CN101034292B - Device for imitating rambling on moon or walking on the mars and method for imitating walking - Google Patents
Device for imitating rambling on moon or walking on the mars and method for imitating walking Download PDFInfo
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- CN101034292B CN101034292B CN2006100245004A CN200610024500A CN101034292B CN 101034292 B CN101034292 B CN 101034292B CN 2006100245004 A CN2006100245004 A CN 2006100245004A CN 200610024500 A CN200610024500 A CN 200610024500A CN 101034292 B CN101034292 B CN 101034292B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention opened a device and method of simulation of walking on Mars or the moon, characterized by, the device included: rack components, mechanical transmission components, and electronic control components; rack components vertically erecting on the space walk ground; mechanical transmission components including the servo motor fixed on rack ,gun generators connected with servo motor, tightware disk-based cable connecting with the servo motor output shaft, tightware around tightware disk-based cable, and the seat belts connecting tightware; the electronic control components including the power switch, encoder, power counters, programming controller, A / D converter;by using fly the hoist device to reduce weight, the power counter power control device controlled by programming controller to the servo motor output current and voltage to the servo motor, while according to the current and voltage, the rope connected with servo motor shaft would draw or expand around the cable. The participation of ordinary people experience the sense of gravity simulation in the other planet and the walking and movement process training of astronauts under the gravity of other planets.
Description
Technical field
The present invention relates to simulate the device of moon walk or Mars walking and the method for simulation walking thereof.
Background technology
After No. five space flights in refreshing continent and China's declaration Lunar Probe Project, the domestic space heat that formed among the people.Propaganda space knowledge has also become one of scope of current science popularization.Because the gravity of lunar surface has only 1/6 of the earth, the surface gravity of Mars is 38% of an earth surface gravity.The surface gravity of the moon, Mars to be simulated at the earth's surface, the gravity on next " removal " a part of ground of a kind of device must be researched and developed.The method of the gravity on existing " removal " on earth a part of ground roughly has: 1. aircraft carries out parabolic flight, and the passenger in the cabin can temporarily lose body weight second what time; 2. in the pond, utilize buoyancy of water to alleviate human weight.Obviously, adopting the 1st kind of method aircraft to make parabolic flight and the 2nd kind of method in scientific popularization utilizes the buoyancy of water weight reduction this is unpractical in the pond.
Summary of the invention
The present invention is in order to popularize the knowledge of aerospace aspect to broad masses, and the method for the device of a kind of practicable simulation moon walk that provides or Mars walking and simulation walking, the present invention adopts the slimming method of chain sling that hangs, gravity on " removal " a part of ground, thereby realize the gravity situation of simulation moon walk or Mars walking, allow the ordinary people can participate in experiencing sensation on other celestial bodies.
The technical measures that the present invention takes are:
A kind of device of simulating moon walk or Mars walking is characterized in that, comprising: rack unit, mechanical transmission component and electronic control part;
Described rack unit comprises overall bracing frame, stands upright on the walking place;
Described mechanical transmission component comprise by the motor frame be fixed on the servomotor of overall bracing frame cross bar, the tech-generator that is connected with the input end of servomotor, the cable wire drum that is located at the servomotor output shaft, the cable wire in the roller trough that is located at the cable wire drum, the securing band that is connected with cable wire;
Described electronic control part comprises power cabinet, program controller, the A/D converter of power switch, sensor, scrambler, program controller control; Described scrambler is connected with the output terminal of servomotor, and this encoder output bit is put signal to program controller; The dynamics signal and the acceleration signal of described tech-generator receiving sensor output also outputs to program controller with this signal after the A/D converter analog to digital conversion; Program controller control power cabinet is to servomotor output current and voltage, and according to this electric current and voltage, the rope drum that servo motor shaft connects is received or put.
Above-mentioned a kind of device of simulating moon walk or Mars walking, wherein, described scrambler is made of the two-way register of photoelectricity.
Above-mentioned a kind of device of simulating moon walk or Mars walking, wherein, described sensor comprises dynamics sensor and acceleration transducer.
