CN114165572B - Transmission assembly of somatosensory micro-low gravity simulation device and simulation device - Google Patents

Transmission assembly of somatosensory micro-low gravity simulation device and simulation device Download PDF

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Publication number
CN114165572B
CN114165572B CN202210129927.XA CN202210129927A CN114165572B CN 114165572 B CN114165572 B CN 114165572B CN 202210129927 A CN202210129927 A CN 202210129927A CN 114165572 B CN114165572 B CN 114165572B
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assembly
transmission
gravity
parallelogram structure
parallelogram
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CN114165572A (en
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王兆魁
韩大鹏
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Tsinghua University
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Tsinghua University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H33/00—Gearings based on repeated accumulation and delivery of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G7/00—Simulating cosmonautic conditions, e.g. for conditioning crews
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • F16H19/003—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion comprising a flexible member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/04—Guiding mechanisms, e.g. for straight-line guidance
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The invention belongs to the technical field of aerospace, and particularly relates to a transmission assembly and a simulation device of a somatosensory micro-low gravity simulation device, wherein the somatosensory micro-low gravity simulation device comprises a support frame and a gravity balance assembly connected with the support frame; and one end of the transmission component is arranged in the supporting frame and used for receiving potential energy, and the other end of the transmission component is connected with the gravity balance component and transmits the potential energy to the gravity balance component. The device has the advantages that the transmission assembly is provided with the connecting structure for connecting the buffering assembly and the gravity balance assembly, potential energy of the buffering assembly is transmitted to the gravity balance assembly through the connecting structure of the transmission assembly, and the transmission assembly can be adjusted, so that the analog quantity of the somatosensory micro-low gravity simulation device can be adjusted.

Description

Transmission assembly of somatosensory micro-low gravity simulation device and simulation device
Technical Field
The invention belongs to the technical field of aerospace, and particularly relates to a transmission assembly of a somatosensory micro-low-gravity simulation device and the simulation device.
Background
With the gradual achievement of the lunar exploration project, the implementation of manned lunar landing and the establishment of a lunar base become possible, so that a lot of scientific significant progress and technical significant breakthrough are created to meet the requirements of space mission verification and astronauts ground training. On the ground, for the development of astronaut training or similar experiences.
Adopt the little low gravity analogue means of spring parallelogram mechanism among the prior art: the device utilizes a spring parallelogram mechanism to carry out gravity compensation, can achieve static balance at any position in a working space of the device by matching a proper elastic coefficient or adjusting the installation position of a spring, and the spring parallelogram mechanism not only can compensate the human body gravity of any proportion (0-100 percent), but also can compensate corresponding gravity moment, so that a wearer can feel the effect that each main joint loses the gravity load of the same proportion in the motion process, thereby obtaining a vivid low gravity simulation effect.
However, in the above-mentioned spring parallelogram mechanism low-weight simulator, the spring is directly arranged on the parallelogram, and the simulation amount can only be adjusted by changing the rigidity of the arranged spring or changing the stretching amount of the spring, but in the process of adjusting the stretching amount of the spring, because the spring is integrally arranged with the parallelogram mechanism and arranged on the top of the parallelogram mechanism, the spring has a high elastic coefficient, and the stretching amount of the spring is not convenient to adjust.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide a transmission assembly and a simulation device of a somatosensory micro-low-gravity simulation device, wherein the transmission assembly is arranged between a buffer assembly and a gravity balance assembly, and the somatosensory micro-low-gravity simulation device can adjust the stretching amount of the buffer assembly by changing the length of the transmission assembly so as to realize different simulation amounts for users with different weights and different simulation amounts required by the same user.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a transmission assembly who feels little low gravity analogue means is felt to body, it includes at least to feel little low gravity analogue means:
the device comprises a supporting frame 10, a gravity balance assembly 50 connected with the supporting frame 10 and a transmission assembly 40, wherein one end of the transmission assembly 40 is arranged in the supporting frame 10 and used for receiving potential energy, and the other end of the transmission assembly 40 is connected with the gravity balance assembly 50 and used for transmitting the potential energy to the gravity balance assembly 50.
Further, the gravity balance assembly 50 includes a parallelogram structure having one side connected to the support frame 10; a buffer component 20 is arranged in the supporting frame 10, the buffer component 20 is connected with one end of a transmission component 40 to provide potential energy, and the other end of the transmission component 40 is connected with the free end of the parallelogram structure to provide acting force opposite to gravity for the parallelogram structure.
Further, the transmission assembly 40 includes:
a transmission member 43, one end of the transmission member 43 is connected with one end of the buffer assembly 20, and the other end is connected with the free end of the parallelogram structure;
a reversing component arranged on the supporting frame 10 and/or the gravity balancing component 50 and used for changing the movement direction of the transmission piece 43;
the connecting point of the transmission piece 43 and the parallelogram structure and the position where the reversing component is arranged are both higher than the gravity center of the parallelogram structure;
the cushion assembly 20 is positioned within the frame below the center of gravity of the parallelogram structure.
Further, the transmission assembly 40 comprises a first transmission assembly 41 and a second transmission assembly 42, and the gravity balance assembly 50 comprises a first parallelogram structure 51 and a second parallelogram structure 52; the first transmission assembly 41 is used for transmitting the acting force provided by the first damping assembly 21 to the first parallelogram structure 51, and the second transmission assembly 42 is used for transmitting the acting force provided by the second damping assembly 22 to the second parallelogram structure 52.
