism and two first air cylinders, one of the two first air cylinders is fixed on one first connecting plate far away from the support, and an air cylinder rod of the automatic umbrella rope penetrating device is connected to the other end of the stop lever after penetrating through the first connecting plate in the middle; a cylinder rod of the other first cylinder penetrates through the support and then is connected with the push plate; the supporting driving mechanism is used for driving the rope threading mechanism to move; a first connecting plate remote from the support is connected to the support drive mechanism.

Furthermore, the automatic rope threading device also comprises a fixed claw and a stop block, and the support and the first cylinder connected to the push plate are respectively fixed on the fixed claw; the stop block is fixed on one side of the first connecting plate adjacent to the support.

Furthermore, the fixed claw is of a rectangular symmetrical structure and comprises a middle part, a first end and a second end, wherein the first end and the second end are connected to the two opposite ends of the middle part; the thickness of the middle part is larger than that of the first end and that of the second end, and the thickness of the first end gradually increases from one end far away from the middle part to the middle part.

Furthermore, the support is connected to one end of the first connecting plate and is provided with a guide groove, and the guide groove penetrates through the support and is used for accommodating the push plate and providing a guiding function for the push plate.

Furthermore, the push plate is basically rectangular, one end of the push plate is connected to the first cylinder, two strip-shaped gear shaping teeth are arranged at the corner of the other end of the push plate at intervals, and a first through groove is formed between the two gear shaping teeth; the first through groove is used for a second rope hook of the translational rope buckling mechanism to penetrate through so as to tighten the umbrella rope.

Furthermore, the first rope hook is in a wide-mouth shape and is provided with a mounting groove and a first accommodating groove, and the central axis of the mounting groove is vertical to the central axis of the first accommodating groove; the first rope hook is connected to the corresponding stop lever through the mounting groove; the first accommodating groove is used for accommodating a rope ring on the parachute.

Further, the first accommodating groove comprises an arc-shaped portion, two connecting portions and two inclined portions, one sides of the two inclined portions are connected to two sides of the arc-shaped portion through the two connecting portions respectively, and the first accommodating groove is of a symmetrical structure.

Furthermore, the translational rope fastening mechanism comprises a stepping motor, a pressing component, a guide rail platform, a second cylinder and a rope fastening component, wherein the pressing component is slidably arranged on the guide rail platform, and the rope fastening component is slidably arranged on the pressing component; the second air cylinder is arranged on the guide rail platform and connected to the pressing assembly so as to drive the pressing assembly to move towards or away from the umbrella bag; the stepping motor is arranged on the guide rail platform, is connected to the rope buckling assembly and is used for driving the rope buckling assembly to move along the arrangement direction of the rope ring; wherein, the compressing assembly is used for fixing the umbrella bag.

Furthermore, the rope buckling assembly comprises two third air cylinders, a second connecting plate, a second rope hook, a sliding seat and a rope hook cross beam; the third air cylinder is arranged on the sliding seat, an air cylinder rod of the third air cylinder is connected with the second connecting plate, and the second connecting plate is connected with the other third air cylinder; one end of the rope hook cross beam is connected to a cylinder rod far away from the sliding seat; the second rope hook is basically Z-shaped, one end of the second rope hook is connected to the other end of the rope hook cross beam, and the other end of the second rope hook is used for tensioning the umbrella rope penetrating through the rope ring.

Generally, compared with the prior art, the automatic parachute threading device suitable for the parachute provided by the invention mainly has the following beneficial effects:

1. the machine vision assembly is used for collecting pose data of a parachute rope ring and assisting a rope threading mechanism to penetrate a parachute rope through the rope ring according to the collected pose data, and the translation rope buckling mechanism fixes the parachute rope penetrating through the rope ring to realize automatic parachute rope threading, so that automation of parachute rope threading is realized, the original manual operation is replaced, the efficiency of parachute rope threading, the quality and the accuracy of the parachute rope threading are greatly improved, and convenience is provided for subsequent packing work.