Above-mentioned a kind of device of simulating moon walk or Mars walking, wherein, described program controller is made of the CPU single-chip microcomputer.
The method of simulation moon walk or Mars walking is characterized in that after the participant put on suspender belt, operating personnel pressed start button, and system starts working, and may further comprise the steps:
A, weigh the stage:
A-1, in preset time, program controller control power cabinet is to servomotor output current and voltage, according to this electric current and voltage, the rope drum that servo motor shaft connects is received circle, rope slowly raises up the participant;
A-2, after the participant is raised fully, the electric current that power cabinet is exported to servomotor is a constant, the body weight electric current that this constant electric current is the participant;
A-3, program controller are remembered participant's the required electric current of body weight, and calculate participant 5/6 body weight electric current;
A-4, the servomotor of program controller control after this rotate in the opposite direction, slowly the participant is put down, stop the rotation behind the electric current that reaches 5/6 participant's body weight, the participant is hung by rope, only pin contacts to earth, and this moment, participant's pin was participant's 1/6 body weight to applied pressure on the ground;
The position of a-5, program controller memory coding device and the starting point of being moved as the participant in this position;
B, motion stage:
After b-1, a step were finished, electric current and the body weight of power supply output this moment were equilibrium state, and along with the participant jumps onto and the conversion of the posture of squatting down, the weight of human body 1/6 spurs motor and turns clockwise, and rope lengthens, and hangs participant 5/6 body weight all the time;
B-2, no matter the participant squats down, has filled up tiptoe and rope is lengthened or tightens up, and program controller is the position signalling of record coding device all the time;
B-3, program controller calculate the terminating point of motion rapidly according to acceleration signal, and motor forwards stall immediately of this terminating point and counter-rotating immediately to;
B-4, whole simulation walking process finish.
The method of above-mentioned simulation moon walk or Mars walking, wherein, the speed setting voltage quantities that the rotating speed of described motor counter-rotating is pressed freely falling body.
The method of above-mentioned simulation moon walk or Mars walking, wherein, described motor forwards before the motion starting point beginning to and progressively slows down and stop until this starting point.
The method of above-mentioned simulation moon walk or Mars walking, wherein described in whole motion, the electric current that is input to motor all is constant; The fast more acceleration of speed of participant's motion is big more, and power cabinet is just high more to the voltage of servomotor output, and it is just fast more that servo electricity rotates.
The method of above-mentioned simulation moon walk or Mars walking, wherein, described in whole motion rope hang participant 5/6 body weight all the time.
Because the present invention has adopted above technical scheme, the action that employing is controlled servomotor by the electric current and the magnitude of voltage of the output of program controller control power supply and judge weighing etc. by program controller, rely on securing band to drive the participant again and jump up and down, the gravity sensation and the training cosmonaut that make the ordinary people participate in experiencing on other celestial bodies simulate the process of walking under other celestial body gravity, motion.
Description of drawings
Concrete characteristic performance of the present invention is further described by following embodiment and accompanying drawing thereof.
Fig. 1 is an one-piece construction synoptic diagram of the present invention.
Fig. 2 is the circuit block diagram that the present invention controls walking.
Fig. 3 is the synoptic diagram of mechanical transmission component of the present invention.
Fig. 3 is the circuit theory synoptic diagram of electronic control part of the present invention.
Fig. 5 is the process flow diagram of simulation space walking of the present invention.
Embodiment
See also Fig. 1.A kind of device of simulating moon walk or Mars walking of the present invention is arranged on the walking place 100, and it comprises: rack unit 1, mechanical transmission component 2 and electronic control part 3.
See also Fig. 3.Mechanical transmission component 2 comprise by the motor frame be fixed on the servomotor 21 of overall bracing frame cross bar, the tech-generator 22 that is connected with the input end of servomotor, the cable wire drum 23 that is located at the servomotor output shaft, the cable wire 24 in the roller trough that is wrapped in the cable wire drum, the securing band 25 (please cooperate) that is connected with cable wire referring to Fig. 1.