Furthermore, one side of the second parallelogram structure 52 is connected to the support frame 10, the other side is connected to the first parallelogram structure 51, the first and second parallelogram structures 52 are pivotally connected to each other through a vertical rod 522, or the adjacent sides of the two parallelogram structures are pivotally connected, and the other ends of the first transmission assembly 41 and the second transmission assembly 42 are respectively connected to the free ends of the two parallelogram structures.
Further, the first transmission assembly 41 includes:
the first transmission piece 411 and the first reversing assembly 412 are arranged on the supporting frame 10 and/or the gravity balancing assembly 50, one end of the first transmission piece 411 is connected with one end of the first buffer assembly 21, and the other end of the first transmission piece 411 is connected with the vertical edge of the free end of the first parallelogram structure 51 after being reversed by the first reversing assembly 412;
and/or, the second transmission assembly 42 comprises:
the second transmission member 421 and the second reversing assembly 422 are arranged on the supporting frame 10 and/or the gravity balancing assembly 50, one end of the second transmission member 421 is connected with one end of the second buffer assembly 22, and the other end of the second transmission member is connected with the vertical edge of the upright rod 522 or the free end after being reversed by the second reversing assembly 422;
the transmission members 43 of the first transmission assembly 41 and the second transmission assembly 42 have at least one position higher than the vertex of the parallelogram structure connected with the transmission members in the transmission path.
Further, the transmission assembly 40 is a flexible transmission structure, the transmission member 43 is a steel cable, the reversing assembly is a pulley or a pulley and a guide member, and at least one of the pulley or the pulley and the guide member in the transmission assembly 40 is arranged at a position higher than the vertex of the parallelogram structure connected with the pulley or the pulley and the guide member.
Further, the first reversing assembly 412 comprises a first fixed pulley 4121 and at least two first guiding members 4122, the first fixed pulley 4121 is disposed in the supporting frame 10, and the first guiding members 4122 are disposed on the first parallelogram structure 51 and/or the second parallelogram structure 52; the second reversing assembly 422 comprises a second fixed pulley 4221 and a second guide 4222, the second fixed pulley 4221 is arranged in the support frame 10, and the second guide 4222 is arranged on the support frame 10 and/or the second parallelogram 52.
Further, the first fixed pulley 4121 is disposed in the extending direction of one end of the first buffer assembly 21, the third guiding element 4122A is disposed on one side of the second parallelogram 52, the fourth guiding element 4122B is disposed on the bottom of one side of the second parallelogram 52, and the fifth guiding element 4122C is disposed on the bottom of the free end of the second parallelogram 52 or the upright 522; a first lug 511 extending upwards in the vertical direction is arranged on the top or upright 522 of one side of the first parallelogram structure 51, a sixth guide 4122D is arranged on the first lug 511, and the first transmission assembly is vertically connected with the end of the first parallelogram structure 51 through a third guide 4122A, a fourth guide 4122B, a fifth guide 4122C and a sixth guide 4122D;
the second fixed pulley 4221 is disposed in an extending direction of one end of the second buffer assembly 22, a second protruding portion 521 extending upward in a vertical direction is disposed at a top portion of one side of the second parallelogram structure 52, and a seventh guide 4222A is disposed on the second protruding portion 521.
Another object of the present invention is to provide a motion sensing micro-low gravity simulation apparatus using the above motion sensing micro-low gravity simulation apparatus.
After the technical scheme is adopted, compared with the prior art, the invention has the following beneficial effects.
According to the motion sensing micro-low gravity simulation device, the transmission assembly is arranged between the buffering assembly and the gravity balancing assembly, and the motion sensing micro-low gravity simulation device can adjust the stretching amount of the buffering assembly by changing the length of the transmission assembly, so that different simulation amounts of users with different weights and different simulation amounts required by the same user can be adjusted.
According to the invention, the analog quantity of the somatosensory micro-low-gravity simulation device can be adjusted under the ground condition, the realization is simple, the cost is low, and higher simulation precision can be achieved.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention to the proper form disclosed herein. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic diagram of one operational principle in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram in an embodiment of the present invention;
FIG. 3 is another schematic structural view in an embodiment of the present invention;
fig. 4 is a schematic diagram of another operation principle in the embodiment of the present invention.
In the figure: 10. a support frame; 11. installing a frame; 20. a buffer assembly; 21. a first buffer assembly; 22. a second buffer assembly; 211. a first elastic member; 221. a second elastic member; 30. an adjustment assembly; 40. a transmission assembly; 41. a first transmission assembly; 43. a transmission member; 411. a first transmission member; 412. a first reversing component; 4121. A first fixed pulley; 4222. a second guide member; 4222A, a seventh guide; 42. A second transmission assembly; 421. a second transmission member; 422. a second commutation component; 4221. a second fixed pulley; 4122. a first guide member; 4122A, a third guide; 4122B, a fourth guide; 4122C, a fifth guide; 4122D, a sixth guide; 50. A gravity balance assembly; 51. a first parallelogram structure; 511. a first projecting portion; 521. a second projection; 522. erecting a rod; 52. a second parallelogram structure; 60. a human-machine interface component; 70. an active compensation component.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 4, this embodiment is a transmission assembly 40 of a motion sensing micro-low gravity simulator.