2. The automatic umbrella rope threading device disassembles the original complex process into the matching operation among driving parts such as different cylinders and the like, and realizes the automatic operation on the premise of controlling the cost.

3. The first rope hook is in a wide-mouth shape, so that the difficulty in rope threading caused by the fact that the umbrella rope and the umbrella ring are made of flexible materials and the pose state is relatively asymmetric is overcome, and the rope ring is convenient to lift.

4. First accepting groove includes arc portion, two connecting portion and two inclinations, and one side of two inclinations is respectively through two connecting portion connect in the both sides of arc portion, just first accepting groove is symmetrical structure, so be convenient for mention the becket bridle and reserve sufficient open space for the parachute line, the setting of rake is favorable to preventing the parachute line aversion simultaneously, ensures the position appearance of becket bridle relatively stable.

Drawings

FIG. 1 is a schematic structural view of a stringing mechanism of an automatic parachute stringing device for a parachute according to the present invention;

FIG. 2 is a schematic view of the reeving mechanism of FIG. 1 in another orientation;

FIG. 3 is a schematic view of a first cord hook of the reeving mechanism of FIG. 1;

FIG. 4 is a schematic structural diagram of a translational cord-clasping mechanism of an automatic parachute-threading device suitable for a parachute provided by the invention;

FIG. 5 is a partial schematic view of the translational lanyard mechanism of FIG. 4;

fig. 6 is a schematic view showing the use state of the automatic parachute threading device suitable for the parachute provided by the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 101-first connecting plate, 102-guide column, 103-first air cylinder, 104-fixed claw, 105-push plate, 106-first rope hook, 107-stop block, 108-support, 109-stop lever, 201-stepping motor, 202-pressing component, 203-guide rail platform, 204-second air cylinder, 205-rope fastening component, 301-third air cylinder, 302-second connecting plate, 303-second rope hook, 304-sliding seat, 305-clamping plate, 306-rope hook cross beam, 401-platform plate, 402-machine vision component, 403-rope threading mechanism, 404-translational rope fastening mechanism and 405-umbrella bag.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 6, the automatic parachute threading device suitable for a parachute provided by the present invention includes a threading mechanism 403, a translational rope fastening mechanism 404, a support driving mechanism, a machine vision component 402, and a microprocessor, where the threading mechanism 403, the translational rope fastening mechanism 404, the support driving mechanism, and the machine vision component 402 are respectively connected to the microprocessor, the threading mechanism 403 is slidably connected to the support driving mechanism, and the translational rope fastening mechanism 404 is disposed adjacent to the threading mechanism 403. The machine vision assembly 402 is mounted on the translational lanyard mechanism 404 and both move in unison.

Referring to fig. 1, 2 and 3, the rope threading mechanism 403 includes three first connecting plates 101, six guide posts 102, two first cylinders 103, a fixing claw 104, a push plate 105, a first rope hook 106, a stop block 107, a support 108 and a stop lever 109. The three first connecting plates 101 are sequentially arranged at intervals, one side of the support 108 is connected with the outermost one of the first connecting plates 101, and the other side of the support is connected with one end of the fixed claw 104. The four guide posts 102 are located between two first connecting plates 101 adjacent to the support 108, two ends of each guide post are respectively connected with the corresponding two first connecting plates 101, two ends of the other two guide posts 102 are respectively connected with two first connecting plates 101 far away from the support 108, and the first connecting plates 101 far away from the support 108 are connected with the support driving mechanism.

One of the first cylinders 103 is fixed to the first connecting plate 101 at the middle, and its cylinder rod is connected to one end of the blocking rod 109, and the other end of the blocking rod 109 passes through the first connecting plate 101 adjacent to the support 108 and then is connected to the first rope hook 106. The other first cylinder 103 is fixed at one end of the fixed jaw 104, and the cylinder rod thereof is connected to the push plate 105 after passing through the support 108. The first cylinder 103 connected to the first rope hook 106 and the stop lever 109 are located on the same side of the guide post 102. The stop block 107 is disposed on a side of the first connecting plate 101 adjacent to the support 108 away from the guide post 102, and is made of an elastic body.

