CN109592084B - Device for simulating load experiment of wearing person in low-gravity environment - Google Patents
Device for simulating load experiment of wearing person in low-gravity environment Download PDFInfo
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- CN109592084B CN109592084B CN201811630865.0A CN201811630865A CN109592084B CN 109592084 B CN109592084 B CN 109592084B CN 201811630865 A CN201811630865 A CN 201811630865A CN 109592084 B CN109592084 B CN 109592084B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
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Abstract
The invention discloses a device for simulating a wearing person load experiment in a low-gravity environment, relates to the technical field of aviation experiment simulation, and aims to simulate the condition that a wearing person uses a tool or collects substances on the surface of a moon in the low-gravity environment. The invention comprises a high-stability support structure, a constant tension device, a rope, a special movable pulley assembly, a horizontal movement adjusting platform, a locking device, an exoskeleton eleven suspension point and a safety protection device, wherein the constant tension device is fixed on the ground, a group of special movable pulley blocks are arranged on the horizontal movement adjusting platform, the starting section of the rope is connected with the constant tension device, the rope passes through the special movable pulley at the edge of the high-stability support structure and the special movable pulley blocks arranged on the horizontal adjustment platform and is connected to a load or the exoskeleton device, the position of the horizontal adjustment platform is locked through the locking device, the suspension point is locked through the locking device, and the safety protection device and a spring damping device are arranged at the constant tension device.
Description
Technical Field
The invention relates to the technical field of aviation experiment simulation, in particular to a simulation method for simulating the conditions of wearing a person and carrying a load under a low-gravity environment.
Technical Field
For the activities of collecting and collecting minerals in star catalogue operation, a wearing person is required to accurately and skillfully walk, use tools, carry loads and the like in a low-gravity environment, a weight-loss flight method or a float method is usually used for ground training to simulate the conditions in the low-gravity environment, and the ground training methods have great limits on training space and time, wherein a gravity compensation method through active suspension is adopted, but the complexity and the difficulty of a load control system are high. As shown in fig. 1: the invention provides a passive gravity compensation system based on a high-stability support structure comprising a special movable pulley structure design and eleven suspension points which meet the requirements of human bodies at the exoskeleton of a wearer, wherein under the design of the passive gravity compensation system, the suspension points cannot influence each other, and meanwhile, independent load suspension points are provided to simulate the load carrying condition of the wearer.
Disclosure of Invention
The invention aims to solve the problems and provides a wearing person load experimental device under a low-gravity environment, which has the advantages of simple overall structure, high stability, simple operability, safety and reliability. The low gravity environment, the situation when wearing personnel walk and carry the load can be simulated safely under the experimental device.
The safety protection device is arranged at the position of the constant tension device, so that the object can not be suddenly dropped and the loss can be avoided and the safety of a tester can be ensured. The stability supporting structure is fixed on ground with permanent tension device, and a set of special movable pulley locking is at high stability supporting structure top frame edge, and another group's special movable pulley locking is at horizontal migration regulation platform, and the rope passes through two sets of special movable pulleys, and permanent tension device is connected to the initial section, and permanent tension device is inside to have damping spring for the buffering hangs heavy motion and strikes, reduces permanent tension device and hinders human limbs motion, rope end-to-end connection load. High stable support structure has high stability characteristics, can normally carry the wearing personnel and the load of ectoskeleton, can not influence the wearing personnel motion. The horizontal movement adjusting platform is located above the high-stability support structure, can move in the horizontal direction above the high-stability support structure, and locks the position in the horizontal direction through the locking device. The special movable pulley on the horizontal movement adjusting platform can move along the axial direction of the horizontal movement adjusting platform, the special movable pulley on the upper edge of the high-stability support structure can move along the axis of the support rod piece, and the special movable pulley is fixed at a required position through the locking device. The horizontal movement adjusting platform and the special movable pulley positioned on the horizontal movement adjusting platform form ten suspension points according to exoskeleton suspension points, the suspension points start from the balance position of each joint of a human body to meet the requirements of various postures of the human body of a wearer, the starting section of the rope is connected with the constant tension device, and the tail end of the special movable pulley is connected with the suspension points. The special movable pulley structure is in an oval shape, and the rotation angle is adjusted through the motor, so that the tiny movement on a vertical rope horizontal plane passing through the special movable pulley structure is influenced, and the rope stretching point moves along with the suspension point. The constant-tension device provides corresponding suspension force for the exoskeleton, the wearer and the experimental load respectively so as to simulate the gravity condition that the wearer has only one sixth of the surface of the moon under the condition of the earth. Safety device is located permanent tension device, and it just can lock the rope to elongate to exceed certain extent or rope speed and exceed certain extent when the rope, prevents that linkage from dropping, guarantees experiment wearing personnel load safety.