In this embodiment, one end of the motion sensing low gravity simulator transmission assembly 40 is disposed in the support frame 10, and is configured to receive potential energy provided by a component or a component connected thereto, such as gravitational potential energy, electric potential energy, elastic potential energy, and the like, in this embodiment, a buffer assembly 20 is connected to one end of the transmission assembly 40, the buffer assembly 20 is configured to provide elastic potential energy to the transmission assembly 40, and the transmission assembly 40 transmits the elastic potential energy of the buffer assembly 20 to the gravity balance assembly 50.
The transmission assembly 40 is arranged between the buffer assembly 20 and the gravity balance assembly 50, and the somatosensory micro-low gravity simulation device can change the acting force provided by the buffer assembly 20 by changing the connection structure of the transmission assembly 40 connecting the buffer assembly 20 and the gravity balance assembly 50, so that the length of the transmission assembly 40 is changed, and the analog quantity of the somatosensory micro-low gravity simulation device is adjusted; the analog quantity of the somatosensory micro-low-gravity simulation device can be adjusted under the ground condition, the method is simple to realize, the cost is low, and high simulation precision can be achieved.
In this embodiment, the gravity balance assembly 50 is a parallelogram structure, one side of the parallelogram structure is connected to the support frame 10, the free end of the parallelogram structure is connected to the above-mentioned transmission assembly for transmitting elastic potential energy, and the transmission assembly uses the received elastic potential energy to provide an acting force opposite to the gravity direction to the free end of the parallelogram structure, so that the free end of the parallelogram structure has a function of moving relative to the support frame 10.
Further, the transmission assembly 40 includes a transmission member having one end connected to one end of the buffering assembly 20 and the other end connected to the free end of the parallelogram structure, and a reversing assembly disposed on the supporting frame 10 and/or the gravity balancing assembly 50, the reversing assembly being used for changing a moving direction of the transmission member 43 in a process of transmitting the elastic potential energy provided by the buffering assembly 20 to the free end of the parallelogram structure, and the reversing assembly may be a fixed pulley or a guide wheel, etc.
The connecting point of the transmission element 43 to the parallelogram is higher than the center of gravity of the parallelogram structure, and can be connected with the part of the side above the parallelogram structure near the free end, and the part of the parallelogram structure at the vertical side of the free end is higher than the parallelogram structure, the other end of the transmission element 43 is connected with the parallelogram structure in order to provide the acting force opposite to the gravity, and the acting force transmitted by the transmission element 43 is lost when the parallelogram structure receives the acting force, so in the embodiment, the other end of the transmission element 43 is connected with the top of the free end of the parallelogram structure, and the loss of the elastic potential energy transmitted by the transmission element 43 can be reduced to the greatest extent.
Further, the reversing assembly is used for changing the running direction of the transmission member 43 in the transmission process of the transmission member 43, saving the installation space of the transmission member 43, and avoiding the damage caused by the contact with the supporting frame 10 or the gravity balance assembly 50, and the position of the reversing assembly is higher than the gravity of the parallelogram structure, so that the elastic potential energy transmitted by the transmission member 43 is prevented from acting on the parallelogram structure, and the acting force in the same direction as the gravity is caused on the parallelogram structure, and the motion sensing micro-low simulation device cannot realize the weightlessness simulation effect immediately.
In the present embodiment, the transmission assembly 40 includes a first transmission assembly 41 and a second transmission assembly 42, and the gravity balance assembly 50 includes a first parallelogram structure 51 and a second parallelogram structure 52; the first transmission assembly 41 is used for transmitting the elastic potential energy provided by the first buffer assembly 21 to the free end of the first parallelogram structure 51, and is mainly used for providing acting force for the first parallelogram structure 51 to move relative to the second parallelogram structure 52.
The second transmission assembly 42 is used for transmitting the elastic potential energy provided by the second damping assembly 22 to the top of the free end of the second parallelogram structure 52, and is mainly used for providing the second parallelogram structure 52 with a force for moving relative to the support frame 10.
In the present embodiment, the gravity balance assembly 50 has at least two degrees of freedom, one is the degree of freedom in which the free end of the second parallelogram structure 52 moves relative to the support frame 10, and the degree of freedom in which the free end of the first parallelogram structure 51 moves relative to the second parallelogram structure 52, the first parallelogram structure 51 provides the gravity balance assembly 50 with a degree of freedom in the horizontal direction relative to the support frame 10, and the second parallelogram structure 52 provides the gravity balance assembly 50 with a degree of freedom in the vertical direction relative to the support frame 10.
Furthermore, one side of the second parallelogram structure 52 is connected to the support frame 10, the other side is connected to the first parallelogram structure 51, the first and second parallelograms are pivotally connected to each other by a vertical rod 522, or adjacent sides of the two parallelograms are pivotally connected, and the other ends of the first transmission assembly 41 and the second transmission assembly 42 are respectively connected to free ends of the two parallelogram structures.
