CN104021704A - Gravity-changing walking simulation system used for astronaut training - Google Patents
Gravity-changing walking simulation system used for astronaut training Download PDFInfo
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- CN104021704A CN104021704A CN201410111690.8A CN201410111690A CN104021704A CN 104021704 A CN104021704 A CN 104021704A CN 201410111690 A CN201410111690 A CN 201410111690A CN 104021704 A CN104021704 A CN 104021704A
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Abstract
The invention relates to a gravity-changing walking simulation system used for astronaut training, and belongs to the field of a training apparatus. The gravity-changing walking simulation system used for astronaut training comprises an upper arm movement mechanism and a lower arm movement mechanism which are fixedly arranged on a human body and are used for simulating gravity-changing environment feelings. The human body upper arm movement mechanism is connected with a back supporting base for supporting the back of the human body. The back supporting base is connected with a cantilever mechanism for controlling and supporting the back supporting base. The cantilever mechanism is connected with a fixation base. According to the gravity-changing walking simulation system used for astronaut training, the gravity environment felt by the human body can be well simulated when human is in gravity-changing walking; and for the realization approach, the system is simple in structure and low in cost relatively.
Description
Technical field
The present invention relates to a kind of change gravity walking simulation system for astronaut training, belong to training equipment field.
Background technology
In the moon or Mars manned exploration task, need spacefarer walk out hatch door walking to objective sample, excavate, the operation such as observation and construction, completing of these tasks needs spacefarer to carry out under space weightlessness or low-gravity environment.Because people is weightless or become motion impression and the operating type under gravity state and make a big difference under the gravity environment of earth's surface, in order to ensure completing extravehicular activity task, must be on ground in the face of spacefarer carries out a large amount of simulated trainings and assessment before the transmitting of manned space flight task, guarantee its skilled motion and operation orderliness and skill of grasping under state of weightlessness, so weightless flight training system in spacefarer ground is that a country carries out the indispensable important infrastructure of the manned astro-engineering.Effort through nearly half a century, the mankind have developed several technology in ground simulation space weightlessness, as air flotation technology, neutral buoyancy tank, fall tower and weightless aircraft etc., but can be used at present spacefarer's weightless flight training only have weightless aircraft and neutral buoyancy tank.Weightless aircraft can produce zero-g acceleration environment extremely true to nature while carrying out parabolic flight, but due to its lasting time shorter (15 to 45 seconds), therefore only can carry out Weightlessness-experiencing and simple action training for spacefarer, and the extravehicular activity of more complexity and task training can only carry out in the neutral buoyancy tank of simulated weightlessness.But neutral buoyancy tank is not suitable for spacefarer's star catalogue walking ground surface simulated training.Theoretically, in neutral buoyancy tank, by suitable buoyancy trim measure, also can reach the effect that balances arbitrary proportion human bady gravitational, thereby for spacefarer, simulate the gravity environment on other celestial body surfaces such as the moon or Mars, but due to dynamic antivibration and the viscous effect of water, speed too fast (0.5m/s) when spacefarer moves in tank, otherwise the drag effect of fluid will make weightless effect serious distortion, this is the major defect that tank carries out spacefarer's menology ambulation training.People are easy to expect with rope, spacefarer being hung up, by rope, spacefarer's part health gravitational equilibrium is fallen, then be allowed to condition at exercise on treadmill and become gravity walking, but training effect is difficult to reach, because now the effect of 1G gravitational torque is still born in the main large joint (mainly referring to waist joint, shoulder joint, elbow joint, hip joint and knee joint etc.) of human body, do not reach the action effect analog under state of weightlessness at all.
Summary of the invention
The present invention is directed to above-mentioned deficiency provides the change gravity walking simulation system of carrying out spacefarer's ambulation training on ground of a kind of low cost and high emulation.