The technical scheme provided by the invention for solving the problems is as follows: an apparatus for simulating a wearer load test in a low gravity environment, the apparatus comprising: the device comprises a support structure, a rope, a constant tension device, a horizontal movement adjusting platform and an exoskeleton; the support structure is fixed on the ground, and the constant-tension device is fixed at the tail part or the front part of the support structure; the horizontal movement adjusting platform is arranged at the top of the support structure, a guide rail is arranged at the top of the support structure, the horizontal movement adjusting platform can be adjusted by a motor to move horizontally along the guide rail, and the horizontal movement adjusting platform is fixed by a fixing device after moving; one end of the rope is connected with the constant-tension device, and the other end of the rope bypasses the horizontal movement adjusting platform and is connected with the exoskeleton to provide constant upward tension for the exoskeleton; the tail end of the top of the support structure, which is positioned on one side of the constant tension device, is provided with a plurality of special movable pulleys, a plurality of special movable pulleys are arranged in the horizontal movement adjusting platform, and the number of the special movable pulleys in the horizontal movement adjusting platform is the same as that of the special movable pulleys in the support structure; a special movable pulley corresponds a special movable pulley in the supporting structure in the horizontal migration adjusts the platform, corresponds a rope, and permanent tension device is connected to each rope one end and connects the hanging point of connecting on the ectoskeleton behind special movable pulley in the horizontal migration adjusts the platform, the special movable pulley in the supporting structure in proper order, special movable pulley includes: dwang, pulley, dwang one end articulates on horizontal migration adjusts the platform, and the other end sets up a pulley, and the turned angle through extra motor control dwang comes the pulling force position of the vertical direction of slight translation around. The special movable pulleys in the horizontal movement adjusting platform and the special movable pulleys in the support structure are paired and are parallel to each other on the same plane, so that the ropes can be prevented from being wound, friction force and interference are reduced, and in order to reduce errors caused by the fact that vertical ropes are not vertical any more due to small movement of a suspension point and constant tension in the vertical direction is reduced, small adjustment is performed through the oval special movable pulleys, and the purpose of reducing device errors is achieved.
An apparatus for simulating a wearer load test in a low gravity environment, the apparatus comprising: the device comprises a support structure, a rope, a constant tension device, a horizontal movement adjusting platform and an exoskeleton; the support structure is fixed on the ground, and the constant-tension device is fixed at the tail part or the front part of the support structure; the horizontal movement adjusting platform is arranged at the top of the support structure, a guide rail is arranged at the top of the support structure, the horizontal movement adjusting platform can be adjusted by a motor to move horizontally along the guide rail, and the horizontal movement adjusting platform is fixed by a fixing device after moving; one end of the rope is connected with the constant-tension device, and the other end of the rope bypasses the horizontal movement adjusting platform and is connected with the exoskeleton to provide constant upward tension for the exoskeleton; the tail end of the top of the support structure, which is positioned on one side of the constant tension device, is provided with N special movable pulleys, N fixed pulleys and N special movable pulleys are arranged in the horizontal movement adjusting platform, and the N fixed pulleys in the horizontal movement adjusting platform have the function of changing the horizontal front-back direction of the rope into the horizontal left-right direction; then the rope changes into a vertical trend by winding the tension of a special movable pulley; the special movable pulley comprises: dwang, pulley, dwang one end articulates on horizontal migration adjusts the platform, and the other end sets up a pulley, and the turned angle through extra motor control dwang comes the pulling force position of the vertical direction of slight translation about.
