CN113120261B - Auxiliary device for simulating control of instrument and equipment by astronaut on ground - Google Patents
Auxiliary device for simulating control of instrument and equipment by astronaut on ground Download PDFInfo
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- CN113120261B CN113120261B CN202110486171.XA CN202110486171A CN113120261B CN 113120261 B CN113120261 B CN 113120261B CN 202110486171 A CN202110486171 A CN 202110486171A CN 113120261 B CN113120261 B CN 113120261B
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- 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 an auxiliary device for controlling instrument equipment by a ground simulation astronaut, which comprises a main body framework, wherein an equipment mounting part and a personnel hanging part are arranged in the main body framework, the equipment mounting part comprises an equipment mounting plate, a mounting hole is formed in the equipment mounting plate, and the equipment mounting plate is arranged in the main body framework through a posture adjusting assembly; personnel hang portion includes the space suit, is connected with the haulage rope on the space suit, and the haulage rope is connected with the pulling equipment of locating on the main body frame. The invention can simulate the use of tools by astronauts in the outer space to operate instruments and equipment on the ground, and simultaneously, the posture of the astronauts can be automatically matched with the posture of the equipment, thereby being convenient for simulating different posture scenes, improving the comfort level of experimenters and simultaneously being convenient for rapidly collecting various data.
Description
Technical Field
The invention relates to the technical field of ground aerospace simulation, in particular to an auxiliary device for controlling instrument equipment by ground simulation astronauts.
Background
With the vigorous development of the aerospace industry in China, the method has scientific and technical conditions for astronauts to carry out scientific experiments in space. The number of times of tests in the space environment will gradually increase in the future scientific and technical development, and considering the operability and comfort of operating instruments and equipment by astronauts in the test process, the use operation verification of the instruments and equipment needs to be simulated first to achieve higher operability and use comfort, but the cost for performing the tests in the space is extremely high.
Therefore, a scheme capable of assisting in verifying the instruments and equipment is needed, and the operation of the instruments and equipment by using tools by astronauts in space can be simulated on the ground, so that the cost is reduced, the use utilization rate is improved, and good operability and better use comfort of the test of the astronauts in a space weightless environment are guaranteed.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an auxiliary device for simulating the control of instruments and equipment by a spaceman on the ground, which has the following specific scheme:
the device comprises a main body frame, wherein an equipment mounting part and a personnel hanging part are arranged in the main body frame, the equipment mounting part comprises an equipment mounting plate, a mounting hole is formed in the equipment mounting plate, and the equipment mounting plate is arranged in the main body frame through a posture adjusting assembly; the personnel hang portion includes the space suit, be connected with the haulage rope on the space suit, the haulage rope is connected with and locates traction equipment on the main body frame.
Furthermore, the posture adjusting assembly comprises an adjusting bracket, a vertical lifting rod is arranged on the adjusting bracket through a spiral lifter, the spiral lifter is in transmission connection with a motor, and the top end of the lifting rod is connected with a horizontal first shaft; the first shaft is connected with a roll-over stand which can rotate by taking the first shaft as a rotating shaft; the turnover frame is provided with a second shaft perpendicular to the first shaft, the equipment mounting plate is perpendicularly connected to the tail end of the second shaft, and the equipment mounting plate can rotate by taking the second shaft as a rotating shaft.
Furthermore, a horizontal bedplate is arranged at the top end of the adjusting bracket, and the spiral elevator and the motor are both fixedly connected to the top surface of the bedplate; the first shaft is connected with the lifting rod through a connecting seat, the connecting seat is further connected with a vertical guide rod, and a through hole matched with the guide rod is formed in the bedplate.
Furthermore, the connecting seat comprises a connecting seat body, a connecting block is vertically arranged on the top surface of the connecting seat body, and a pressing cover plate is connected above the connecting block through a pressing screw; and a shaft groove for mounting the second shaft is formed between the bottom surface of the pressing cover plate and the top surface of the connecting block.
Furthermore, the number of the spiral lifters and the number of the lifting rods are two, and the input ends of the two spiral lifters are in transmission connection with the motor through the same transmission shaft; two ends of the roll-over stand are respectively connected with the two lifting rods through a connecting seat, and the second shaft is positioned at the midpoint of the roll-over stand.