See also Fig. 2, electronic control part 3 of the present invention comprises power cabinet 33, the A/D converter 34 of scrambler 31, program controller 32, program controller control.Described scrambler 31 is connected with the output terminal of servomotor 21, and this scrambler 31 is made of the two-way register of photoelectricity, and its outgoing position signal is to program controller 32; Described tech-generator 22 output speed signals output to program controller 32 after A/D converter 34 analog to digital conversion; Program controller control power cabinet 33 is to servomotor output current and voltage, and according to this electric current and voltage, the rope drum that servo motor shaft connects is received or put, and drives on the cable wire 24 or down.Electronic control part 3 of the present invention also comprises two sensors that are connected with tech-generator 22, and these two sensors are dynamics sensor 35 and acceleration transducer 36.
See also Fig. 4.Among Fig. 4: a is the embodiment circuit diagram of electronic control part of the present invention, and b is the connection diagram of a connector A, and c is the connection diagram of another connector B.Mounted movable mathematical model, timer, numeration, memory, data acquisition, data operation, weigh instruction and operating instruction supervisor in the described program controller 32.These programs are installed to the program controller ratio and are installed on the PC more reliably, and arithmetic speed is faster.And greatly reduce manufacturing, use cost and non-maintaining substantially.The IC of program controller 32 is connected servomotor 21 with the ID end; 12 are connected tech-generator 22 with 4M end; 15 ends connect gauge tap K1; 11 with 5M end connection speed set-point; 14 are connected the electric current set-point with 6M end.An also connection dynamics sensor 35 and the acceleration transducer 36 that connector A is corresponding with the pin of this program controller, and position rotary encoder 31.Another connector B connects relevant gauge tap, comprises limit switch K2, starts, stops and emergency stop switch button K3, also connects run indicator R1 and malfunction indicator lamp R2.
The principle of electronic control part control of the present invention is:
(1) commentaries on classics of adopting the Current Control servomotor of measuring the servomotor input is measured participant's body weight apart from replacing force transducer.When the participant moved, the electric current of control input servomotor deducted participant's body weight.
(2) adopt the control input voltage to control the rotating speed of servomotor, follow the participant and go up the hop rate degree.
(3) adopting the computational mathematics model to control the participant goes up the speed of jumping and upward jumps peak.
The present invention adopts the method that hangs lift heavy, loses weight simulation walking under low gravity state, motion.After the spaceman put on securing band, servomotor rotated under the control of preset time, and the spaceman is raised up, and when sensor is definite value, recorded spaceman's body weight.And memory spaceman's body weight signal.This moment, servomotor rotated in the opposite direction, was hung (this moment, motor was a stall) when the spaceman is slowly put down 5/6 weight that reaches spaceman's body weight by rope.Spaceman's pin weight that lands is 1/6 of body weight.When after this spaceman moved, the signal of pulling force sensor is a change slightly, and servomotor is just made a response immediately. and make rope hang 5/6 of spaceman's body weight all the time.
See also Fig. 5, this is the schematic flow sheet of simulation space walking of the present invention.Describe the method for simulation space walking of the present invention in detail below in conjunction with specific embodiment:
After the participant put on suspender belt, operating personnel pressed start button.System starts working.
The device of this simulation moon walk or Mars walking is made up of cylinder, safety apparatus, mathematical model and the software of safety harness, servomotor, scrambler, tech-generator, program controller, control power supply, receipts cable wire.The participant is after for example the visitor puts on suspender belt, and operating personnel press start button.System starts working.