Furthermore, the special movable pulleys are respectively arranged on the independent horizontal cross rod, and the special movable pulleys can move along the axial direction of the horizontal cross rod.
Furthermore, a damping spring is arranged in the constant tension device for buffering the impact of the hoisting movement and reducing the obstruction of the constant tension device to the movement of the limbs of the human body.
Furthermore, a safety protection device is arranged in the constant tension device and comprises a speed measurement sensor, an electromagnetic valve module, an elastic iron bayonet and an MCU control module, wherein the MCU control module reads the relative speed of the rope and the constant tension device through the speed measurement sensor, controls the electromagnetic module, and closes the electromagnetic valve if the speed of the rope exceeds a threshold value, so that the elastic iron bayonet is clamped with the rope, and the safety protection device is used for preventing the rope from being locked when the constant tension device fails.
Furthermore, a locking device is arranged on the horizontal movement adjusting platform and used for locking the horizontal movement adjusting platform on the track.
Furthermore, the exoskeleton comprises 11 hanging points which sequentially comprise a left calf gravity center point, a right calf gravity center point, a left thigh gravity center point, a right forearm gravity center point, a left upper arm gravity center point, a right upper arm gravity center point, a caudal vertebra and cervical vertebra hanging points and an abdominal hanging point.
The invention provides a wearable person load experiment device under a low-gravity environment, which has the advantages of simple overall structure, high stability, simple operability, safety and reliability. The low gravity environment, the situation when wearing personnel walk and carry the load can be simulated safely under the experimental device.
Drawings
FIG. 1 is a schematic structural view of a wearing person load testing device in a low gravity environment according to the present invention;
FIG. 2 is a schematic view of the structure of the experimental apparatus for the load of the wearer under the low gravity environment of the present invention 1;
FIG. 3 is a schematic view of the structure of the experimental apparatus for the load of the wearer under the low gravity environment of the present invention 2;
fig. 4 is a schematic structural diagram of a special movable pulley of the wearing person load test device in a low gravity environment.
Detailed Description
Embodiments of the present invention are further described below with reference to the accompanying drawings.
Wearing personnel load experimental apparatus under low gravity environment, its characterized in that: the high-stability support structure (1), a constant-tension device (2), a rope (3), a special movable pulley (4), a horizontal movement adjusting platform (5), a locking device (6), eleven exoskeleton suspension points (7), a safety protection device (8) and a damping spring (9), wherein the constant-tension device (2) is fixed on the ground, a group of special movable pulleys (4) is arranged on the horizontal movement adjusting platform (5), the starting section of the rope (3) is connected with the constant-tension device (2), the rope is connected to the exoskeleton device of a load or a wearing person through the special movable pulley (4) at the edge of the high-stability support structure (1) and the special movable pulley (4) positioned on the horizontal adjusting platform (5), the horizontal adjusting platform (5) is locked through the locking device (6), and the eleven exoskeleton suspension points (7) of the exoskeleton are locked through the locking device (6), the constant tension device (2) is provided with a safety protection device (8).
High stability supporting structure (1) is fixed on ground with permanent tension device (2), and a set of special movable pulley (4) locking is at high stable supporting structure top frame edge, and another special movable pulley (4) locking of group is at horizontal migration regulation platform (5), and rope (3) are through two sets of special movable pulley (4), and permanent tension device (2), end connection load are connected to the initial segment.