The first rope hook 106 is in a wide mouth shape, and is provided with a mounting groove and a first accommodating groove, wherein a central axis of the mounting groove is perpendicular to a central axis of the first accommodating groove. The first rope hook 106 is connected to the stop lever 109 through the mounting groove; the first accommodating groove is used for accommodating a rope ring on the parachute. In this embodiment, the first receiving groove includes an arc portion, two connecting portions, and two inclined portions, one side of each of the two inclined portions is connected to both sides of the arc portion through the two connecting portions, and the first receiving groove has a symmetrical structure. The inclined part is obliquely arranged relative to the arc-shaped part so as to hook the rope loop.

The fixing claw 104 is a rectangular symmetrical structure, and includes a middle portion, and a first end and a second end connected to opposite ends of the middle portion, wherein the thickness of the middle portion is greater than the thickness of the first end and the thickness of the second end, the thickness of the first end gradually increases from one end away from the middle portion toward the middle portion, and the thickness of the second end also changes. In this embodiment, the support 108 is fixed to the middle portion in a region adjacent to the first end, and the push plate is located in a region corresponding to the first end.

The support 108 is L-shaped, and one end of the support is fixed to the fixing claw 104, and the other end of the support is connected to the corresponding first connecting plate 101. One end of the support 108 connected to the first connecting plate 101 is provided with a guide groove, the guide groove penetrates through the support 108, and the length direction of the guide groove is the same as the length direction of the fixing claw 104. The guide groove is used for accommodating the push plate 105 and providing a guiding function for the push plate 105.

The push plate 105 is substantially rectangular, one end of the push plate is connected to the first cylinder 103, two strip-shaped gear shaping teeth are arranged at the corner of the other end of the push plate at intervals, and a first through groove is formed between the two gear shaping teeth. The length direction of the first through groove is the same as the moving direction of the first push plate 105.

When the parachute works, the parachute ropes of the parachute are limited between the corresponding first connecting plate 101 and the push plate 105, and the stop lever 109 drives the first rope hook 106 to lift, so that the first rope hook 106 lifts the rope loop; the push plate 105 is then moved towards the loop to push the cord out and through the loop. After the umbrella rope is fixed by the translational rope-buckling mechanism 404, the supporting and driving mechanism drives the rope-threading mechanism 403 to move backwards integrally, and then the two first air cylinders 103 reset successively.

In this embodiment, the number of the translational rope fastening mechanisms 404 and the number of the machine vision assemblies 402 are both 2; it is understood that in other embodiments, the number of translational lanyard mechanisms 404 and the number of machine vision components 402 may be increased or decreased as desired.

Referring to fig. 4 and 5, the translational lanyard mechanism 404 includes a stepping motor 201, a pressing assembly 202, a guide rail platform 203, a second cylinder 204, and a lanyard assembly 205, wherein the pressing assembly 202 is slidably disposed on the guide rail platform 203, and the lanyard assembly 205 is slidably disposed on the pressing assembly 202. The second cylinder 204 is disposed on the rail platform 203 and connected to the pressing assembly 202 for driving the pressing assembly 202 to move toward or away from the umbrella bag 405. The stepping motor 201 is disposed on the guide rail platform 203, and is connected to the rope fastening assembly 205, so as to drive the rope fastening assembly 205 to move along the arrangement direction of the rope loops. Wherein the compression assembly 202 is used to secure the umbrella pack 405.

The rope fastening assembly 205 includes two third cylinders 301, a second connecting plate 302, a second rope hook 303, a sliding base 304, a clamping plate 305 and a rope hook beam 306. One of the third air cylinders 301 is disposed on the slide 304, and the air cylinder rod thereof is connected to the second connecting plate 302, and the second connecting plate 302 is connected to the other of the third air cylinders 301. The rope hook cross-beam 306 is L-shaped, and one end of the rope hook cross-beam is clamped by the two clamping plates 305 and then connected to a cylinder rod far away from the sliding seat 304. The second rope hook 303 is substantially Z-shaped, and one end thereof is connected to the other end of the rope hook beam 306. The two third cylinders 301 are respectively used for driving the second rope hook 303 to move up and down and back and forth.