Furthermore, the top of the main body frame is provided with a slide rail, a spring balancer is arranged on the slide rail through a slide block, and the spring balancer is connected with a hook.
Furthermore, the traction equipment comprises a plurality of winches arranged on the main body frame, one end of the traction rope is connected to the winches, and the other end of the traction rope is connected to the space suit.
Furthermore, the personnel hanging part also comprises an auxiliary standing platform arranged right below the traction equipment, the auxiliary standing platform comprises a base, the base is connected with a table board through a vertical main shaft, and the table board is provided with a handrail; and the table top is also provided with a limiting piece for helping to fix the foot of the space suit.
Furthermore, a plurality of infrared monitoring points are arranged on the equipment installation part and the personnel hanging part, every two infrared monitoring points form a group, and a plurality of infrared capturing devices matched with the infrared monitoring points are arranged on the main body frame; the personnel hanging part is connected with a power machine, and the infrared capturing equipment and the power machine are connected with an electric control part;
the electric control part comprises a collecting circuit, a first calculating circuit, a second calculating circuit and a control circuit, wherein the collecting circuit is connected with the infrared capturing equipment, the second calculating circuit is connected with the first calculating circuit, and the control circuit is connected with the second calculating circuit; the acquisition circuit is used for acquiring the positions of infrared monitoring points on the equipment installation part and the personnel hanging part, the first computing circuit is used for simulating the postures of the equipment installation part and the personnel hanging part, the second computing circuit is used for judging whether the postures of the equipment installation part and the personnel hanging part are matched, and the control circuit is used for controlling the power machine to work so as to adjust the posture of the personnel hanging part to be matched with the posture of the equipment installation part.
Further, the scanning path of the infrared capturing device forms an xyz space coordinate system, the xyz space coordinate system takes the geometric center of the bottom surface of the main body frame as an origin, takes the horizontal plane as an xy plane, and takes the vertical plane as an xz plane;
the acquisition circuit comprises an acquisition unit for acquiring coordinates of the infrared monitoring points on the equipment installation part and the personnel hanging part in the xyz space coordinate system;
the first calculation circuit comprises a calculation unit, a first detection unit and a second detection unit, wherein the calculation unit is used for receiving the acquisition results of the first acquisition unit and the second acquisition unit and respectively calculating the coordinate difference of the infrared monitoring points of the equipment installation part and the infrared monitoring points of the personnel suspension part in the same group;
the second calculation circuit comprises a matching unit for receiving the result of the calculation unit and then calculating the difference value of the coordinate difference between the equipment installation part and the personnel hanging part;
the control circuit comprises a control unit for controlling the corresponding power machine to make corresponding action according to the calculated difference.
The invention has the beneficial effects that:
the application provides a pair of ground simulation astronaut controls auxiliary device of instrument equipment can operate instrument equipment at subaerial simulation astronaut's use tool in the space, and astronaut's gesture can match with the equipment gesture automatically simultaneously, and the convenience is to the simulation of different gesture scenes, conveniently collects each item data when improving the experimenter comfort level fast.
Drawings
Figure 1 is a perspective view of the structure of the present invention,
figure 2 is a front view of the structure of the present invention,
figure 3 is a perspective view of the structure of the equipment mounting part of the present invention,
FIG. 4 is a front view showing the structure of the apparatus mounting part of the present invention,
figure 5 is a schematic view of the connection of the lifter bar and the components of the present invention,
FIG. 6 is an enlarged view of the structure of the connecting socket of the present invention,
FIG. 7 is a schematic view of the connection between the spring balancer and the slide rail according to the present invention,
figure 8 is a perspective view of the structure of the hanging part for people of the invention,
figure 9 is a control flow diagram of the present invention,
fig. 10 is a schematic view of the position of the infrared monitoring point on the installation board of the present invention.
Figure number and name: 1. main body frame, 11, a slide rail, 12, a spring balancer, 2, equipment installation department, 21, equipment mounting panel, 22, gesture adjustment assembly, 221, adjust the support, 222, spiral lift, 223, the lifter, 224, the primary shaft, 225, the roll-over stand, 226, the secondary shaft, 227, the platen, 228, the connecting seat, 2281, the connecting seat body, 2282, the connecting block, 2283, compress tightly the apron, 2284, the dead axle, 229, the guide arm, 3, personnel's linkage portion, 31, the space suit, 32, the haulage rope, 33, the capstan winch, 34, supplementary stand platform, 341, the base, 342, vertical main shaft, 343, the mesa, 344, the handrail, 345, the locating part, 4, the electric control part, 41, acquisition circuit, 42, first calculation circuit, 43, the second calculation circuit, 44, control circuit.
