Method and apparatus for firearm recoil simulation

• US 9,146,069 B2
• Filed: 03/14/2013
• Issued: 09/29/2015
• Est. Priority Date: 05/22/2012
• Status: Active Grant

• Current Assignee: Haptech, Inc.
• Original Assignee: Haptech, Inc.
• Inventors: Monti, Kyle, Marse, Daryl
• Primary Examiner(s): Musselman, Timothy A
• Application Number:
  US13/804,429
• Publication Number:
  US 20130316308A1
• Time in Patent Office: 929 Days
• Field of Search: 434 11- 27
• US Class Current: 1/1
• CPC Class Codes: F41A 33/02 Light- or radiation-emitting guns ; Light- or radiation-sensitive guns; Cartridges carrying light emitting sources, e.g. laser
• CPC Class Codes: F41A 33/06 Recoil simulators
• CPC Class Codes: G09B 9/003 for military purposes and tactics
• CPC Class Codes: H02K 41/031 of the permanent magnet type

Abstract

A method and apparatus for firearm training simulator which simulates realistic recoil of conventional firearms. The method and apparatus incorporates a linear motor and controllable mass for generating recoil. One embodiment includes an adjusting system for adjusting the amount of recoil provided. Also provided are means for simulating semi-automatic and/or full automatic operation of firearms. One embodiment can include a laser emitter which simulates the path for a bullet fired from a firearm that the method and apparatus is simulating.

Claims

1. A firearm training simulator, comprising:

a body simulating a firearm, a linear motor attached to the body, the linear motor controlling a sliding mass to simulate a recoil pattern of a bullet fired from a firearm;

a trigger operatively connected to the linear motor;

wherein a time versus force diagram of a particular round of ammunition being fired from the firearm to be simulated is identified, and a controller is programmed to control the linear motor to control movement of the sliding mass to create substantially the same forces over time by controlling the acceleration versus time of the sliding mass.

2. The simulator of claim 1, wherein a plurality of simulation data point sets are generated for apparent recoil force versus time, and the controller is programmed to cause the linear motor to cause the sliding mass to accelerate to cause reactive forces to substantially match the programmed force versus time data points.

3. The firearm training simulator of claim 1, further including a sensor operatively connected to the linear motor, wherein the sensor communicates to the controller at least one of a signal representing a velocity, an acceleration, and a linear position of the sliding mass.

4. The firearm training simulator of claim 3, wherein the sensor is comprised of a plurality of hall effect sensors, which are out of phase with each other.

5. The firearm simulator of claim 3, wherein the linear position of the sliding mass is established by the sensors when it contacts a mechanical stop and then the sliding mass is driven against the mechanical stop to simulate the recoil pattern of a bullet fired from the firearm.

6. The firearm training simulator of claim 1, wherein the sliding mass is comprised of a plurality of permanent magnets linearly aligned adjacent each other with like poles facing like poles.

7. The firearm training simulator of claim 1, wherein in the linear motor is comprised of a plurality of magnetic coils independently controllable with respect to each other regarding timing and amount of current flow.

8. The firearm training simulator of claim 7, wherein the plurality of individually controllable magnetic coils in the plurality of coils include at least 4 independently controllable coils.

9. The firearm training simulator of claim 1, wherein the linear motor is comprised of a plurality of independently controllable magnetic coils that are each independently controllable regarding the timing and at least one of the amount of current flow and direction of current flow.

10. The firearm training simulator of claim 9, wherein each of the plurality of independently controllable magnetic coils includes a plurality of sub-coil sections that are spaced apart from each other and connected electrically in series, wherein the electrically serially connected spaced apart sub-coil sections form a single independently controllable magnetic coil.

11. The firearm training simulator of claim 10, wherein at least one sub-coil of a first independently controllable magnetic coil of the plurality of coils is intermediately spaced between two spaced apart sub-coils of a second independently controllable magnetic coil of the plurality of coils.

12. The firearm training simulator of claim 11, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned with each other and closely spaced, wherein at least two adjacent independently controllable magnetic coils are energized to create oppositely polarized magnetic fields.

13. The firearm training simulator of claim 12, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned, wherein adjacent independently controllable magnetic coils are simultaneously energized to create oppositely poloarized magnetic fields.

14. The firearm training simulator of claim 1, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned with each other and closely spaced and slidingly connected to the sliding mass, the sliding mass including a plurality of longitudinally aligned adjacent magnets, wherein the linear motor causes movement of the sliding mass of magnets by varying current through individual independently controllable coils in relation to the proximity of a particular magnet in the plurality of magnets to a particular coil in the plurality of independently controllable magnetic coils.

15. The firearm training simulator of claim 1, wherein the firearm for which recoil is simulated includes at least one of the following selectable options:

(a) different size/caliber/type of ammunition in actual type of firearm to be simulated with particular type of ammunition;

(b) adding/removing a muzzle suppressor to actual type of firearm to be simulated with particular type of ammunition; and

(c) different size/type of bolt springs for actual type of firearm to be simulated with particular type of ammunition,

wherein for each of the listed options the linear motor controls the sliding mass to generate a recoil force versus time diagram (and/or generate an impulse) which is different from the simulation for the type of firearm without the option selected, and which approximates the recoil of the firearm with the selected option.