The first step is weighed the stage; In preset time, program controller control power cabinet is to servomotor output LOW current and low-voltage.At this moment, because rope is loose, motor does not have load, and motor slowly rotates rope is tightened up.(because there is not load, so the electric current increase is not got on).In a single day rope tightens up, and visitor's body weight is stopped the rotation motor, the scrambler position of stopping the rotation on the program controller memory electrical machine.The power cabinet of program controller control subsequently is to the servomotor output LOW voltage, but electric current slowly increases.Motor slowly rotates and moment slowly increases, and the visitor is slowly sling.(because the visitor is non-rigid body, so load progressively increases).Behind visitor's less touch with the ground, the equalising torque of visitor's body weight and motor output, the electric current that is input to this moment in the motor is visitor's a body weight electric current.(the electric current increase of power cabinet output is not got on after the equalising torque of visitor's body weight and motor output).Program controller deducts 1/6 with the body weight current value and is the running current value.After this, power cabinet reduces to output to the electric current (less than 1/6 body weight current value) of motor, and motor is slowly contrary rotation under the pulling force of visitor's body weight, and the visitor is slowly put down (this moment, motor reversed for stifled).When motor contrary rotation approximated position (1), the electric current that power cabinet outputs to motor is locked in 5/6 body weight current value.After visitor's pin landed, 5/6 of visitor's body weight was hung by rope, and visitor's pin carries 1/6 body weight.After this, the visitor is as squatting down, because the variation of position, the weight pulling motor of human body 1/6 is against rotation, and rope lengthens, but hangs visitor 5/6 body weight all the time.The visitor is as the point of standing on tiptoe, and the locked rotor current of body weight current value 5/6 makes motor clockwise, and rope tightens up, and hangs participant 5/6 body weight all the time.
The second step motion stage; After the first step was finished, system was in equilibrium state.No matter visitor's point of squatting down, stand on tiptoe lengthens rope or tightens up, and program controller is the position signalling of record coding device all the time.As visitor's motion (producing bigger acceleration) downward or upward suddenly, program controller removes Δ t with the position signalling of scrambler and draws rate signal, and then draws acceleration signal except that Δ t.Rate signal control power cabinet is controlled rotating speed of motor to the servomotor output voltage.Because speed is variable, so the voltage of control motor speed also is variable.But the electric current of control motor torque is 5/6 body weight value all the time.(voltage is variable, and electric current is a constant).Rate signal, acceleration signal are input to the program controller equation of motion, calculate the termination point value of motion.Scrambler on the motor rotates to after this stops point value, and (actual is in this position, and power cabinet returns to the power supply state that visitor's take-off is, small voltage, 5/6 body weight value electric current in (jump to peak on the visitor this moment) motor stall immediately.The motor stall is held by visitor 1/6 body weight by motor inertia and is stopped).After this, the visitor begins to decline from peak, and along with the distance that descends increases, the speed of decline is also more and more faster.Program controller calculates the terminating point of motion rapidly according to acceleration signal, and motor forwards stall immediately of this terminating point and counter-rotating immediately to.
When the visitor made progress (jump) motion: the speed of motion was fast more, and its acceleration is just big more, and that also just jumps is high more.Power cabinet is just high more to the voltage of servomotor output, and the speed of servomotor rotation is just fast more.Because the speed in the jump process is the function of height, along with the increase of the height that jumps, its speed just reduces, and is zero to the peak speed of jumping.Therefore, program controller is the speed of every bit in the following calculation visitor jump process (it is speed that the difference that sign indicating number deducts previous sign indicating number behind the scrambler is removed the Δ t time) all the time, controls the different magnitude of voltage of power cabinet to servomotor output.Therefore upwards the time, the body weight that rope hangs participant 5/6 all the time moves upward.
As visitor during from peak (landing) motion downwards: motor is hauled contrary stifled the rotation by visitor 1/6 body weight.Because this moment, motor was the constant force square, so the speed of drawing is big, the rotating speed of the contrary stifled rotation of motor is also just high more.Therefore when downward, the body weight that rope hangs participant 5/6 all the time moves downward.
This device is when second goes on foot motion stage: motor is in is all the time just changeing state.Its electric current that is input to motor is 5/6 body weight value, and voltage is variable.When the visitor was static, motor was that stall does not change.When the visitor went up jumping, motor was clockwise, and rotating speed is controlled by program controller.When the visitor descended, motor was contrary stall, the decision of rotating speed visitor decline rate.