Detailed Description
To explain the technical content, structural features, attained objects and effects of the present invention in detail, embodiments are described below in detail with reference to the accompanying drawings.
With reference to fig. 1 and 2, the auxiliary device for controlling instrument and equipment by a ground simulation astronaut described in the present application includes a main body frame 1, an equipment installation portion 2 and a personnel suspension portion 3 are disposed in the main body frame 1, the equipment installation portion 2 includes an equipment installation plate 21, the equipment installation plate 21 is provided with installation holes (the installation holes are screw holes distributed on the equipment installation plate, so that various devices with different sizes and models can be conveniently installed, and the positions can be adaptively adjusted), and the equipment installation plate 21 is disposed in the main body frame 1 through a posture adjustment assembly 22; the personnel hanging part 3 comprises an aerospace suit 31, a hauling cable 32 is connected to the aerospace suit 31, and the hauling cable 32 is connected with hauling equipment arranged on the main body frame 1.
Referring to fig. 3-5, the posture adjusting assembly 22 includes an adjusting bracket 221, two vertical lifting rods 223 are disposed on the adjusting bracket 221 through two spiral lifters 222, one of the spiral lifters 222 is connected with a motor in a transmission manner, and input ends of the two spiral lifters 222 are connected with the motor in a transmission manner through the same transmission shaft, so as to ensure synchronous motion of the two spiral lifters; the top end of the adjusting bracket 221 is provided with a horizontal bedplate 227, and the spiral elevator 222 and the motor are fixedly connected to the top surface of the bedplate 227. A horizontal first shaft 224 is connected to the top end of the lifting rod 223, a turning frame 225 is connected to the first shaft 224, and the turning frame 225 can rotate by taking the first shaft 224 as a rotating shaft; a second shaft 226 vertical to the first shaft 224 is arranged on the turning frame 225, two ends of the turning frame 225 are respectively connected with two lifting rods 223 through a connecting seat 228, and the second shaft 226 is positioned at the middle point of the turning frame 225; the device mounting plate 21 is vertically connected to the end of the second shaft 226, and the device mounting plate 21 can rotate about the second shaft 226 as a rotation axis.
The first shaft is connected with the lifting rod 223 through a connecting seat 228, a vertical guide rod 229 is further connected to the connecting seat 228, and a through hole matched with the guide rod 229 is formed in the bedplate 227, so that stability in the lifting process is guaranteed.
As shown in fig. 6, the connecting seat 228 includes a connecting seat body 2281, a connecting block 2282 is vertically disposed on the top surface of the connecting seat body 2281, and a pressing cover plate 2283 is connected above the connecting block 2282 through a pressing screw; a shaft groove 2284 for mounting the second shaft 226 is formed between the bottom surface of the pressing cover 2283 and the top surface of the connecting block 2282.
With reference to fig. 1, 2 and 7, a slide rail 11 is disposed at the top of the main body frame 1, a spring balancer 12 is disposed on the slide rail 11 through a slider, the spring balancer 12 is connected with a hook, and the device on the mounting plate is connected with the spring balancer through the hook, so as to realize a low gravity simulation state of the object.
Referring to fig. 2 and 8, the traction apparatus includes two winches 33 symmetrically disposed on the main body frame 1, one end of the traction rope 32 is connected to the winch 33, and the other end of the traction rope 32 is connected to the aerospace garment 31 (at the shoulder position).
The personnel hanging part 3 further comprises an auxiliary standing platform 34 arranged right below the traction equipment, the auxiliary standing platform 34 comprises a base 341, the base 341 is connected with a table-board 343 through a vertical main shaft 342, and the table-board 343 is provided with a hand-held rod 344; the table-board 343 is further provided with a limiting piece 345 for helping to fix the foot of the space suit.