The present invention adopts following technical scheme:
A kind of change gravity walking simulation system for astronaut training of the present invention, comprise upper limb motion mechanism and the lower extremity movement mechanism for simulating change gravity environment, experienced that are fixed on human body, in described human upper limb locomotion mechanism, connect the back-supported seat for support human body back, on described back-supported seat, connect for controlling and support the cantilever mechanism of back-supported seat, on described cantilever mechanism, be connected and fixed pedestal.
Change gravity walking simulation system for astronaut training of the present invention, the above-mentioned cantilever mechanism being connected with fixed pedestal comprises the first rod member group hinged with column and the second rod member group, one end and the fixed pedestal of the first rod member group are hinged, one end of the second rod member group is connected with back-supported seat, between the first rod member group, the second rod member group and column, spring is set respectively.
Change gravity walking simulation system for astronaut training of the present invention, above-mentioned back-supported seat comprises second column hinged with cantilever mechanism, is fixedly connected with the 3rd column for being kept upright in back on the second column.
Change gravity walking simulation system for astronaut training of the present invention, the first described rod member group comprises rod member one and rod member two, described rod member one is mutually arranged in parallel with rod member two and is equal in length, one end of rod member one and rod member two with fixed pedestal is hinged, the other end and vertical column hinged
The second described rod member group comprises rod member four and rod member five, and described rod member four and rod member five are parallel to each other and arrange and equal in length, and rod member four is hinged with rod member five and column, and the second column on the other end and back-supported seat is hinged.
Change gravity walking simulation system for astronaut training of the present invention, above-mentioned upper limb motion mechanism comprises for being fixed on the 3rd rod member group on upper arm, for being fixed on the 4th rod member group on forearm; One end of the 3rd rod member group is connected with back-supported seat, and the other end of the 3rd rod member group is connected with one end of the 4th rod member group.
Change gravity walking simulation system for astronaut training of the present invention, the 3rd described rod member group comprises part 11, rod member 12, rod member 13, rod member 14, rod member 15, rod member 16; Upper articulation, the other end and the rod member 12 of described rod member 11, one end of rod member 13 and the 3rd column are hinged, and rod member 11 is mutually arranged in parallel with rod member 13 and is equal in length; One end of rod member 14 and rod member 15 respectively, the other end hinged with rod member 12 and rod member 16 hinged; Rod member 14 and rod member 15 are parallel to each other and arrange and equal in length.
The 4th described rod member group comprises rod member 17, rod member 18; Described rod member 17 is hinged with one end and the rod member 16 of rod member 18, and rod member 17 is arranged in parallel with rod member 18 and is equal in length.
Change gravity walking simulation system for astronaut training of the present invention, is characterized in that: above-mentioned lower extremity movement mechanism comprises for being fixed on the 5th rod member group on thigh, for being fixed on the 6th rod member group on shank; On one end of the 5th described rod member group and back-supported seat, the 3rd column lower hinge, the other end and six rod member groups are hinged.
Change gravity walking simulation system for astronaut training of the present invention, the 5th described rod member group comprises rod member six, rod member seven, rod member eight; On described rod member six and one end of rod member seven and back-supported seat, the 3rd column lower hinge, the other end and rod member eight are hinged; Rod member six is arranged in parallel with rod member seven and is equal in length;
The 6th described rod member group comprises rod member nine, rod member ten; Rod member nine is with rod member is very other and rod member eight is hinged, and rod member nine is arranged in parallel with rod member ten and is equal in length.
This mechanical exoskeleton training institution is in series mutually by several spring parallel-crank mechanisms, and the below of this mechanical exoskeleton training institution is provided with treadmill; By the installation site of the elastic coefficient or adjustment spring, gravity and a certain proportion of human bady gravitational of this training institution of balance self.
Cantilever mechanism consists of two spring parallel-crank mechanisms, and described cantilever mechanism can swing up and down in perpendicular, has been provided with two springs in cantilever mechanism, and the cantilever mechanism that makes of spring can keep hovering.