In this embodiment, the first transmission assembly 41 includes:
the first transmission piece 411 and the first reversing assembly 412 are arranged on the supporting frame 10 and/or the gravity balance assembly 50, one end of the first transmission piece 411 is connected with one end of the first buffer assembly 21, and the other end of the first transmission piece 411 is connected with the vertical edge of the free end of the first parallelogram after being reversed by the first reversing assembly 412; the first reversing assembly 412 includes a first stator wheel 4121 and a first guide 4122.
And/or, the second transmission assembly 42 comprises:
the second transmission member 421 and the second reversing assembly 422 are arranged on the supporting frame 10 and/or the gravity balancing assembly 50, one end of the second transmission member 421 is connected with one end of the second buffer assembly 22, and the other end of the second transmission member is connected with the vertical edge of the upright rod 522 or the free end after being reversed by the second reversing assembly 422; the second reversing assembly 422 includes a second fixed sheave 4221 and a second guide 4222.
The driving member 43 of the first driving assembly 41 and the second driving assembly 42 is located at least one position higher than the vertex of the parallelogram to which it is connected in the driving path, and preferably, at least one position of the first reversing assembly 412 and the second reversing assembly 422 is higher than the vertex of the parallelogram.
Further, the first transmission component 41 and the second transmission component 42 are flexible transmission structures, the first transmission component 411 and the second transmission component 421 are steel cables or ropes, the first reversing component 412 and the second reversing component 422 are pulleys or pulleys and guides, and at least one of the pulleys or the pulleys and the guides in the first transmission component 41 and the second transmission component 42 is arranged at a position higher than the vertex of the parallelogram connected with the pulleys or the pulleys and the guides.
The first reversing assembly 412 comprises a first fixed pulley 4121 and at least two first guides 4122, the first fixed pulley 4121 is arranged in the supporting frame 10, the first guides 4122 are arranged on the first parallelogram structure 51 and/or the second parallelogram structure 52; the second reversing assembly 422 comprises a second fixed pulley 4221 and a second guide 4222, the second fixed pulley 4221 is arranged in the support frame 10, and the second guide 4222 is arranged on the support frame 10 and/or the second parallelogram 52.
Specifically, the first fixed pulley 4121 may be directly provided in the support frame 10 at a position higher than the vertex of the first parallelogram 51, the first transmission member 411 may be directly connected to the top of the vertical edge of the free end of the first parallelogram 51 via the first fixed pulley 4121, however, in order to avoid the first transmission member 411 coming into contact with the support frame 10 and the first parallelogram 51, causing wear and loss of transmission potential energy, at least two first guide members 4122 are provided, the first transmission piece 411 is connected to the top of the vertical side of the free end of the first parallelogram via the first guide 4122, alternatively, the first fixed pulley 4121 is provided at the bottom of the support frame 10, the first guide 4122 is provided higher than the vertex of the first parallelogram structure 51, and the first transmission member 411 is connected to the top of the vertical side of the first parallelogram free end through the first fixed pulley 4121 and the first guide 4122.
Preferably, the first fixed pulley 4121 is disposed in the extending direction of one end of the first buffer assembly 21, one side of the second parallelogram 52 is provided with a third guiding element 4122A, the bottom of one side of the second parallelogram 52 is provided with a fourth guiding element 4122B, and the bottom of the free end of the second parallelogram 52 or the upright 522 is provided with a fifth guiding element 4122C; a first protrusion 511 extending upward in a vertical direction is provided on a top portion or a vertical rod 522 of one side of the first parallelogram structure 51, a sixth guide 4122D is provided on the first protrusion 511, and the first transmission assembly 41 is vertically connected to an end of the first parallelogram structure 51 via a third guide 4122A, a fourth guide 4122B, a fifth guide 4122C and a sixth guide 4122D.
The first fixed pulley 4121 is higher than the vertex of the first parallelogram 51 or is arranged at the bottom of the support frame 10, the sixth guide 4122D is arranged on the first protrusion 511, and the sixth guide 4122D is slidably adjusted in the vertical direction relative to the first protrusion 511, the first transmission piece 411 mainly provides a horizontal force to the free end of the first parallelogram 51, so that the adjustment position of the sixth guide 4122D is arranged in parallel with the top of the vertical edge of the free end of the first parallelogram.
In the present embodiment, the second fixed pulley 4221 is disposed in an extending direction of one end of the second buffer assembly 22, a second protruding portion 521 extending upward in a vertical direction is disposed at a top of one side of the second parallelogram structure 52, and a seventh guide 4222A is disposed on the second protruding portion 521.
The second fixed pulley 4221 is disposed higher than the vertex of the second parallelogram structure 52 or disposed at the bottom of the support frame 10, the seventh guide 4222A is disposed on the second protrusion 521, and the seventh guide 4222A is slidably adjustable in the vertical direction with respect to the second protrusion 521, and the second transmission member 421 mainly transmits the vertical force to the free end of the second parallelogram structure 52, so that the adjustment position of the sixth guide 4122D can be disposed as high as possible above the top of the vertical side of the free end of the second parallelogram structure.
In this embodiment, through the transmission assembly 40 and the transmission path, while the potential energy transmitted to the gravity balance assembly 50 is reduced to the greatest extent, the analog quantity of the somatosensory micro-low-gravity simulation device can be adjusted by changing the length of the transmission assembly 40, and the simulation precision of the somatosensory micro-low-gravity simulation device is further improved, so that the simulation effect of astronauts is better, and the similarity between the simulation effect and the real low gravity is closer to the similarity between the simulation precision and the real low gravity.