High stable support structure (1), have high stability characteristics, wearing personnel and the load that can normally carry the ectoskeleton can not influence wearing personnel's motion to along with wearing personnel when walking on it, can not make it rock by a wide margin, with increase detection stability.
The horizontal movement adjusting platform (5) is located above the high-stability support structure (1), can move in the horizontal direction above the high-stability support structure (1), and locks the position in the horizontal direction through the locking device (6).
The special movable pulley (4) positioned on the horizontal movement adjusting platform (5) can move axially along the horizontal movement adjusting platform (5), the special movable pulley (4) positioned on the upper edge of the high-stability support structure (1) can move along the axis of the support rod piece, and the special movable pulley (4) is fixed at a required position through the locking device (6).
The horizontal movement adjusting platform (5) and the special movable pulley (4) positioned on the horizontal movement adjusting platform form eleven suspension points (7) according to exoskeleton suspension points, the suspension points start from the balance positions of all joints of a human body to meet the requirements of various postures of the human body of a wearer, the starting section of the rope (3) is connected with the constant tension device (2), and the tail end of the special movable pulley (4) is connected with the suspension points.
The special movable pulley (4) is used for adjusting the rotating angle of the external elliptic pulley through an internal motor, wherein the tail end of the external elliptic pulley is provided with a small movable pulley which is used for reducing the friction between the special movable pulley (4) and the rope (3) through the rope (3), the rotating angle is adjusted so as to slightly adjust the vertical component of the suspension force caused by the slight change of the position of the suspension point at the tail end of the rope, and the elliptic movable pulley rotates to enable the rope (3) to have slight offset in the horizontal direction so as to reduce the error of the experimental device.
The constant-tension device (2) respectively provides corresponding suspension force for the exoskeleton, the wearing person and the experimental load so as to simulate the gravity condition that the wearing person only has one sixth of the surface of the moon under the condition of the earth.
Safety device (8) are located permanent tension device (2), and it just can lock rope (3) to elongate when rope (3) surpasss the certain limit, prevents that linkage from dropping, guarantees experiment wearing personnel load safety.
A damping spring (9) is arranged in the constant tension device (2) and used for buffering the impact of the hoisting motion and reducing the obstruction of the constant tension device to the motion of the limbs of the human body so as to reduce the influence of the acceleration of the hoisting weight on the constant tension in the motion process.
The first embodiment is as follows: the embodiment is described by combining figure 1, and comprises a high-stability support structure (1), a constant-tension device (2), a rope (3), a special movable pulley (4), a horizontal movement adjusting platform (5), a locking device (6), eleven exoskeleton suspension points (7) and a safety protection device (8), wherein the constant-tension device (1) is fixed on the ground, a group of special movable pulleys are arranged on the horizontal movement adjusting platform (5), the starting section of the rope (3) is connected with the constant-tension device (2), the rope is connected to an exoskeleton device of a load or a person wearing the load through the special movable pulleys at the edge of the high-stability support structure (1) and the special movable pulley (4) on the horizontal adjustment platform (5), the position of the horizontal adjustment platform (5) is locked through the locking device (6), and the suspension point is locked through the locking device
The second embodiment is as follows: the embodiment is described with reference to fig. 2, the high-stability bracket (1) according to the embodiment further includes a first special movable pulley (4), a horizontal movement adjusting platform (5), a second special movable pulley located on the horizontal movement adjusting platform, two special movable pulleys on a certain inclined plane, a rope end sequentially passing around the first special movable pulley, the second special movable pulley and a safety protection device being connected with a constant tension device, and other composition relationships are the same as those of the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 3, the constant-tension device (2) according to the embodiment cancels five sixths of gravity of a load by configuring weights in advance, a plurality of weight boxes are arranged in the constant-tension device (2), the initial section of the rope (3) is connected with one weight box, the load is connected with the rear end of the rope through the safety protection device (8), the second special movable pulley (4-1) and the first special movable pulley (4-2), and other composition relations are the same as those of the first embodiment.