Beneficial effect
Change gravity walking simulation system for astronaut training provided by the invention, this system can be simulated while becoming gravity walking preferably, the gravity environment that human body is experienced.And realize in approach, accomplish simple in structurely, cost is relatively low.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the perspective view of invention.
Embodiment
The present invention is described in more detail to gather accompanying drawing below:
As shown in the figure: a kind of change gravity walking simulation system for astronaut training, comprise upper limb motion mechanism and the lower extremity movement mechanism for simulating change gravity environment, experienced that are fixed on human body, in described human upper limb locomotion mechanism, connect the back-supported seat for support human body back, on described back-supported seat, connect for controlling and support the cantilever mechanism of back-supported seat, on described cantilever mechanism, be connected and fixed pedestal.
The cantilever mechanism that fixed pedestal connects comprises the first rod member group hinged with column 3 and the second rod member group, one end and the fixed pedestal of the first rod member group are hinged, one end of the second rod member group is connected with back-supported seat, between the first rod member group, the second rod member group and column 3, spring is set respectively.
Back-supported seat comprises second column hinged with cantilever mechanism, is fixedly connected with the 3rd column for being kept upright in back on the second column.
The first rod member group comprises rod member 1 and rod member 22, and described rod member 1 and rod member 22 are parallel to each other and arrange and equal in length, one end of rod member 1 and rod member 22 with fixed pedestal is hinged, the other end and vertical column 3 hinged,
The second rod member group comprises rod member 44 and rod member 55, and described rod member 44 and rod member 55 are parallel to each other and arrange and equal in length, and rod member 44 is hinged with rod member 55 and column 3, and the second column on the other end and back-supported seat is hinged.
Upper limb motion mechanism comprises for being fixed on the 3rd rod member group on upper arm, for being fixed on the 4th rod member group on forearm; One end of the 3rd rod member group is connected with back-supported seat, and the other end of the 3rd rod member group is connected with one end of the 4th rod member group.The 3rd rod member group comprises part 11, rod member 12, rod member 13, rod member 14, rod member 15, rod member 16; Upper articulation, the other end and the rod member 12 of described rod member 11, one end of rod member 13 and the 3rd column are hinged, and rod member 11 and rod member 13 are parallel to each other and arrange and equal in length; One end of rod member 14 and rod member 15 respectively, the other end hinged with rod member 12 and rod member 16 hinged; Rod member 14 and rod member 15 are parallel to each other and arrange and equal in length.
The 4th rod member group comprises rod member 17, rod member 18; Described rod member 17 is hinged with one end and the rod member 16 of rod member 18, and rod member 17 is arranged in parallel with rod member 18 and is equal in length.
Lower extremity movement mechanism comprises for being fixed on the 5th rod member group on thigh, for being fixed on the 6th rod member group on shank; On one end of the 5th described rod member group and back-supported seat, the 3rd column lower hinge, the other end and six rod member groups are hinged.The 5th rod member group comprises rod member 66, rod member 77, rod member 88; On described rod member 66 and one end of rod member 77 and back-supported seat, the 3rd column lower hinge, the other end and rod member 88 are hinged; Rod member 66 is arranged in parallel with rod member 77 and is equal in length; The 6th rod member group comprises rod member 99, rod member 10; Rod member 99 is hinged with rod member 88 respectively with rod member 10, and rod member 99 is arranged in parallel with rod member 10 and is equal in length.
Mechanical exoskeleton training institution is connected with fixed pedestal by the spring parallel-crank mechanism of a series connection, and the below of this mechanical exoskeleton training institution is provided with treadmill; By the installation site of the elastic coefficient or adjustment spring, gravity and a certain proportion of human bady gravitational of this training institution of balance self.
