CN101070096A - Astronaut exercising apparatus - Google Patents
Astronaut exercising apparatus Download PDFInfo
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- CN101070096A CN101070096A CN 200710072348 CN200710072348A CN101070096A CN 101070096 A CN101070096 A CN 101070096A CN 200710072348 CN200710072348 CN 200710072348 CN 200710072348 A CN200710072348 A CN 200710072348A CN 101070096 A CN101070096 A CN 101070096A
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Abstract
The invention provides an astronaut training device. It includes the frame, a set of rope driving device installed on the four corners of the frame which the rope is connected to a cestus and the run machine is set under the frame; the rope driving device is made up of the servo electric machine with the coder fixed on the frame middle, the reducer, the trolley, the pull sensor installed under the frame, the crown block and its angle sensor, the over wheel and its angle sensor, the rope with one end fixed around the trolley and the other end connected to the cestus around the crown block; the pull sensor is connected to the rope between the trolley and the crown block. The invention can simulate the gravity field in the micro gravity condition to train the astronaut to avoid get the space flight sport illness, also the invention cab be used for recovering device.
Description
(1) technical field
What the present invention relates to is a kind of astronaut exercising apparatus, belongs to the space flight life science.
(2) background technology
Theory of medicine, experiment and the fact are verified, the cosmonaut will face the abominable space environment different with ground under state of weightlessness, these environmental factors may cause cosmonaut's space motion sickness, bone and the myoarchitecture and the problem of a series of biomedicines such as changes of function, heart and cardiovascular system dysfunction, sensation-motor function is slow, sleep cycle is disorderly, emotion depression and psychological aspects, severe patient even may threaten cosmonaut's life.So in order to alleviate the influence that null-gravity state causes the cosmonaut as much as possible, this need be by a training process that circulation is progressive, make " the simulated gravity environment " that produce at training aids following cosmonaut can constantly temper the function of self, and finally can adapt to space environment preferably, reduce the influence of space environment to human body.
At present, relevant both at home and abroad patent mainly contains following several:
The patent No. is that 94104348.7 patent name has been set forth for the patent of invention of " solving the method for weight loss influence ", in aerospacecraft, utilize the suction characteristic mutually of magnetic field magnetic effect to produce artificial gravity, this method not only is difficult to realize, and the gait motion training can not be provided, only be an artificial gravitational field; Application number is that 200510119864.6 patent name has been set forth for the patent of invention of " space navigation globe imitation state operation sportswear ", with rubber band or stretch that drawing property material makes act on space clothes on the human body, produce constriction with this, rubber band or the pulling force of stretching drawing property material are not controlled in these clothes, can't realize the gait motion training simultaneously yet.The patent No. is that 02251613.1 patent name has been set forth for the utility model of " lower limbs rehabilitation training robot ", make the patient under the situation of standing, simulate normal person's paces rule by the stand orderly action of gravitational equilibrium system and gait and attitude harmony mechanism of a cover human body, carry out muscular training and walking function and train.This system can't produce artificial gravity, and simultaneity factor is huger, can't adapt to space environment.The patent No. is that the patent name of WO03035184 has been set forth for the patent of invention of " closed loop power control body weight support system ", go up stay cord connection bundle tool by one and be used for loss of weight, the power close-loop control mode can be regulated the size of loss of weight, but it can't set up artificial gravity, function singleness.
(3) summary of the invention
The object of the present invention is to provide a kind ofly can produce the gravitational field effect, satisfy the astronaut exercising apparatus of space environment counterdie pseudo gravity needs.
The object of the present invention is achieved like this: it comprises framework, at framework four jiaos a sets of cords traction drive mechanism is set respectively, and the rope of four cable drives is connected on the waistband, and a treadmill is set in the bottom of framework; Described cable drive is by being fixed on the framework middle servomotor that has coder, retarder, roller, be installed in pulling force sensor, fixed pulley and angular transducer thereof, third wheel and the angular transducer thereof of framework below, one end fix and on roller, the other end walks around fixed pulley and will form with the rope that links to each other, be serially connected with pulling force sensor on the rope between roller and the fixed pulley.
The present invention also has some architectural features like this:
1, be connected with tension spring on the third wheel pipe link in the described cable drive, the other end of pipe link can around the strong point rotate and its on angular transducer is installed.