16. The firearm training simulator of claim 1, wherein the simulator includes a plurality of different body attachments for simulating a plurality of different type firearms, the body attachments being interchangeably operably connectable with the linear motor.

17. The firearm simulator of claim 16, wherein the simulator includes a plurality of different sliding masses which are interchangeably connectable with the linear motor.

18. The firearm simulator of claim 1, further comprising a mechanical stop, wherein the sliding mass is driven against the mechanical stop to simulate the recoil pattern of a bullet fired from the firearm.

19. A firearm training simulator, comprising:

a body simulating a firearm,

a linear motor attached to the body,

the linear motor controlling a sliding mass to simulate a recoil pattern of a bullet fired from a firearm;

a trigger operatively connected to the linear motor, wherein an impulse value of a particular round of ammunition being fired from a particular firearm to be simulated can be identified, and a controller programmed to control the linear motor to control kinematic movement of the sliding mass to create a reactive impulse satisfying the predefined impulse value;

wherein activation of the trigger causes the linear motor to enter a firing emulation sequence, wherein such firing emulation sequence the linear motor controls kinematic movement of the sliding mass over a predefined period of time, such controlled movement of the sliding mass generates a plurality of different reaction forces over the predefined time period.

20. The firearm training simulator of claim 19, further including a sensor operatively connected to linear motor, wherein such sensor provides a signal representing velocity, acceleration, and/or linear position of the sliding mass to the controller.

21. The firearm training simulator of claim 20, wherein the sensor is comprised of a plurality of hall effect sensors, which are out of phase with each other.

22. The firearm training simulator of claim 19, wherein the sliding mass is comprised of a plurality of permanent magnets linearly aligned adjacent each other with like poles facing like poles.

23. The firearm training simulator of claim 19, wherein the linear motor is comprised of a plurality of magnetic coils independently controllable with respect to each other regarding timing and amount of current flow.

24. The firearm training simulator of claim 23, wherein the plurality of individually controllable magnetic coils in the plurality of coils include at least 4 independently controllable coils.

25. The firearm training simulator of claim 19, wherein the linear motor is comprised of a plurality of independently controllable magnetic coils are each independently controllable regarding the timing and amount of current flow and/or direction of current flow.

26. The firearm training simulator of claim 25, wherein each of the plurality of independently controllable magnetic coils can include a plurality of sub-coil sections that are spaced apart from each other but connected electrically in series wherein the electrically serially connected spaced apart sub-coil sections form a single independently controllable magnetic coil.

27. The firearm training simulator of claim 26, wherein at least one sub-coil of a first independently controllable magnetic coil of the plurality of coils is intermediately spaced between two spaced apart sub-coils of a second independently controllable magnetic coil of the plurality of coils.

28. The firearm training simulator of claim 27, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned with each other and closely spaced, wherein at least two adjacent independently controllable magnetic coils are energized to create oppositely polarized magnetic fields.

29. The firearm training simulator of claim 28, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned, wherein adjacent independently controllable magnetic coils are simultaneously energized to create oppositely polarized magnetic fields.

30. The firearm training simulator of claim 19, wherein the linear motor comprises a plurality of independently controllable magnetic coils which are longitudinally aligned with each other and closely spaced, slidingly connected to a sliding mass of magnets which sliding mass is comprised of a plurality of longitudinally aligned adjacent magnets, wherein the linear motor causes movement of a sliding mass of magnets by varying current through individual independently controllable coils in relation to the proximity of a particular magnet in the plurality of magnets to a particular coil in the plurality of independently controllable magnetic coils. longitudinally aligned, wherein adjacent independently controllable magnetic coils are simultaneously energized to create oppositely polarized magnetic fields.

31. The firearm training simulator of claim 19, wherein an option is provided regarding changes in a type of firearm for which recoil is to be simulated having:

(a) different size/caliber/type of ammunition in actual type of firearm to be simulated with particular type of ammunition;

(b) adding/removing a muzzle suppressor to actual type of firearm to be simulated with particular type of ammunition; and

(c) different size/type of bolt springs for actual type of firearm to be simulated with particular type of ammunition,

wherein for each of the listed options the linear motor controls the sliding mass to generate a recoil force versus time diagram (and/or generate an impulse) which is different from the simulation for the type of firearm without the option selected, and which approximates the recoil of the firearm with the selected option.

32. The firearm training simulator of claim 19, wherein the simulator includes a plurality of different body attachments for simulating a plurality of different type firearms, the body attachments being interchangeably operably connectable with the linear motor.

33. The firearm simulator of claim 32, wherein the simulator includes a plurality of different sliding masses which are interchangeably connectable with the linear motor.