With reference to fig. 8 and 10, the equipment installation part 2 and the personnel hanging part 3 are respectively provided with a plurality of infrared monitoring points, every two infrared monitoring points form a group, and the main body frame 1 is provided with a plurality of infrared capturing equipment matched with the infrared monitoring points; the personnel hanging part 3 is connected with a power machine, and the infrared capturing equipment and the power machine are connected with an electric control part 4; as shown in fig. 9, the electric control portion 4 includes an acquisition circuit 41, a first calculation circuit 42, a second calculation circuit 43 and a control circuit 44, the acquisition circuit 41 is connected with the infrared capture device, the first calculation circuit 42 is connected with the acquisition circuit 41, the second calculation circuit 43 is connected with the second calculation circuit 42, and the control circuit 44 is connected with the second calculation circuit 43; the acquisition circuit 41 is used for acquiring the positions of infrared monitoring points on the equipment installation part 2 and the personnel hanging part 3, the first calculation circuit 42 is used for simulating the postures of the equipment installation part 2 and the personnel hanging part 3, the second calculation circuit 43 is used for judging whether the postures of the equipment installation part 2 and the personnel hanging part 3 are matched, and the control circuit 44 is used for controlling the power machine to work so as to adjust the posture of the personnel hanging part 3 to be matched with the posture of the equipment installation part 2.
With reference to fig. 1, the scanning path of the infrared capturing device forms an xyz spatial coordinate system, which uses the geometric center of the bottom surface of the main body frame as an origin, the horizontal plane as an xy plane, and the vertical plane as an xz plane;
four infrared monitoring points (A, B, C, D shown in fig. 10) are arranged on the equipment mounting plate, wherein A and B are in a group, and C and D are in a group; the space suit is provided with four infrared monitoring points (A ', B', C 'and D' shown in figure 8), wherein A 'and B' are a group, and C 'and D' are a group. It should be noted that, in order to facilitate understanding of the principle of the attitude simulation of the present application, in the present embodiment, the pitch of AB is equal to the pitch of a 'B', and the pitch of CD is equal to the pitch of C 'D'.
The acquisition circuit at least comprises a first acquisition unit and a second acquisition unit, and the first acquisition unit is used for acquiring infrared monitoring on the equipment installation partCoordinate A (x) of a point in xyz space coordinate system 1 ，y 1 ，z 1 )、B(x 2 ，y 2 ，z 2 )、C(x 3 ，y 3 ，z 3 )、D(x 4 ，y 4 ，z 4 ) (ii) a The second acquisition unit is used for acquiring the coordinate A '(x') of the infrared monitoring point on the personnel hanging part in an xyz space coordinate system 5 ，y 5 ，z 5 )、B(x 6 ，y 6 ，z 6 )、C(x 7 ，y 7 ，z 7 )、D(x 8 ，y 8 ，z 8 )；
The first calculating circuit at least comprises a first calculating unit, a second calculating unit, a third calculating unit and a fourth calculating unit, wherein the first calculating unit is used for receiving the acquisition result of the first acquisition unit and then calculating the coordinate difference (x) between A and B 1 -x 2 ，y 1 -y 2 ，z 1 -z 2 ) The second calculating unit is used for receiving the acquisition result of the first acquiring unit and then calculating the coordinate difference (x) of C and D 3 -x 4 ，y 3 -y 4 ，z 3 -z 4 ) (ii) a The third calculating unit is used for receiving the acquisition result of the second acquisition unit and then calculating the coordinate difference (x) of A' and B 5 -x 6 ，y 5 -y 6 ，z 5 -z 6 ) The fourth calculating unit is used for receiving the acquisition result of the second acquisition unit and then calculating the coordinate difference (x) of C' and D 7 -x 8 ，y 7 -y 8 ，z 7 -z 8 )；
The second calculation circuit comprises at least a first matching unit and a second matching unit, the first matching unit is used for receiving the results of the first calculation unit and the third calculation unit and then calculating the difference (| x) of the two results 1 -x 2 |-|x 3 -x 4 |，|y 1 -y 2 |-|y 3 -y 4 |，|z 1 -z 2 |-|z 3 -z 4 A second matching unit for receiving the results of the second and fourth computing units and then computing the difference (| x) between the two results 5 -x 6 |-|x 7 -x 8 |，|y 5 -y 6 |-|y 7 -y 8 |，|z 5 -z 6 |-|z 7 -z 8 |)；
And because the distance between AB is equal to the distance between A 'B' and the distance between CD is equal to the distance between C 'D', when the equipment mounting plate and the space suit are both in the standby state shown in figures 1 and 2, the difference values are (0,0,0) and (0,0,0), and the posture of the space suit is matched with the posture of the equipment mounting plate without adjustment.
