RU2524912C1 - Exercise machine with treadmill for spacecraft - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: invention relates to space engineering and more specifically to an exercise apparatus, particularly for walking and running while generating a longitudinal axial load on the astronaut, designed for use in a spacecraft in weightlessness conditions.

EFFECT: preventing the transmission of dynamic forces arising during operation of the exercise machine in the form of pushes, shocks, vibrations and, as a result, stress on the spacecraft structure when astronauts are exercising on the exercise machine with a treadmill on-board the spacecraft, enabling operation of the exercise machine in both manual and automatic mode, creation of a file with exercise data for subsequent transmission to the Earth, presence of a stress-measuring system, shorter time for maintenance of the disclosed exercise machine.

20 cl, 34 dwg

Description

The invention relates to space technology, and more particularly to a device for physical exercises, in particular walking and running, with the creation of a longitudinal axial load on an astronaut intended for use in a spacecraft (SC) in zero gravity.

Known on-board simulator for training and maintaining the physical shape of astronauts [Eliseev A.S. "Space Flight Technique". M., Engineering, 1983, p. 154], designed for installation on spacecraft (SC). The simulator includes a treadmill and a loading system. The "running" track is a conveyor that is driven by an electric drive. A conveyor belt closed in a ring is worn on two pulleys mounted on a metal base. The driving pulley is connected to the electric drive and fixed on the base rigidly, and the driven one is connected to the base through a tensioning mechanism. Under the working part of the tape there are support rollers. The base through the shock absorbers is fixedly attached to the structural elements of the spacecraft.

The disadvantages of this prototype is that when simulating running and jumping on the basis of the simulator and through it to the spacecraft structure, shocks and shocks are transmitted that create loading and vibrations of the station structure. During the use of the treadmill simulator by the crew, it is impossible to conduct experiments in microgravity conditions at the station, as a result of which a number of operating modes of the equipment are excluded, accurate observations are difficult. For its part, the danger of fluctuations in the design of the station imposes its limitations on the modes of running and walking (the frequency of oscillations of the simulator during exercises should not coincide with the natural frequency of the design of the station).

The problem to which the invention is directed, is the creation of a reliable, durable and easy-to-use simulator.

The technical result of the claimed invention is the exclusion of the transmission of dynamic forces arising from the simulator, in the form of jerks, shock, oscillations and, as a result, loads on the spacecraft structure during cosmonaut training on the simulator with a "moving" track on board the spacecraft the ability to work the simulator in both manual and automatic modes (according to the programmed protocols), the ability to generate a file with training data, followed by transmission to Earth, the presence of strain gauging system (measurement and registration forces support reaction force Occipital system and web tension), as well as reducing maintenance time claimed simulator.

To solve the problem and achieve a technical result, the simulator with a treadmill for the spacecraft contains a control panel and a web unit attached to the vibration isolation system and consisting of a support assembly and a tie-in assembly that can rotate up to 90 ° relative to each other wherein the support unit includes a web, a drive motor coupled through a belt to a driving drum, a driven drum, a roller assembly, a belt tension mechanism, a strain system and a control unit, and the assembly the hang-up contains an engine, a cushioning cord, at the ends of which fixings are fixed, interacting with the roller system, the tension mechanism and output devices placed on the carrier plate, and is configured to attach an astronaut's training and load-bearing suit to it.

The simulator’s principle of operation is to create uniform web movement (in active and passive modes), made in the form of an endless closed belt, with a given speed to ensure the astronaut’s walking and running in zero gravity, with the creation of a longitudinal axial load on the astronaut’s body using the pull-in system and training - loading suit (TNK-U-1). The simulator is controlled from the simulator's control panel (PU).

A vibration isolation system is provided to minimize the action of dynamic forces created during the simulator operation on the spacecraft structure, at the same time to provide a stable surface for running and walking.

The appearance of the simulator is presented in figure 1.

The blade unit with the control system 1, shown in figure 1, is intended:

- to create uniform movement of the canvas in one direction in predetermined modes, with predetermined speeds and parameters;

- to ensure the longitudinal axial load on the astronaut by means of the traction system;

- to provide control of the operating modes and indication of the simulator parameters with the help of PU;

- for storing and recording training parameters on a removable storage medium.

The web unit with the control system 1 includes: support unit 2, tie-rod assembly 3, control panel 4, PU cable and two power cables.

The blade unit with the control system 1 is attached to the vibration isolation system 5 using 16 M8 screws.

The control panel 4 can be attached to any of the AC handrails using universal brackets.