After the pressing component 202 fixes the umbrella bag 405, the rope threading mechanism 403 passes through a rope loop, then the translational rope fastening mechanism 404 controls the second rope hook 303 to move towards the umbrella bag 405 to the upper part of the first through groove with the aid of the machine vision component 402, and then controls the second rope hook 303 to move downwards to be inserted into the first through groove, and at this time, the second rope hook 303 is located between the umbrella rope and the groove wall of the first through groove; then, the second rope hook 303 moves in a direction away from the umbrella bag 405 to tighten the umbrella rope to achieve fixing, so that the umbrella rope penetrating operation of a single rope loop is completed, the supporting and driving mechanism drives the rope penetrating mechanism 403 to move to the next position, and the umbrella rope penetrating action is repeated.

The machine vision component 402 is an auxiliary mechanism that includes a light source, an industrial camera, an image acquisition and transmission component, and the like. The machine vision assembly 402 is mounted on a translational cinch mechanism 404, and the machine vision assembly 402 changes position as the carriage 304 moves during threading. In this embodiment, the machine vision component 402 mainly utilizes the imaging of the object at two different angles to derive the actual coordinate system of the object, and simultaneously realizes the effects of extracting the edge of the rope loop, identifying the contour center line of the rope loop, extracting the posture of the rope loop and the like by means of image processing software. The machine vision component 402 is configured to acquire position and pose data of a rope loop, and transmit the acquired data to the microprocessor, where the microprocessor processes the received data and then sends a corresponding instruction to control the translational rope fastening mechanism 404, the support driving mechanism, and the rope threading mechanism 403.

Referring to fig. 6, when the automatic parachute threading device works, it is installed on the bedplate 401, and the automatic parachute threading device mainly includes the following steps:

and S1, the rope threading mechanism guides the umbrella rope to pass through the rope loop.

With the aid of the machine vision component 402, the rope threading mechanism 403 slides to the vicinity of the rope loop under the driving of the supporting driving mechanism; next, the first cylinder 103 connected to the stop lever 109 is actuated to move the stop lever 109 upward; meanwhile, the first rope hook 106 pulls up the rope loop, and then the other first air cylinder 103 drives the push plate 105 to move so as to push the umbrella rope to pass through the rope loop.

And S2, fixing by a buckle rope.

The stepping motor 201 drives the sliding seat 304 to move to the vicinity of the push plate 105, and the second rope hook 303 is aligned with the through groove on the push plate 105 with the aid of the machine vision component 402; then, the corresponding third air cylinder 301 drives the second rope hook 303 to move towards the umbrella bag 405, and accurately moves to the position above the through groove of the push plate 105 by the aid of the machine vision component 402, and then the other third air cylinder 301 controls the second rope hook 303 to move downwards to be inserted into the through groove; finally, the second rope hook 303 is driven by the corresponding third cylinder 301 to move backwards so as to pull the umbrella rope, thereby playing a role in fixing, and completing the action of putting through the umbrella rope.

And S3, resetting.

After the umbrella rope threading is completed, the supporting driving mechanism, the rope threading mechanism and the translational rope buckling mechanism start to reset to prepare for the next rope threading operation. Firstly, the whole rope threading mechanism moves backwards to be far away from the position of the rope ring, then the push plate 105 resets backwards, and the stop lever 109 deviates from the initial position by a certain distance when pulling up the rope ring, so that the rope threading mechanism only needs to move upwards in a small amplitude during resetting. And the cylinder of the rope fastening mechanism works successively to lift the rope hook, and the whole rope fastening mechanism is withdrawn back to the original position to prepare for the next rope threading action.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.