This device has three big characteristics:
Carry out simultaneously weighing and position, and visitor's location parameter has been remembered by system in the process of weighing. Because location parameter is arranged, so can carry out calculated with mathematical model.
The servomotor that the present invention adopts is in high-torque stall, contrary stall state all the time. And will take charge of four element coaxials such as taking motor, cable wire drum, tachometer generator and install and control its installation accuracy. Select the roller trough diameter of cable wire drum can in the torque capacity scope of motor, sling 100Kg, can sling in the maximum (top) speed scope of the motor speed of thing reaches 5 meter per seconds again. Because it is bigger that the diameter of cylinder is selected, the speed of the thing of slinging, but the weight of slinging is littler. Otherwise diameter is selected littler, and the speed of the thing of slinging is slower, but the weight of slinging is bigger. After the visitor puts on safety belt, can experience in " moon " sensation of self gravitation when strolling. Only have 1/6 of ground weight because of the weight on " lunar surface ", apparatus of the present invention are exactly to make the visitor lose 5/6 weight. No matter how the visitor moves on " moon ", and apparatus of the present invention are followed the space human motion all the time, deduct 5/6 of visitor's own wt. Make the visitor only have own walking in the situation of earth body weight 1/6, spring in lunar surface weight, simulation is in the sensation of " moon " action. The visitor can experience the sensation that does not have on earth with the voltuntary movement on lunar surface of this unit simulation.
The present invention can use in multiregion, as: sensation, the aerospace department that science and technology center is used for the weightless loss of weight of tourist experience is used for the training astronaut, video display department is used for taking stunt sheet etc.
Claims (9)
1. a device of simulating moon walk or Mars walking is characterized in that, comprising: rack unit, mechanical transmission component and electronic control part;
Described rack unit comprises overall bracing frame, stands upright on the walking place;
Described mechanical transmission component comprise by the motor frame be fixed on the servomotor of overall bracing frame cross bar, the tech-generator that is connected with the input end of servomotor, the cable wire drum that is located at the servomotor output shaft, the cable wire in the roller trough that is located at the cable wire drum, the securing band that is connected with cable wire;
Described electronic control part comprises power cabinet, program controller, the A/D converter of power switch, sensor, scrambler, program controller control; Described scrambler is connected with the output terminal of servomotor, and this encoder output bit is put signal to program controller; The dynamics signal and the acceleration signal of described tech-generator receiving sensor output also outputs to program controller with this signal after the A/D converter analog to digital conversion; Program controller control power cabinet is to servomotor output current and voltage, and according to this electric current and voltage, the rope drum that servo motor shaft connects is received or put.
2. a kind of device of simulating moon walk or Mars walking according to claim 1 is characterized in that described scrambler is made of the two-way register of photoelectricity.
3. a kind of device of simulating moon walk or Mars walking according to claim 1 is characterized in that described sensor comprises dynamics sensor and acceleration transducer.
4. a kind of device of simulating moon walk or Mars walking according to claim 1 is characterized in that described program controller is made of the CPU single-chip microcomputer.
5. the method for simulation moon walk or Mars walking is characterized in that after the participant put on suspender belt, operating personnel pressed start button, and system starts working, and may further comprise the steps:
A, weigh the stage:
A-1, in preset time, program controller control power cabinet is to servomotor output current and voltage, according to this electric current and voltage, the rope drum that servo motor shaft connects is received circle, rope slowly raises up the participant;
A-2, after the participant is raised fully, the electric current that power cabinet is exported to servomotor is a constant, the body weight electric current that this constant electric current is the participant;
A-3, program controller are remembered participant's the required electric current of body weight, and calculate participant 5/6 body weight electric current;
A-4, the servomotor of program controller control after this rotate in the opposite direction, slowly the participant is put down, stop the rotation behind the electric current that reaches 5/6 participant's body weight, the participant is hung by rope, only pin contacts to earth, and this moment, participant's pin was participant's 1/6 body weight to applied pressure on the ground;
The position of a-5, program controller memory coding device and the starting point of being moved as the participant in this position;
B, motion stage:
After b-1, a step were finished, electric current and the body weight of power supply output this moment were equilibrium state, and along with the participant jumps onto and the conversion of the posture of squatting down, the weight of human body 1/6 spurs motor and turns clockwise, and rope lengthens, and hangs participant 5/6 body weight all the time;
B-2, no matter the participant squats down, has filled up tiptoe and rope is lengthened or tightens up, and program controller is the position signalling of record coding device all the time;
B-3, program controller calculate the terminating point of motion rapidly according to acceleration signal, and motor forwards stall immediately of this terminating point and counter-rotating immediately to;
B-4, whole simulation walking process finish.