The fourth concrete implementation mode: this embodiment is illustrated in connection with FIG. 2: the eleven suspension points (7) meet the mutual position relationship of joints of a wearer in the movement process, the suspension points can be set according to human body models with different proportions by adjusting the first special movable pulley (4-1), the horizontal moving platform (5) and the corresponding locking device (6), and other composition relationships are the same as those in the first specific embodiment.
The fifth concrete implementation mode: this embodiment is illustrated in connection with fig. 4: the special movable pulley (4) described in the embodiment is a combination of an elliptical pulley and a small movable pulley at the tail end of the elliptical pulley, wherein the rotation angle of the elliptical pulley is adjusted through a motor, the rotation angle of the elliptical pulley is used for adjusting the horizontal movement of a vertical rope (3) at a connecting suspension point, the horizontal movement is used for reducing the vertical component force reduction caused by the fact that the suspension point slightly swings in the horizontal direction along the direction of the vertical rope (3) due to constant tension, and therefore the small movement in the horizontal direction along with the suspension point is adjusted through the special movable pulley (4), and the overall error of the device is reduced.
The sixth specific implementation mode: this embodiment is illustrated in connection with fig. 3: the safety protection device (8) of this embodiment detects the distance and the speed that the rope removed through position sensor and speedtransmitter cooperation, can start inside locking device when the rope motion overlength or speed is too fast, guarantees wearing personnel safety and load stability.
The seventh embodiment: this embodiment is illustrated in connection with fig. 3: the damping spring (9) is used for reducing the influence of inertia on constant tension force in the lifting motion of the inside of the constant tension device, buffering the impact of the lifting motion and reducing the obstruction of the constant tension device to the motion of limbs of a human body.
Principle of operation
In vertical direction, rope (3) can provide the constant pulling force with the same opposite direction of constant tension device (2) numerical value to reach gravity compensation's effect, eleven suspension point (7) positions are less with the vertical direction contained angle of actual wearing personnel position of motion simultaneously, consequently can ignore the influence that vertical direction skew leads to vertical direction pulling force to change in the certain extent, the inside spring damping device that has of constant tension device is used for buffering to hang heavy inertial impact in the motion process simultaneously, reduce constant tension device and hinder to human limbs movement.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. An apparatus for simulating a wearer load test in a low gravity environment, the apparatus comprising: the device comprises a support structure, a rope, a constant tension device, a horizontal movement adjusting platform and an exoskeleton; the support structure is fixed on the ground, and the constant-tension device is fixed at the tail part or the front part of the support structure; the horizontal movement adjusting platform is arranged at the top of the support structure, a guide rail is arranged at the top of the support structure, the horizontal movement adjusting platform can be adjusted by a motor to move horizontally along the guide rail, and the horizontal movement adjusting platform is fixed by a fixing device after moving; one end of the rope is connected with the constant-tension device, and the other end of the rope is connected with the exoskeleton to provide constant upward tension for the exoskeleton; the tail end of the top of the support structure, which is positioned on one side of the constant tension device, is provided with a plurality of special movable pulleys, a plurality of special movable pulleys are also arranged in the horizontal movement adjusting platform, and the number of the special movable pulleys in the horizontal movement adjusting platform is the same as that of the special movable pulleys in the support structure; every special movable pulley corresponds a special movable pulley in the horizontal migration adjusts the platform in the supporting structure, corresponds a rope, and permanent tension device is connected to each rope one end and connects the hanging point on the ectoskeleton after special movable pulley in the supporting structure, the special movable pulley in the horizontal migration adjusts the platform in the special movable pulley in the platform in proper order, special movable pulley includes: dwang, pulley, dwang one end articulates on horizontal migration adjusts platform or supporting structure, and the other end sets up a pulley, and through the turned angle of extra motor control dwang, the pulling force position of the vertical direction of slight translation around coming.