Example two
As shown in fig. 1-3, this embodiment is a little low gravity analogue means is felt to body including braced frame 10, gravity balance subassembly 50 and the man-machine system who connects gradually, gravity balance subassembly 50 is parallelogram structure, the perpendicular edge of one side of parallelogram structure is connected with one side of braced frame 10, the perpendicular edge of the opposite side of parallelogram structure is connected with man-machine system, man-machine system includes man-machine interface subassembly 60 and the astronaut who is connected with man-machine interface subassembly 60.
The supporting frame 10 is internally provided with a buffering assembly 20, one end of the buffering assembly 20 is connected with the supporting frame 10 to provide potential energy for the free end of the parallelogram structure, the buffering assembly 20 is used for adjusting the degree of freedom of the parallelogram structure and transmitting the potential energy of the buffering assembly 20 to a transmission assembly 40 of the man-machine system through a gravity balancing assembly 50, and the buffering assembly 20 can partially or completely compensate the balance of the gravity balancing assembly 50 and the gravity of the man-machine system.
Further, the gravity balance assembly 50 includes at least two parallelogram structures, which are connected to each other and are preferably arranged, and the gravity balance assembly is preferably, described in terms of two parallelogram structures, the gravity balance assembly 50 comprises a first parallelogram structure 51 and a second parallelogram structure 52 connected to each other, the vertical side of one side of the second parallelogram 52 is connected to one side of the support frame 10, the connection to one side of the support frame 10 may be made according to the height required for the gravity balance assembly 50, the arrangement between the first parallelogram 51 and the second parallelogram 52 can be connected by a vertical rod 522, or the first parallelogram 51 and the second parallelogram 52 share a vertical edge, the other vertical side of the first parallelogram 51 is connected with a man-machine system.
Specifically, the vertical side of the first parallelogram 51 connected to the second parallelogram 52 is a free end, which provides the gravity balance assembly 50 with a degree of freedom in the vertical direction with respect to the support frame 10, and the vertical side of the first parallelogram 51 connected to the human-machine system, which performs a low gravity simulation with two degrees of freedom provided by the gravity balance assembly 50, is a free end, which provides the gravity balance assembly 50 with a degree of freedom in the horizontal direction with respect to the support frame 10.
In this embodiment, the acting force of the buffering component 20 to the gravity balance component 50 can not completely counteract the acting force of the gravity balance component 50 caused by the man-machine system, and the gravity balance component 50 is further provided with an active compensation component 70, and the active compensation component 70 can provide partial acting force which cannot be completely counteracted by the buffering component 20 and other acting force applied in the motion of the gravity balance component 50 to the gravity balance component 50.
Further, the active compensation component 70 is disposed at the joint point of the first parallelogram structure 51 and the second parallelogram structure 52, and detects the angular displacement of the joint point, so as to calculate how much acting force the gravity balance component 50 needs to counteract the acting force provided by the human-machine system when the buffer component 20 provides the potential energy, and other acting forces received by the gravity balance component 50 during the motion, such as friction force, inertia force, gravity, and the like, so as to generate a moment opposite to the moment to compensate the joint point of the gravity balance component 50, so that the analog quantity precision of the somatosensory micro-low gravity simulation device is more accurate.
In the present embodiment, the gravity balance assembly 50 is provided with a protrusion extending upward in a vertical direction from the top of a vertical side of one side of the gravity balance assembly 50, and further, the first parallelogram 51 is provided with a first protrusion 511, the first protrusion 511 can be arranged on the top of a vertical rod 522 between the first parallelogram 51 and the second parallelogram 52 or on the top of a vertical side shared by the first parallelogram 51 and the second parallelogram 52, and the second protrusion 521 is arranged on the top of a side of the second parallelogram 52 connected with the support frame 10.
The first protruding part 511 and the second protruding part 521 are provided with reversing structures, the transmission assembly 40 can be connected with the corresponding parallelogram structure after passing through the reversing structures, the reversing structures can move relative to the protruding parts, and the potential energy provided by the buffer assembly 20 can be adjusted by changing the length of the transmission assembly 40 through the up-and-down movement of the reversing structures along the protruding parts; and secondly, the analog quantity of the somatosensory micro-low gravity simulation device can be adjusted by changing the angle between the transmission component 40 and the parallelogram structure connected with the transmission component.
Further, be provided with adjusting part 30 in the braced frame 10, adjusting part 30 can be relatively braced frame 10 reciprocating motion in the vertical direction, the vertical edge of one side of second flat quadrilateral structure can be connected with one side of adjusting part 30, reciprocate through adjusting part 30, thereby drive gravity balance subassembly 50 and man-machine system and move in the vertical direction, make body feel little low gravity analogue means can adjust according to the height in actual little low gravity simulation place, for example, when carrying out work on space station simulation platform, because the space of space station is great, the astronaut needs to train in different simulation environment when carrying out different operation training, however the height that different simulation environment correspond is inequality, immediately, the accessible is adjusted adjusting part 30, and then make adjusting part 30 drive gravity balance subassembly 50 and man-machine system reach the environment that the astronaut needs to train under the environment of training And carrying out the operation of micro-low gravity simulation on the astronaut.