6. the method for simulation moon walk according to claim 5 or Mars walking is characterized in that, the speed setting voltage quantities that the rotating speed of described motor counter-rotating is pressed freely falling body.
7. the method for simulation moon walk according to claim 5 or Mars walking is characterized in that, described motor forwards before the motion starting point beginning to and progressively slows down and stop until this starting point.
8. the method for simulation moon walk according to claim 5 or Mars walking is characterized in that described in whole motion, the electric current that is input to motor all is constant; The fast more acceleration of speed of participant's motion is big more, and power cabinet is just high more to the voltage of servomotor output, and it is just fast more that servo electricity rotates.
9. the method for simulation moon walk according to claim 5 or Mars walking is characterized in that, described in whole motion rope hang participant 5/6 body weight all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100245004A CN101034292B (en) | 2006-03-09 | 2006-03-09 | Device for imitating rambling on moon or walking on the mars and method for imitating walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006100245004A CN101034292B (en) | 2006-03-09 | 2006-03-09 | Device for imitating rambling on moon or walking on the mars and method for imitating walking |
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| Publication Number | Publication Date |
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| CN101034292A CN101034292A (en) | 2007-09-12 |
| CN101034292B true CN101034292B (en) | 2010-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2006100245004A Expired - Fee Related CN101034292B (en) | 2006-03-09 | 2006-03-09 | Device for imitating rambling on moon or walking on the mars and method for imitating walking |
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| CN114162354B (en) * | 2021-09-30 | 2024-03-29 | 哈尔滨工业大学 | Executing device for simulating Mars attraction |
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| US4529064A (en) * | 1984-08-06 | 1985-07-16 | Andrea Jr Rocco A D | Gravity crane |
| SU1723484A1 (en) * | 1989-02-06 | 1992-03-30 | Научно-исследовательский институт технологии | Simulator of reduced gravitation |
| SU1759731A1 (en) * | 1990-07-26 | 1992-09-07 | Ю. А. Хаханов и П. С. Сологуб | Unloading device of reduced gravitation simulator |
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
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Patent Citations (5)
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|---|---|---|---|---|
| US3330052A (en) * | 1965-08-16 | 1967-07-11 | Harold I Johnson | Subgravity simulator |
| US4529064A (en) * | 1984-08-06 | 1985-07-16 | Andrea Jr Rocco A D | Gravity crane |
| SU1723484A1 (en) * | 1989-02-06 | 1992-03-30 | Научно-исследовательский институт технологии | Simulator of reduced gravitation |
| SU1759731A1 (en) * | 1990-07-26 | 1992-09-07 | Ю. А. Хаханов и П. С. Сологуб | Unloading device of reduced gravitation simulator |
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
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| Donald E.Hewes, Amos A.spady, Jr..Evaluation of A Gravity-Simulation Technique for Studies ofMan＇s Self-Locomotion in Lunar Environment.Nasa Technical Note.1964,22. * |
| J.Maxwell Doneland, Rodger Kram.The Effect of Reduced Gravity on the Kniematic of HumanWalking: a Test of the Dynamic Similarity Hypothesis forLocomotion.The Journal of Experimental Biology.1997,3193-3201. * |
| JP平2-134534A 1990.05.23 |
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| 王少纯,邓宗权,胡明,高海波.一种模拟月球着陆器低重力着陆试验方法.上海交通大学学报39 6.2005,39(6),989-992. * |
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