And then the control circuit at least comprises a control unit which is used for controlling the corresponding power machine to make corresponding action according to the calculated difference.
For example, the following steps are carried out: assuming that the position of the space suit is not moved, the equipment mounting plate rotates for a certain angle (rotates for a certain angle around the second shaft) in a vertical plane in which the standby state is located, at the moment, two difference values are (0, a and b) and (0,0,0), at the moment, one winch needs to be adjusted, the second difference value is (0, a and b), namely, the attitude of the space suit can be automatically adjusted and equipped according to the attitude of the equipment mounting plate, the scene that spacemen use tools to operate instrument equipment in space is simulated on the ground, and the simulation and data collection of various different attitudes in the later period are facilitated.
Therefore, the invention is not limited to the specific embodiments and examples, but rather, all equivalent variations and modifications are within the scope of the invention as defined in the claims and the specification.
Claims (8)
1. An auxiliary device for simulating the control of instrument equipment by astronauts on the ground comprises a main body frame (1), and is characterized in that: an equipment mounting part (2) and a personnel hanging part (3) are arranged in the main body frame (1), the equipment mounting part (2) comprises an equipment mounting plate (21), a mounting hole is formed in the equipment mounting plate (21), and the equipment mounting plate (21) is arranged in the main body frame (1) through a posture adjusting assembly (22); the personnel hanging part (3) comprises an aerospace suit (31), the aerospace suit (31) is connected with a traction rope (32), and the traction rope (32) is connected with traction equipment arranged on the main body frame (1);
a plurality of infrared monitoring points are arranged on the equipment installation part (2) and the personnel hanging part (3), every two infrared monitoring points form a group, and a plurality of infrared capturing equipment matched with the infrared monitoring points are arranged on the main body frame (1); the personnel hanging part (3) is connected with a power machine, and the infrared capturing equipment and the power machine are connected with an electric control part (4);
the electric control part (4) comprises an acquisition circuit (41), a first calculation circuit (42), a second calculation circuit (43) and a control circuit (44), wherein the acquisition circuit (41) is connected with the infrared capture equipment, the first calculation circuit (42) is connected with the acquisition circuit (41), the second calculation circuit (43) is connected with the first calculation circuit (42), and the control circuit (44) is connected with the second calculation circuit (43); the acquisition circuit (41) is used for acquiring positions of infrared monitoring points on the equipment installation part (2) and the personnel hanging part (3), the first calculation circuit (42) is used for simulating postures of the equipment installation part (2) and the personnel hanging part (3), the second calculation circuit (43) is used for judging whether the postures of the equipment installation part (2) and the personnel hanging part (3) are matched, and the control circuit (44) is used for controlling the power machine to work so as to adjust the posture of the personnel hanging part (3) to be matched with the posture of the equipment installation part (2);
the scanning path of the infrared capturing device forms an xyz space coordinate system, and the xyz space coordinate system takes the geometric center of the bottom surface of the main body frame as an origin, a horizontal plane as an xy plane and a vertical plane as an xz plane;
the acquisition circuit comprises an acquisition unit for acquiring coordinates of the infrared monitoring points on the equipment installation part and the personnel hanging part in the xyz space coordinate system;
the first calculation circuit comprises a calculation unit, a first acquisition unit and a second acquisition unit, wherein the calculation unit is used for receiving acquisition results of the first acquisition unit and the second acquisition unit and respectively calculating the coordinate difference of the infrared monitoring points of the same group of the equipment installation part and the coordinate difference of the infrared monitoring points of the same group of the personnel suspension part;
the second calculation circuit comprises a matching unit, and the matching unit is used for receiving the result of the calculation unit and then calculating the difference value of the coordinate difference between the equipment installation part and the personnel hanging part;
the control circuit comprises a control unit which is used for controlling the corresponding power machine to make corresponding actions according to the calculated difference value.