2,4 of described four cable drives oblique arranged crosswise down of rope are connected with waistband by 4 junction buttons.
3, pulling force sensor vertically is connected with rope by fixed pulley in the described cable drive.
4, the fixed pulley in the cable drive of stating is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.
Astronaut training's device of the present invention is made up of framework, 4 cable drives, waistband and 1 treadmill; The framework that section bar constitutes is used for supporting role; Each cable drive all is made up of the servomotor that has coder, retarder, roller, rope, pulling force sensor, fixed pulley and angular transducer, third wheel and angular transducer, connecting panel and junction button, is used to produce simulated gravity; Waistband is used for fixing the trainee; Treadmill is used to realize trainee's gait motion.Fixed pulley in the cable drive is except the effect of playing support cable, and integral body can also be rotated around vertical axis, by the angular transducer on it it is carried out measurement of angle; Third wheel in the cable drive contact with rope all the time by the pulling force of spring, when rope when fixed pulley rotates, third wheel can move along rope, the rotation of the third wheel pipe link strong point, utilize angular transducer on it can measure rope around angle; 4 oblique arranged crosswise down of rope are connected with waistband by 4 junction buttons, are used to produce simulated gravity; Pulling force sensor is and rope by fixed pulley bonded assembly vertically in the described cable drive.
At the beginning of the work, the trainee stand in earlier on the treadmill, and waistband is fixed its waist.When under treadmill drives, carrying out gait motion then, utilize power and position closed loop to control the pulling force of each root rope,, satisfy the needs of space environment counterdie pseudo gravity by they formed effects of making a concerted effort to produce gravitational field.The present invention can be at microgravity condition counterdie pseudo gravity, is used to take exercise self function of cosmonaut, thus avoid in the state of weightlessness cosmonaut executes the task process, suffering from space motion sickness.The present invention also can do rehabilitation equipment and use.
(4) description of drawings
Fig. 1 is a constructional drawing of the present invention;
Fig. 2 is the constructional drawing of rope driver train;
Fig. 3 is the birds-eye view of Fig. 1;
Fig. 4 is the left view of Fig. 1.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1-4, the composition of astronaut exercising apparatus comprises framework, 4 cable drives, waistband and 1 treadmill.Framework 1 is used made from aluminium profile, plays a supportive role; Each cable drive all is by the servomotor 12 that has coder, retarder 11, roller 10, rope 9, pulling force sensor 8, fixed pulley 4 and angular transducer 2, third wheel 5 and angular transducer 7, connecting panel 3 and junction button 14 are formed, the servomotor 12 that has coder is connected on the retarder 11 by flange, retarder 11 is fixed on the framework 1, retarder 11 output shafts drive roller 10 and rotate, thereby change the length of rope 9, pulling force sensor 8 seals in the rope 9, detect the pulling force of rope, the closed loop control of formation power, rope 9 is walked around fixed pulley 4 change of directions, fixed pulley is installed on the rotating vertical axis 20, its angular transducer 2 is installed in an end of vertical axis, whole fixed pulley 4 can be measured by the angular transducer on it 2 around the rotation of vertical axis, its integral body is fixed on the framework 1 by connecting panel 3, third wheel 5 is fixed on the attaching parts of fixed pulley by attaching parts, it relies on the pulling force of spring 6 to guarantee to contact with rope 9 all the time, when rope 9 when fixed pulley 4 rotates, third wheel 5 can move along rope 9, the third wheel pipe link strong point rotates, utilize angular transducer 7 on it can measure rope around angle; Rope 9 is connected on the waistband 13 by junction button 14, and waistband 13 is fixed on one's body the trainee; Treadmill 15 belongs to relative independent system, is used to realize trainee's gait motion.
At the beginning of the work, the trainee stand in earlier on the treadmill, and waistband is fixed its waist.When under treadmill drives, carrying out gait motion then, utilize power and position closed loop to control the pulling force of each root rope,, satisfy the needs of space environment counterdie pseudo gravity by they formed effects of making a concerted effort to produce gravitational field.The present invention also can do rehabilitation equipment and use.