It should be noted that, in the training process of astronauts, the total potential energy of the system mechanism is composed of gravitational potential energy and elastic potential energy of the buffer component 20, and according to the passive static balance principle, the total potential energy in any working configuration in the working space of the system is constant, so as to realize weightlessness simulation at any position. Mathematically expressed as:
V TOTAL =V MG +V BG +V S =Constant
in the formula (I), the compound is shown in the specification,V MG in order to balance the gravitational potential energy of the assembly,V BG in order to be the gravitational potential energy of astronauts, V S is the elastic potential energy of the spring, and C is a normal number.
In this embodiment, the protrusion is disposed on the gravity balance assembly 50, the length of the transmission assembly 40 and the angle of the parallelogram structure connected to the transmission assembly 40 are adjusted, the active compensation assembly 70 is disposed at the joint point of the gravity balance assembly 50, and the acting force provided by the buffer assembly 20 and the transmission assembly 40 to the gravity balance assembly 50 can provide the acting force for offsetting the residual acting force on the gravity balance assembly 50 when the acting force caused by the human-machine system to the gravity balance assembly 50 is not completely offset, so that when the analog quantity is adjusted by the low gravity simulation apparatus, the accuracy of adjusting the analog quantity is improved, and the difference between the analog quantity and the ideal low gravity state is reduced.
EXAMPLE III
As shown in fig. 1-2, this embodiment is a further limitation of the first embodiment and the second embodiment, the motion sensing micro-low gravity simulation device includes a buffering component 20, and the buffering component 20 mainly provides potential energy for the gravity balancing component 50, so that the motion sensing micro-low gravity simulation device realizes gravity balancing.
In this embodiment, the buffering component 20 includes an elastic component, the elastic component is disposed in the supporting frame 10, one end of the elastic component is connected to the base in the supporting frame 10, the transmission component 40 is disposed between the buffering component 20 and the gravity balance component 50 for transmitting the potential energy provided by the elastic component to the gravity balance component 50, the elastic component can be an object having elastic potential energy, such as a spring and a rubber band, because the deformation degree of the spring is large, the generated elastic potential energy is also correspondingly large, the elastic potential energy adopted in this embodiment is a spring, the potential energy provided by the spring and acting on the gravity balance component 50 is elastic potential energy, and the elastic potential energy is provided for the gravity balance component 50 through elastic deformation of the spring.
Further, the other end of the spring is connected with the transmission assembly 40, and transmits the displacement generated by the gravity balance assembly 50 to the spring, so that the spring deforms, generates elastic potential energy corresponding to the deformation amount of the spring to the deformation amount, and reversely acts on the gravity balance assembly 50 through the transmission assembly 40.
In this embodiment, the gravity balance assembly 50 is a parallelogram structure, one vertical side of the parallelogram structure is connected to one side of the support frame 10, the spring is in the same horizontal plane with the parallelogram structure and is arranged in parallel with the vertical side, and in the process of transmitting elastic potential energy through the transmission assembly 40, the need of a reversing structure of the transmission assembly is reduced, so that the transmitted elastic potential energy is transmitted to the parallelogram structure to the maximum extent; the other vertical side of the parallelogram structure is a free end of the parallelogram, so the spring and the free end of the parallelogram structure are arranged in parallel, when the free end of the parallelogram structure is displaced, the spring is driven to displace in the vertical direction, and the spring transmits the elastic potential energy generated by the displacement to the free end of the parallelogram structure.
The spring capable of providing elastic potential energy to the gravity balance assembly 50 has a large self gravity, and when performing weightlessness simulation, because the influence of the spring on the somatosensory micro-low gravity simulation device is not easy to calculate, so that the self weight of the spring is selected to be ignored, however, in the embodiment, the spring is vertically arranged, the self gravity of the spring acts on the spring, the spring can generate elastic potential energy opposite to the self gravity through the self gravity to counteract the gravity generated by the spring, the deformation amount generated by the spring is limited, the elastic potential energy provided by the spring to the gravity balance assembly 50 is changed along with the change of the weight of an astronaut and the simulation amount of weightlessness required, and a spring with different rigidity needs to be adjusted or replaced by a spring by technicians in the field according to the difference of the weight of the astronaut and the difference of the simulation amount of weightlessness, because the spring is vertically arranged, the gravity of the spring can be counteracted, technicians calculate the weight of astronauts and the analog quantity of weight loss required, and then the elastic potential energy of the spring is adjusted or the springs with different rigidity are replaced; when the motion sensing micro-low gravity simulator needs to increase the simulation quantity, the number of the elastic elements connected in series, in parallel or in series and then in parallel can be added into the buffer assembly 20; when the motion sensing micro-low gravity simulation device needs to reduce the simulation quantity, the elastic elements connected in series, in parallel or in series and then in parallel in the buffering assembly 20 are subjected to the treatment of reducing the number of the elastic elements.
In this embodiment, the height of the buffer assembly 20 cannot exceed the low point of the support frame 10 connected to the parallelogram, the elastic potential energy provided by the buffer assembly 20 needs to be transmitted to the gravitational equilibrium assembly 50 by the transmission assembly 40, the transmission elastic potential energy which is maximally not lost by the transmission assembly 40 needs to be connected to the vertex of the gravitational equilibrium assembly 50, the transmission assembly 40 needs to change the transmission direction in the support frame 10 through the reversing structure to transmit the elastic potential energy to the gravitational equilibrium assembly 50, and sufficient space needs to be left in the support frame 10 for installation and adjustment of the transmission assembly 40 and the reversing structure.