In conjunction with exoskeleton robot technology and above-mentioned spring parallelogram gravitational equilibrium mechanism, towards spacefarer, become the exoskeleton robot system of gravity walking simulated training.System be take the spring parallel-crank mechanism with static passive equilibrium ability and is basis, the mechanical exoskeleton system that foundation comprises trunk and four limbs, this exoskeleton system is connected with fixed pedestal by the spring parallel-crank mechanism of a series connection, trainee dresses the walking on treadmill of this exoskeleton system, by selecting the installation site of suitable the elastic coefficient or adjustment spring, the gravity of mechanism self and a certain proportion of human bady gravitational can be balanced, thereby make trainee its health and each main joint in gait processes experience the effect that loses certain proportion gravity load.The major part of mechanism is divided into bracketed part and exoskeleton part, bracketed part is by two parallelogram rod member cell formations, as shown in the figure, bar 1 all uses turning joint to be connected with vertical column with bar 22, in the situation that bar 1 and bar 22 are equal in length, vertically column 3 keeps vertically, two ends are used respectively turning joint to be connected with bar 1 and bar 22, the second unit of cantilever is used same structure to extend to the right, rod member 44 is used turning joint to be connected with vertical column 3 with rod member 55, whole cantilever units can swing up and down in perpendicular, cantilever units has two springs, the convergent force of spring makes bracketed part can overcome self gravitation maintenance hovering, can provide pulling force upwards to human body simultaneously.The another one of mechanism is partly exoskeleton part, exoskeleton is used same principle, upper limbs is all partly connected with exoskeleton with lower limb, lower limb are example, bar 66 uses turning joint to be connected with bar 77 and back support mechanism, bar 66 and bar 77 are equal in length, keeping parallelism, bar 88 keeps vertical, bar 99 with bar 10 with same principle to downward-extension, each exoskeleton unit also possesses two springs, and the installation site of spring makes the convergent force of spring to provide applicable holding power to system.
In conjunction with exoskeleton robot technology and above-mentioned spring parallelogram gravitational equilibrium mechanism, build as shown in Figure 2 towards spacefarer, become the exoskeleton robot system of gravity walking simulated training.System be take the spring parallel-crank mechanism with static passive equilibrium ability and is basis, the mechanical exoskeleton system that foundation comprises trunk and four limbs, this exoskeleton system is connected with fixed pedestal by the spring parallel-crank mechanism of a series connection, trainee dresses the walking on treadmill of this exoskeleton system, by selecting the installation site of suitable the elastic coefficient or adjustment spring, the gravity of mechanism self and a certain proportion of human bady gravitational can be balanced, thereby make trainee its health and each main joint in gait processes experience the effect that loses certain proportion gravity load.
First according to trainee's health each several part mass parameter, regulate the controlled part of exoskeleton training system, trainee dresses exoskeleton under staff's assistance, after wearing, trainee completes the training subject of advance planning on treadmill, comprises walking and jogs etc., particular content can be selected by staff, when trainee carries out every subject training, staff records every physical signs of trainee, comprises heartbeat blood pressure etc.After trainee's training, together fill in training report with staff.
Claims (8)
1. the change gravity walking simulation system for astronaut training, it is characterized in that: comprise upper limb motion mechanism and the lower extremity movement mechanism for simulating change gravity environment, experienced that are fixed on human body, in described human upper limb locomotion mechanism, connect the back-supported seat for support human body back, on described back-supported seat, connect for controlling and support the cantilever mechanism of back-supported seat, on described cantilever mechanism, be connected and fixed pedestal.
2. the change gravity walking simulation system for astronaut training according to claim 1, it is characterized in that: the above-mentioned cantilever mechanism being connected with fixed pedestal comprises the first rod member group hinged with column (3) and the second rod member group, one end and the fixed pedestal of the first rod member group are hinged, one end of the second rod member group is connected with back-supported seat, between the first rod member group, the second rod member group and column (3), spring is set respectively.
3. the change gravity walking simulation system for astronaut training according to claim 1, is characterized in that: above-mentioned back-supported seat comprises second column hinged with cantilever mechanism, is fixedly connected with the 3rd column for being kept upright in back on the second column.