The vibration isolation system 5, shown in Fig. 1, is designed to provide microgravity conditions on board the spacecraft during operation (walking and running) on the simulator, it is a passive system, the principle of which is based on the effect of dry friction "metal rubber".

The blade unit with the simulator control system consists of two main parts - the control panel 4 and the blade unit 1 (PSU).

BP is an electromechanical product that provides uniform movement of the canvas (in active and passive modes) at a given speed using an electric drive, and also ensures the creation of a longitudinal axial load on the body of the trainee using the pull-in system.

The regular operation of the PSU is carried out in the working position. The appearance of the working position is shown in figure 2.

The design of the PSU consists of two main nodes - the support node 2 and the link 3, shown in figure 3. During normal operation, both nodes are motionlessly interconnected by four bolts. For maintenance, the screws are loosened. In this case, the support unit is able to rotate relative to the unit of the pull-in on free (clearance) loops at an angle of up to 90 °, as shown in Fig.3. The power supply unit of the spacecraft is connected to the power supply system by two power cables.

The control panel 4 (PU) is a structurally independent unit and contains an industrial protected MT-840 tablet computer with a touch screen, with the help of which the operation of the simulator and the indication of parameters are controlled. In addition, the control panel 4 provides data storage and the function of recording the parameters of physical training on a removable storage medium - a USB flash drive, which is supplied with the simulator accessories. The appearance of the control panel 4 is presented in figure 4.

The control panel 4 is attached to the spacecraft structure using a special bracket, shown in figure 1 (available on board), and is connected to the PSU using the PU cable.

The reference node 2 is designed to set the web in motion in the required speed range. Web tension is ensured by adjusting the rear drum.

Upon receipt of a command by the main engine from the control unit, the engine, by means of a belt drive, provides rotation of the drive shaft at the required speed, which drives the web.

The reference node includes:

- Cloth 6;

- Strain system 7;

- The main (drive) engine 8;

- control unit 9;

- The site of the rollers 10;

- The rear drum 11;

- The mechanism of belt tension 12;

- Lead drum 13.

The device and the appearance of the support node are presented in Figs. 5 and 6 (in Fig. 6, the web 6 is conditionally removed).

Canvas 6 is a tape made of rubber and designed to transmit movement to a person through direct contact.

Strain system 7, shown in Fig.7, is designed to determine the strength of the support reactions and measure the force of the traction system using four sensors MC3A-6-1000, as well as measure the tension of the web using force sensors C9B.

The strain system includes:

- Strain gauge 14 MS3A-6-1000 (4 pcs.);

- Block of strain gauges 15 (2 pcs.);

- Force sensor 16 C9B (2 pcs.).

The main (drive) engine 8 shown in Fig. 8 comprises a housing (engine compartment) 17, an electronics unit 18 and an output shaft with a pulley 19.

The engine is designed to transmit torque through a belt drive to the drive drum.

The control unit 9, shown in Fig.9, is a block-modular design, including:

- The control module of the main engine 20;

- The module of the engine control of the drive 21;

- Communication controller module 22;

- Power supply module 23;

- Relay module 24.

The control unit provides information collection and control of the simulator systems and their interaction with the control panel.

The roller assembly 10 shown in FIG. 10 is a base 25 with roller blocks 26 (6 pieces of 5 rollers each) placed therein and serves as a support for the web.

The node of the rollers perceives the efforts of the supporting reactions of the person and transfers them to the sensitive part of the strain system (strain gauges MC3A-6-1000).

The rear drum 11, shown in figures 11 and 12, is a barrel-shaped shaft 27, mounted in two bearings 28, and is designed to support and tension the canvas. The barrel-shaped shape of the shaft is due to the need to center the web. The adjustment of the web tension is carried out by rotating the adjusting screws 29, which move the shaft and, accordingly, pull or loosen the web 6. The rotation of the screws 29 must be carried out in a coordinated manner to avoid skewing. The emphasis of the adjusting screws 29 is carried out on the force sensors 30, thus providing a measure of the tension force.

The belt tension mechanism 12 shown in FIGS. 13 and 14 includes a tensioner bracket 31, a tensioner roller 32, a rod 33 with a spring located inside it, and a nut 34. The mechanism operates as follows: a spring located inside the rod through the tensioner bracket by the roller exerts pressure on the belt, thus pulling it.

When the belt is stretched under the action of the spring, the rod extends and a red strip becomes visible, as shown in Fig. 14. In this case, it is necessary to tighten the nuts 34 until the strip disappears.

The driving drum 13 shown in FIG. 15 is a barrel-shaped shaft 35 fixed in two bearings 37. On one side of the shaft is a pulley for a V-ribbed belt 36, through which torque is transmitted to the shaft. On the other side is the locking mechanism disk 38.