Further, the buffering component 20 may further include a plurality of springs cooperating with each other to provide elastic potential energy to the gravity balance component 50, and further, the buffering component 20 may be formed by connecting the plurality of springs in series end to end, so that the deformation degree of the buffering component 20 is increased, and the generated elastic potential energy is increased accordingly; or a plurality of springs are arranged on the base inside the supporting frame 10 and are arranged in parallel with the vertical sides of the parallelogram structure, and the buffer assemblies 20 are connected in parallel by increasing the spring base number of the buffer assemblies 20 for generating elastic potential energy; or the above-mentioned serial and parallel connection methods are combined together to form the buffer assembly 20, so as to leave a space as much as possible for adjustment in the support frame 10.
Preferably, when the buffering assembly 20 is composed by two or more elastic members connected in series, the elastic member at the bottom is connected with the base inside the supporting frame 10, and the elastic member at the top is connected with the transmission assembly 40; when the buffering assembly 20 is composed by two or more elastic members in parallel connection or in series connection and in parallel connection, because the connection part of the transmission assembly 40 is insufficient and is simultaneously connected with a plurality of groups of elastic members, a fixing part is arranged between the buffering assembly 20 and the transmission assembly 40, and the fixing part is perpendicular to the elastic members and is used for collecting the elastic potential energy generated by the elastic members, so that the elastic potential energy generated by the elastic members is prevented from being lost, and the generation error of the simulation quantity of weightlessness of technical personnel is prevented from being influenced; the buffer assembly 20 can be modularly processed according to an analog quantity calculated by a technician.
In this embodiment, in order to increase the degree of freedom of the somatosensory micro-low gravity simulator, the gravity balance assembly 50 comprises a first parallelogram 51 and a second parallelogram 52 connected with two vertical sides, wherein the other vertical side of the second parallelogram 52 is connected with one side of the support frame 10, preferably, the buffer assembly 20 comprises a first buffer assembly 21 and a second buffer assembly 22, and the first buffer assembly 21 and the second buffer assembly 22 respectively provide elastic potential energy for the two parallelograms through a first transmission assembly 41 and a second transmission assembly 42.
Further, the first buffer assembly 21 includes at least one first elastic member 211 for providing potential energy to the first parallelogram structure 51, one end of the first elastic member 211 is connected to the base of the support frame 10, and the other end of the first elastic member 211 extends upward in a vertical direction to be connected to the first transmission assembly 41, and is disposed in parallel with a vertical side of the first parallelogram structure.
The second damping unit 22 includes at least one second elastic member 221 for providing a potential energy to the second parallelogram structure 52, and one end of the second elastic member 221 is connected to the base of the support frame 10, and the other end extends upward in a vertical direction to be connected to the second driving unit 42 and is disposed in parallel with a vertical side of the second parallelogram structure.
In this embodiment, the buffer component 20 is disposed parallel to the vertical side of the parallelogram structure, and in the process of low gravity simulation, the simulated amount of the weightlessness simulation for the astronaut is calculated according to the gravity coefficients that the astronaut needs to simulate, for example, the gravity coefficients in moon, mars and space, and the process of adjustment will be more accurate; the elastic members are connected in series, in parallel or connected in series and then connected in parallel to form the buffer assembly 20, so that space is reserved in the supporting frame 10, and space for more convenient operation is saved by the modular processing of the transmission assembly 40, the reversing structure and the buffer assembly 20.
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 (9)

1. The utility model provides a little low gravity analogue means's transmission assembly is felt to body, includes braced frame (10) and the gravity balance subassembly (50) rather than being connected, gravity balance subassembly (50) include first parallelogram structure (51) and second parallelogram structure (52), one side of second parallelogram structure (52) with braced frame (10) are connected, and the opposite side is connected with first parallelogram structure (51), its characterized in that, it includes to feel little low gravity analogue means to body:
one end of the transmission component (40) is arranged in the supporting frame (10), is connected with the buffering component (20) and is used for receiving potential energy, and the other end of the transmission component (40) is connected with the gravity balancing component (50) and transmits the potential energy to the gravity balancing component (50);
the buffer assembly (20), the buffer assembly (20) is arranged in the supporting frame (10), the buffer assembly (20) is connected with one end of a transmission assembly (40), the other end of the buffer assembly (20) is connected with the bottom of the supporting frame (10), and the buffer assembly (20) comprises a first buffer assembly (21); the transmission assembly (40) comprises a first transmission assembly (41), and the first transmission assembly (41) comprises a first transmission piece (411) and a first reversing assembly (412) arranged on the supporting frame (10) and/or the gravity balancing assembly (50);
the first reversing assembly (412) comprises a first fixed pulley (4121) and at least two first guide pieces (4122), and the first fixed pulley (4121) is arranged in the extending direction of one end of the first buffer assembly (21); a first guide part (4122) is arranged on a first parallelogram structure (51) and a second parallelogram structure (52), a third guide part (4122A) is arranged on one side of the second parallelogram structure (52), a fourth guide part (4122B) is arranged at the bottom of one side of the second parallelogram structure (52), a fifth guide part (4122C) is arranged at the bottom of the free end of the second parallelogram structure (52), a first bulge part (511) extending upwards along the vertical direction is arranged at the top of one side of the first parallelogram structure (51), and a sixth guide part (4122D) is arranged on the first bulge part (511);
one end of the first transmission piece (411) is connected with one end of the first buffering assembly (21), and the other end of the first transmission piece is connected with the end vertical edge of the first parallelogram structure (51) through the first reversing assembly (412), the third guide piece (4122A), the fourth guide piece (4122B), the fifth guide piece (4122C) and the sixth guide piece (4122D).