2. The assistance device for ground simulation of manipulation of an instrument device by an astronaut according to claim 1, wherein: the posture adjusting assembly (22) comprises an adjusting support (221), a vertical lifting rod (223) is arranged on the adjusting support (221) through a spiral lifter (222), the spiral lifter (222) is in transmission connection with a motor, and the top end of the lifting rod (223) is connected with a horizontal first shaft (224); the first shaft (224) is connected with a roll-over stand (225), and the roll-over stand (225) can rotate by taking the first shaft (224) as a rotating shaft; the turnover frame (225) is provided with a second shaft (226) vertical to the first shaft (224), the equipment mounting plate (21) is vertically connected to the tail end of the second shaft (226), and the equipment mounting plate (21) can rotate by taking the second shaft (226) as a rotating shaft.
3. An aid for ground simulation of manipulation of instrument equipment by an astronaut, according to claim 2, wherein: a horizontal bedplate (227) is arranged at the top end of the adjusting bracket (221), and the spiral elevator (222) and the motor are fixedly connected to the top surface of the bedplate (227); the first shaft is connected with the lifting rod (223) through a connecting seat (228), a vertical guide rod (229) is further connected to the connecting seat (228), and a through hole matched with the guide rod (229) is formed in the bedplate (227).
4. An aid for ground-based simulation of the manipulation of an instrument device by an astronaut, according to claim 3, wherein: the connecting seat (228) comprises a connecting seat body (2281), a connecting block (2282) is vertically arranged on the top surface of the connecting seat body (2281), and a pressing cover plate (2283) is connected above the connecting block (2282) through a pressing screw; a shaft groove (2284) used for installing the second shaft (226) is formed between the bottom surface of the pressing cover plate (2283) and the top surface of the connecting block (2282).
5. The assistance device for simulating the manipulation of an instrument device by a ground astronaut according to claim 4, wherein: the number of the spiral lifters (222) and the lifting rods (223) is two, and the input ends of the two spiral lifters (222) are in transmission connection with the motor through the same transmission shaft; two ends of the roll-over stand (225) are respectively connected with the two lifting rods (223) through a connecting seat (228), and the second shaft (226) is positioned at the middle point of the roll-over stand (225).
6. The assistance device for simulating the manipulation of an instrument device by a ground astronaut according to claim 5, wherein: the top of main body frame (1) is equipped with slide rail (11), be equipped with spring balancer (12) through the slider on slide rail (11), spring balancer (12) are connected with the couple.
7. The assistance device for ground simulation of manipulation of an instrument device by an astronaut according to claim 1, wherein: the traction equipment comprises a plurality of winches (33) arranged on the main body frame (1), one end of the traction rope (32) is connected to the winches (33), and the other end of the traction rope (32) is connected to the space suit (31).
8. The assistance device for ground simulation of manipulation of an instrument device by an astronaut according to claim 1, wherein: the personnel hanging part (3) further comprises an auxiliary standing platform (34) arranged right below the traction equipment, the auxiliary standing platform (34) comprises a base (341), a table top (343) is connected to the base (341) through a vertical main shaft (342), and a handrail (344) is arranged on the table top (343); the table top (343) is also provided with a limiting piece (345) for helping to fix the foot of the space suit.
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| CN212023036U (en) * | 2020-04-09 | 2020-11-27 | 北京吾天科技有限公司 | Suspension device for maintaining ground simulation aerospace equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| ITTO20060923A1 (en) * | 2006-12-27 | 2008-06-28 | Alenia Aeronautica Spa | SYSTEM FOR THE GROUND SIMULATION OF ENVIRONMENTAL LIGHTING CONDITIONS IN THE PILOT BOOTH OF AN AIRWAY IN AIRCRAFT. |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106507775B (en) * | 2008-11-28 | 2013-12-25 | 中国航天空气动力技术研究院 | Spacefarer's extravehicular activity procedural training simulator suspends mobile device in midair |
| CN107215487A (en) * | 2017-05-24 | 2017-09-29 | 北京空间技术研制试验中心 | A kind of manned spacecraft repairs ground simulation system out of my cabin |
| CN109035952A (en) * | 2018-07-26 | 2018-12-18 | 西北工业大学 | A kind of On-orbit servicing spacefarer immersion training system |
| RU199964U1 (en) * | 2019-09-09 | 2020-09-29 | Общество с ограниченной ответственностью "НПО "Группа компаний машиностроения и приборостроения" | HEAT FLOW SIMULATION DEVICE |
| CN212023036U (en) * | 2020-04-09 | 2020-11-27 | 北京吾天科技有限公司 | Suspension device for maintaining ground simulation aerospace equipment |
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