The node 3, shown in Fig.16, which is part of the BP, is designed to create and maintain when walking and running the longitudinal axial load on the astronaut in the range from 40 kgf to 70 kgf.

The node 3 consists of a mechanism for tensioning the cord 39, the rod 40, a system of rollers 41 and output devices 42, placed on the carrier plate.

The node 3 has two extreme positions, one of which is shown in Fig.16. In the process of operation, the position of the roller system is determined by the force that must be ensured in a particular cosmonaut training mode.

On the construction of the link assembly there is a digital scale, shown in Fig. 17, designed to set the required pull force in case of emergency operation, when the drive drive failure.

The shock absorber cord tension mechanism 39 shown in FIG. 18 consists of a linear module 43, a drive module 44, an electronic module 45, end sensors 46, and a manual closer 47.

This mechanism is designed to move the roller system and tension the eight branches of the cushioning cord by the amount necessary to create a calibrated axial load on the astronaut while running or walking.

Also, the mechanism allows manual adjustment of the required load using a manual closer 47 (Fig. 18) and a ratchet key with a head of 10, focusing on the position of the flag-pointer of the tensioner bracket on the digital scale shown in Fig. 17. This function can be used during an emergency, when the use of automatic mode is impossible for one reason or another, while the position of the flag is set according to instructions from the Earth.

The pull 40, shown in Fig.19, is a cord depreciation aircraft 48 with a diameter of 14 mm with fixed at its ends terminations 49.

The pull is intended for fastening the TNC of the astronaut to the power unit and transferring the axial load directly to the astronaut.

The output devices 42 of the link assembly shown in FIG. 20 consist of a guide bracket 50, a pivot roller 51 and a housing 52.

The output devices of the draw-in unit are designed to provide the possibility of rotation of the shock-absorbing cord (when drawing) in the longitudinal direction by an angle of ± 50 ° and in the transverse direction by an angle of ± 20 °.

There is a gap in the guide bracket for mounting and dismounting the drawbar.

The control panel is designed to control the simulator. Management is carried out by touching the touch screen with the corresponding buttons on it, in accordance with the interface of the control program.

A general view of the control panel is shown in FIG.

The control panel 4 is a tablet computer with a touch screen 54, enclosed in a housing 53 (Fig.22).

On the sides are handles 55 for holding and carrying PU. On the rear side is a hinged lid 56, held closed by magnets. Under the cover there are 2 USB connectors 58 for a flash drive and a heart rate receiver, as well as a connector 59 for the cable PU (Fig.23).

Also on the back side is a hole 57, in the depths of which there is a system reset button (“reset"), used for emergency restart of the system.

The vibration isolation system 5 shown in Fig. 24 is a spatial structure (for the dimensions of a niche on board the spacecraft) having attachment points to the web block with the control system and to the spacecraft structure.

The vibration isolation system 5 includes: frame 60 (1 pc.), Main vibration isolator 61 (4 pcs.), Side vibration isolator 62 (4 pcs.) And torsion bar 63 (2 pcs.).

The principle of operation of the vibration isolation system is based on the weakening of the connections between the simulator and the spacecraft, while the dynamic effects transmitted by the spacecraft are reduced.

The increase in the amplitude of relative vibrations associated with the weakening of the bonds between the simulator and the spacecraft is limited by the use of brake elements, which are a spring-loaded stop with dry friction.

The decrease in the amplitudes of angular oscillations is due to the stabilization element of lateral stability - torsion 63.

The main vibration isolators 61 provide a decrease in the dynamic effect on the spacecraft in the direction of the Y axis.

To reduce the dynamic effects in the X and Z directions, lateral vibration isolators 62 are intended.

The main vibration isolators 61 are attached to the frame by means of levers that provide movement in the direction of the X and Z axes.

The vibration isolation system is mounted in a special spacecraft niche using 20 M8 screws.

The treadmill simulator is attached to the top of the vibration isolation system using 16 M8 screws.

Frame 60 is the main load-bearing element of the vibration isolation system, which secures the elements of the vibration isolation system and the simulator.

The design of the frame 60 is shown in Fig.25.

Frame 60 consists of four power angles 64 located at the corners of the structure, longitudinal 65, 66 and transverse 67 beams.

Beams 65, 66 and 67 are attached to the corners 64 of the frame through the corners 68 using the bolted connection M12.

Corners 64 together with angles 68, longitudinal 65, 66 and transverse 67 beams form a power frame that provides overall structural rigidity, and are intended for fastening the vibration isolation system together with the simulator with a "moving" track to the spacecraft.