2. The transmission assembly of a somatosensory micro-low-gravity simulation device according to claim 1, wherein the transmission assembly (40) comprises:
the transmission piece (43), one end of the transmission piece (43) is connected with one end of the buffer component (20), and the other end of the transmission piece (43) is connected with the free end of the parallelogram structure;
the reversing component is arranged on the supporting frame (10) and/or the gravity balancing component (50) and is used for changing the movement direction of the transmission piece (43);
the connecting point of the transmission piece (43) and the parallelogram structure and the position where the reversing component is arranged are both higher than the gravity center of the parallelogram structure; the cushioning assembly (20) is disposed within the frame below the center of gravity of the parallelogram structure.
3. The transmission assembly of the somatosensory micro-low-gravity simulation device according to claim 1 or 2, wherein the transmission assembly (40) further comprises a second transmission assembly (42), the damping assembly (20) further comprises a second damping assembly (22), and the second transmission assembly (42) is used for transmitting the acting force provided by the second damping assembly (22) to the second parallelogram structure (52).
4. The transmission assembly of a motion sensing micro-low gravity simulator according to claim 3, wherein one side of the second parallelogram structure (52) is connected with the supporting frame (10), the other side of the second parallelogram structure is connected with the first parallelogram structure (51), the first and second parallelogram structures (52) are pivotally connected through a vertical rod (522) or pivotally connected with adjacent sides of the two parallelogram structures, and the other ends of the first transmission assembly (41) and the second transmission assembly (42) are respectively connected with free ends of the two parallelogram structures.
5. Transmission assembly of a somatosensory micro-low-gravity simulation device according to claim 4, wherein the second transmission assembly (42) comprises:
the second transmission part (421) and a second reversing component (422) are arranged on the supporting frame (10) and/or the gravity balance component (50), one end of the second transmission part (421) is connected with one end of the second buffer component (22), and the other end of the second transmission part is connected with the vertical edge of the vertical rod (522) or the free end after being reversed by the second reversing component (422);
the transmission members (43) of the first transmission assembly (41) and the second transmission assembly (42) have at least one position higher than the vertex of the parallelogram structure connected with the transmission members on the transmission path.
6. The transmission assembly of the somatosensory micro-low-gravity simulation device according to claim 2, wherein the transmission assembly (40) is a flexible transmission structure, the transmission member (43) is a steel cable, the reversing assembly is a pulley, and at least one pulley in the transmission assembly (40) is arranged higher than the vertex of the parallelogram structure connected with the pulley.
7. Transmission assembly of a somatosensory micro-low-gravity simulation device according to claim 5, wherein the second reversing assembly (422) comprises a second fixed pulley (4221) and a second guide (4222), the second fixed pulley (4221) being arranged within the support frame (10) and the second guide (4222) being arranged on the support frame (10) and/or the second parallelogram structure (52).
8. The transmission assembly of the somatosensory micro-low-gravity simulator according to claim 7, wherein a second fixed pulley (4221) is arranged in the extending direction of one end of a second buffer assembly (22), a second protrusion (521) extending upwards in the vertical direction is arranged at the top of one side of the second parallelogram structure (52), and a seventh guide (4222A) is arranged on the second protrusion (521).
9. A somatosensory micro-gravity simulating device comprising a transmission assembly (40) of a somatosensory micro-gravity simulating device according to any one of claims 1-8.
CN202210129927.XA 2022-02-11 2022-02-11 Transmission assembly of somatosensory micro-low gravity simulation device and simulation device Active CN114165572B (en)

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Publication number Priority date Publication date Assignee Title
CN105173127A (en) * 2015-08-06 2015-12-23 哈尔滨工业大学 Six-freedom-degree zero-gravity simulation system based on combination of hoisting and air-suspending
US9228917B1 (en) * 2009-04-17 2016-01-05 Arrowhead Center, Inc. Six degrees of freedom free-motion test apparatus
CN111341171A (en) * 2020-03-26 2020-06-26 西安交通大学 Low-gravity-force motion simulation exoskeleton for astronaut
CN112441263A (en) * 2019-08-29 2021-03-05 丁宜康 Passive microgravity simulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9228917B1 (en) * 2009-04-17 2016-01-05 Arrowhead Center, Inc. Six degrees of freedom free-motion test apparatus
CN105173127A (en) * 2015-08-06 2015-12-23 哈尔滨工业大学 Six-freedom-degree zero-gravity simulation system based on combination of hoisting and air-suspending
CN112441263A (en) * 2019-08-29 2021-03-05 丁宜康 Passive microgravity simulator
CN111341171A (en) * 2020-03-26 2020-06-26 西安交通大学 Low-gravity-force motion simulation exoskeleton for astronaut

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