Claims (9)
1, a kind of astronaut exercising apparatus, it comprises framework, it is characterized in that: four jiaos at framework respectively are provided with a sets of cords traction drive mechanism, and the rope of four cable drives is connected on the waistband, and a treadmill is set in the bottom of framework; Described cable drive is by being fixed on the framework middle servomotor that has coder, retarder, roller, be installed in pulling force sensor, fixed pulley and angular transducer thereof, third wheel and the angular transducer thereof of framework below, one end fix and on roller, the other end walks around fixed pulley and will form with the rope that links to each other, be serially connected with pulling force sensor on the rope between roller and the fixed pulley.
2, astronaut exercising apparatus according to claim 1 is characterized in that: be connected with tension spring on the third wheel pipe link in the described cable drive, the other end of pipe link can around the strong point rotate and its on angular transducer is installed.
3, astronaut exercising apparatus according to claim 1 and 2 is characterized in that: the oblique arranged crosswise down of 4 ropes of described four cable drives is connected with waistband by 4 junction buttons.
4, astronaut exercising apparatus according to claim 1 and 2 is characterized in that: pulling force sensor vertically is connected with rope by fixed pulley in the described cable drive.
5, astronaut exercising apparatus according to claim 3 is characterized in that: pulling force sensor vertically is connected with rope by fixed pulley in the described cable drive.
6, astronaut exercising apparatus according to claim 1 and 2 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.
7, astronaut exercising apparatus according to claim 3 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.
8, astronaut exercising apparatus according to claim 4 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.
9, astronaut exercising apparatus according to claim 5 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100723481A CN100417577C (en) | 2007-06-13 | 2007-06-13 | Astronaut exercising apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100723481A CN100417577C (en) | 2007-06-13 | 2007-06-13 | Astronaut exercising apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101070096A true CN101070096A (en) | 2007-11-14 |
| CN100417577C CN100417577C (en) | 2008-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100723481A Expired - Fee Related CN100417577C (en) | 2007-06-13 | 2007-06-13 | Astronaut exercising apparatus |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011032363A1 (en) * | 2009-09-19 | 2011-03-24 | Quan Xiao | Method and apparatus of variable g force experience and create immersive vr sensations |
| CN102009749A (en) * | 2010-08-02 | 2011-04-13 | 清华大学 | Simulation system for low-gravity ramble |
| CN102068363A (en) * | 2011-01-25 | 2011-05-25 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| CN102258846A (en) * | 2011-06-24 | 2011-11-30 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN102791580A (en) * | 2010-02-20 | 2012-11-21 | 阿斯特里姆有限责任公司 | Device for fixing a test person on a standing surface |
| CN103010492A (en) * | 2012-12-21 | 2013-04-03 | 北京邮电大学 | Gravity increase technology based on spring mechanism |
| CN104021704A (en) * | 2014-03-25 | 2014-09-03 | 南京航空航天大学 | Gravity-changing walking simulation system used for astronaut training |
| CN104443448A (en) * | 2014-10-27 | 2015-03-25 | 清华大学 | Cable drive robot device for simulating zero-gravity and low-gravity environment |
| CN103688877B (en) * | 2013-12-10 | 2016-02-17 | 中国航天员科研训练中心 | Animal simulation low-gravity exercise device |
| CN105411811A (en) * | 2015-10-28 | 2016-03-23 | 西安电子科技大学 | Modularized multifunctional rehabilitation training device |
| CN105476821A (en) * | 2015-12-30 | 2016-04-13 | 吉林大学 | Flexible rope driven six-degree-of-freedom parallel-connection rehabilitation device |
| CN109592084A (en) * | 2018-12-29 | 2019-04-09 | 电子科技大学 | The device of personnel's load test is dressed under a kind of simulation low-gravity environment |
| CN112657124A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Walking training system and working method |