2. The device for simulating the load test of the wearer under the low gravity environment as claimed in claim 1, wherein the special movable pulleys are respectively arranged on a single horizontal cross bar, and the special movable pulleys can move along the axial direction of the horizontal cross bar.
3. The device for simulating the load test of the wearer in the low-gravity environment as claimed in claim 1, wherein a damping spring is arranged in the constant tension device and is used for buffering the impact of the hanging weight on the movement and reducing the obstruction of the constant tension device on the movement of the limbs of the human body.
4. The device for simulating the load experiment of the wearer in the low-gravity environment as claimed in claim 1, wherein a safety protection device is arranged in the constant tension device, the safety protection device comprises a speed measurement sensor, a solenoid valve module, an elastic iron bayonet and an MCU control module, the MCU control module reads the relative speed of the rope and the constant tension device through the speed measurement sensor, controls the solenoid valve module, and closes the solenoid valve if the speed of the rope exceeds a threshold value, so that the elastic iron bayonet is locked with the rope, and the rope is prevented from being locked when the constant tension device fails.
5. The device for simulating the load test of the wearer under the low-gravity environment as claimed in claim 1, wherein the horizontal movement adjusting platform is provided with a locking device for locking the horizontal movement adjusting platform on the track.
6. The device for simulating the load test of the wearer in the low-gravity environment according to claim 1, wherein the exoskeleton comprises 11 hanging points, which sequentially comprise a gravity center point of a left lower leg, a gravity center point of a left upper arm, a gravity center point of a right upper arm, a hanging point of a caudal vertebra and a cervical vertebra, and a hanging point of an abdomen.
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| CN201811630865.0A CN109592084B (en) | 2018-12-29 | 2018-12-29 | Device for simulating load experiment of wearing person in low-gravity environment |
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| CN201811630865.0A CN109592084B (en) | 2018-12-29 | 2018-12-29 | Device for simulating load experiment of wearing person in low-gravity environment |
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| CN113184234B (en) * | 2021-06-03 | 2023-03-17 | 天津大学 | Active-passive hybrid drive self-adaptive gravity unloading astronaut ground training system |
| CN113264204A (en) * | 2021-06-25 | 2021-08-17 | 北京卫星环境工程研究所 | Multi-body low-gravity simulation device and multi-body low-gravity simulation method in vacuum thermal environment |
| CN114187817B (en) * | 2021-12-10 | 2024-05-07 | 中国科学院空间应用工程与技术中心 | Scientific experiment load light simulation device for experiment cabinet |
| CN114346996B (en) * | 2022-01-05 | 2024-04-02 | 哈尔滨工业大学 | Exoskeleton type man-machine back frame system for astronaut micro-low gravity simulation |
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| CN104825257B (en) * | 2015-03-24 | 2017-06-16 | 华南理工大学 | The wearable function auxiliary mechanical arm of waist |
| KR101681286B1 (en) * | 2015-04-23 | 2016-11-29 | 국방과학연구소 | High-speed walking attitude control apparatus of wearable exoskeleton robot |
| CN206913723U (en) * | 2017-07-11 | 2018-01-23 | 常州校果信息服务有限公司 | A kind of Chinese medicine draining device |
| CN107933980B (en) * | 2017-11-17 | 2021-07-06 | 哈尔滨工业大学 | Active and passive combined suspension zero-gravity simulation system and simulation method |
| CN108502214B (en) * | 2018-05-02 | 2019-05-10 | 哈尔滨工业大学 | A kind of permanent tension system based on bi-motor and differential gear train |
| CN108837429B (en) * | 2018-07-04 | 2020-06-09 | 中国航天员科研训练中心 | Follow-up suspension type low-gravity simulation device for human body measurement and training |
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2018
- 2018-12-29 CN CN201811630865.0A patent/CN109592084B/en not_active Expired - Fee Related
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