4. the change gravity walking simulation system for astronaut training according to claim 2, it is characterized in that: the first described rod member group comprises rod member one (1) and rod member two (2), described rod member one (1) and rod member two (2) are parallel to each other and arrange and equal in length, one end of rod member one (1) and rod member two (2) with fixed pedestal is hinged, the other end and vertical column (3) hinged
The second described rod member group comprises rod member four (4) and rod member five (5), described rod member four (4) and rod member five (5) are parallel to each other and arrange and equal in length, rod member four (4) is hinged with rod member five (5) and column (3), and the second column on the other end and back-supported seat is hinged.
5. according to the change gravity walking simulation system for astronaut training described in claim 1, it is characterized in that: above-mentioned upper limb motion mechanism comprises for being fixed on the 3rd rod member group on upper arm, for being fixed on the 4th rod member group on forearm; One end of the 3rd rod member group is connected with back-supported seat, and the other end of the 3rd rod member group is connected with one end of the 4th rod member group.
6. according to the change gravity walking simulation system for astronaut training described in claim 3 or 5, it is characterized in that: the 3rd described rod member group comprises part ten one (11), rod member ten two (12), rod member ten three (13), rod member ten four (14), rod member ten five (15), rod member ten six (16); Described rod member ten one (11), one end of rod member ten three (13) and the upper articulation of the 3rd column, the other end and rod member ten two (12) are hinged, and rod member ten one (11) and rod member ten three (13) are parallel to each other and arrange and equal in length; One end of rod member ten four (14) and rod member ten five (15) respectively, the other end hinged with rod member ten two (12) and rod member ten six (16) hinged; Rod member ten four (14) and rod member ten five (15) are parallel to each other and arrange and equal in length;
The 4th described rod member group comprises rod member ten seven (17), rod member ten eight (18); Described rod member ten seven (17) is hinged with one end and the rod member ten six (16) of rod member ten eight (18), and rod member ten seven (17) is arranged in parallel with rod member ten eight (18) and is equal in length.
7. according to the change gravity walking simulation system for astronaut training described in claim 1 or 3, it is characterized in that: above-mentioned lower extremity movement mechanism comprises for being fixed on the 5th rod member group on thigh, for being fixed on the 6th rod member group on shank; On one end of the 5th described rod member group and back-supported seat, the 3rd column lower hinge, the other end and six rod member groups are hinged.
8. the change gravity walking simulation system for astronaut training according to claim 7, is characterized in that: the 5th described rod member group comprises rod member six (6) rod member seven (7), rod member eight (8); On described rod member six (6) and one end of rod member seven (7) and back-supported seat, the 3rd column lower hinge, the other end and rod member eight (8) are hinged; Rod member six (6) is arranged in parallel with rod member seven (7) and is equal in length;
The 6th described rod member group comprises rod member nine (9), rod member ten (10); Rod member nine (9) is hinged with rod member eight (8) respectively with rod member ten (10), and rod member nine (9) is arranged in parallel with rod member ten (10) and is equal in length.
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| CN201410111690.8A CN104021704A (en) | 2014-03-25 | 2014-03-25 | Gravity-changing walking simulation system used for astronaut training |
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| CN108394572A (en) * | 2018-03-02 | 2018-08-14 | 北京空间技术研制试验中心 | A kind of analogy method of maintainable technology on-orbit spacecraft |
| CN109165419A (en) * | 2018-07-31 | 2019-01-08 | 哈尔滨工程大学 | A kind of the variable-quality simulator and method of motor performance |
| EP3398579A4 (en) * | 2016-07-18 | 2019-08-21 | Wang, Chunbao | Physical therapy support robot and operation method therefor |
| WO2021010821A1 (en) | 2019-07-15 | 2021-01-21 | Yumen Bionics B.V. | Exoskeleton for supporting a user's arm |
| CN113184234A (en) * | 2021-06-03 | 2021-07-30 | 天津大学 | Active-passive hybrid drive self-adaptive gravity unloading astronaut ground training system |
| 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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| 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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Application publication date: 20140903 |