| CN113018104A (en) * | 2021-03-30 | 2021-06-25 | 郑州铁路职业技术学院 | Human lumbar vertebra recovery method based on biological curved surface |
| CN113648638A (en) * | 2021-08-12 | 2021-11-16 | 北京理工大学 | Traction device for air posture training |
| CN114162357A (en) * | 2022-02-11 | 2022-03-11 | 清华大学 | Buffering assembly of somatosensory micro-low gravity simulation device and simulation device |
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| CN101966382B (en) * | 2010-10-22 | 2012-07-04 | 东北大学 | Pneumatic control weight reduction supporting system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2424799Y (en) * | 1999-09-20 | 2001-03-28 | 中国人民解放军第四军医大学 | Lower limb negative pressure trousers |
| CA2464128C (en) * | 2001-10-24 | 2011-09-20 | The Regents Of The University Of California | Closed-loop force controlled body weight support system |
| JP2005006922A (en) * | 2003-06-19 | 2005-01-13 | Satou Sports Plaza:Kk | Muscular strength enhancing apparatus |
| CN100589787C (en) * | 2006-12-07 | 2010-02-17 | 浙江大学 | Robot for multiple posture exoskeleton lower limb rehabilitation training |
-
2007
- 2007-06-13 CN CNB2007100723481A patent/CN100417577C/en not_active Expired - Fee Related
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011032363A1 (en) * | 2009-09-19 | 2011-03-24 | Quan Xiao | Method and apparatus of variable g force experience and create immersive vr sensations |
| CN102791580A (en) * | 2010-02-20 | 2012-11-21 | 阿斯特里姆有限责任公司 | Device for fixing a test person on a standing surface |
| US9517156B2 (en) | 2010-02-20 | 2016-12-13 | Airbus Ds Gmbh | Device for fixing a test person on a standing surface |
| US9205935B2 (en) | 2010-02-20 | 2015-12-08 | Airbus Ds Gmbh | Device for fixing a test person on a standing surface |
| CN102009749B (en) * | 2010-08-02 | 2013-03-27 | 清华大学 | Simulation system for low-gravity ramble |
| CN102009749A (en) * | 2010-08-02 | 2011-04-13 | 清华大学 | Simulation system for low-gravity ramble |
| CN102068363B (en) * | 2011-01-25 | 2013-10-30 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| CN102068363A (en) * | 2011-01-25 | 2011-05-25 | 南京航空航天大学 | Rope-driven waist rehabilitation robot |
| CN102258846B (en) * | 2011-06-24 | 2013-07-03 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN102258846A (en) * | 2011-06-24 | 2011-11-30 | 哈尔滨工程大学 | Multi-mode astronaut rehabilitation training robot |
| CN103010492A (en) * | 2012-12-21 | 2013-04-03 | 北京邮电大学 | Gravity increase technology based on spring mechanism |
| CN103688877B (en) * | 2013-12-10 | 2016-02-17 | 中国航天员科研训练中心 | Animal simulation low-gravity exercise device |
| CN104021704A (en) * | 2014-03-25 | 2014-09-03 | 南京航空航天大学 | Gravity-changing walking simulation system used for astronaut training |
| CN104443448A (en) * | 2014-10-27 | 2015-03-25 | 清华大学 | Cable drive robot device for simulating zero-gravity and low-gravity environment |
| CN105411811A (en) * | 2015-10-28 | 2016-03-23 | 西安电子科技大学 | Modularized multifunctional rehabilitation training device |
| CN105476821A (en) * | 2015-12-30 | 2016-04-13 | 吉林大学 | Flexible rope driven six-degree-of-freedom parallel-connection rehabilitation device |
| CN109592084A (en) * | 2018-12-29 | 2019-04-09 | 电子科技大学 | The device of personnel's load test is dressed under a kind of simulation low-gravity environment |
| CN112657124A (en) * | 2019-10-16 | 2021-04-16 | 丰田自动车株式会社 | Walking training system and working method |
| CN112657124B (en) * | 2019-10-16 | 2022-06-21 | 丰田自动车株式会社 | Walking training system and working method |
| CN113018104A (en) * | 2021-03-30 | 2021-06-25 | 郑州铁路职业技术学院 | Human lumbar vertebra recovery method based on biological curved surface |
| CN113018104B (en) * | 2021-03-30 | 2023-09-05 | 郑州铁路职业技术学院 | Human lumbar vertebra recovery system based on biological curved surface |
| CN113648638A (en) * | 2021-08-12 | 2021-11-16 | 北京理工大学 | Traction device for air posture training |
| CN114162357A (en) * | 2022-02-11 | 2022-03-11 | 清华大学 | Buffering assembly of somatosensory micro-low gravity simulation device and simulation device |
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| CN100417577C (en) | 2008-09-10 |
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Granted publication date: 20080910 Termination date: 20110613 |