The vibration isolator assembly is attached to the frame at M1 locations using M12 hexagon socket screws.

The main vibration isolator 61 provides microgravity conditions in the direction of the Y axis.

The Central part of the vibration isolator of the main 61 is a vibration isolating block 69 (Fig.26). In the upper part of the vibration isolator of the main 61 there is an elastic coupling 70, which provides elastic coupling of the block of the web of the simulator and the stem of the vibration isolating block. Directly to the elastic sleeve 70, the web unit 1 of the simulator is attached.

The spline hinge consists of two levers: the upper 71 and the lower 72. The lower lever of the spline hinge is connected to a vibration-isolating block 69 fixed in the direction of the Y axis and the upper lever 71.

The upper arm 71 is connected to the stem of the vibration isolating block 69 and the lower arm 72. Bearing assemblies are used to reduce friction in the joints.

The slot-joint has an M4 seat, designed to mount the torsion bar.

Together with the torsion bar, the slot-joint forms a device designed for lateral stabilization of the angular position of the simulator web block.

To ensure movement in the direction of the X and Z axes, levers 73, 74 and the housing 75 are designed. The housing 75 is mounted for attachment to the frame 60. The mounting holes are made so that it is possible to adjust the position of the vibration isolator.

The pin 76 is designed for mounting the side vibration damper rod 62.

The appearance of the side vibration absorber is shown in FIG.

The lateral vibration isolator is designed to provide microgravity conditions in the direction of the X and Z axes.

The side vibration absorber 62 is connected to the main vibration isolator 61 using a special hole in the stem 77. In place 78, the side vibration isolator is attached to the transverse beam.

The design of the torsion bar is shown in Fig. 28, it includes two brackets 79 and a cross member 80.

The torsion bar is designed for lateral stabilization of the angular position of the simulator web block.

The torsion bar connects the lower levers of the splined joints, thereby leveling the amplitude of the oscillations of two opposite main vibration isolators.

The training and loading suit (TNK-U-1) is designed to connect the treadmill simulator “Treadmill”, which is training to the node, in order to distribute the efforts of the system of the tie on his body when walking and running in zero gravity on board the spacecraft. The training and loading suit (TNK-U-1) is individual and is delivered for each crew member separately, while being stored on board the spacecraft in a special bag in a designated place.

Training and load suit (TNK-U-1), shown in Fig. 29, consists of the following components: corset - left side 81 and right 82; straps - 83, 84; corset pillows - right 85 and left 86; Shoulder Cases - 87 (4 pairs); leash - 88.

The corset is made in the form of a semi-rigid wide belt, consisting of two parts, sewn in a zigzag stitch.

The left 81 and right 82 parts are connected using textile fasteners 89, 90, which simultaneously serve to adjust the corset along the thighs of the operator.

The corset is regulated according to risks 91, indicated by numbers (sizes) 44, 46. 48, 50, 52, 54, corresponding to the operator's chest circumference from 88 to 108 cm (from 44 to 54 sizes).

Risks are inflicted on the right side of the corset.

On the left side of the corset 81, belts 92 are finished, ending in buckles 93, and on the right side of the corset 82, belts 94 ending in buckles 95.

Straps 83, 84 are attached to the upper edge of the corset.

Inside the straps are placed power elements that serve to create a load on the shoulders of the operator.

Each power element consists of two expanders tucked into covers, and ends at the back with tape 96, and at the front with a semicircle of the expander.

The belt 96 of the power element is attached to the back of the corset using a buckle 97.

The opposite end of the straps 83 and 84 is connected to the corset (front) by the holder of the leash 98, which passes through the half ring of the expander, is tightened to the buckle of the corset 99 and serves to regulate the tension of the power element.

The straps are connected to the chest using tape 100 and chest pad 101.

A chest cushion 101, located under the buckle 102, serves to protect against pain (naminov).

The suit is adjusted according to the operator’s height using buckles 99 and 97.

For uniform distribution of longitudinal loads, the straps 83 and 84 should be installed in a position convenient for the operator using buckles 99 and 97.

Shoulder covers 87 are attached to the strap 83 and 84 with a textile fastener and are used to protect the shoulders from getting wet.

On the sides of the corset there are leash holders 98 tucked into the buckle 103 of the leash ending with a carabiner 104.

The leash holders can be adjusted according to the height of the person.

Corset pillows (right 85 and left 86) are connected with a textile fastener 105 and serve to protect against pain (naminov).

Cushion cushions 85 and 86 are attached to the inside of the corset using textile fasteners 106.

On the left pillow there are risks 107, indicated by numbers (sizes) 44, 46, 48, 50, 52, 54, corresponding to the chest girths from 88 to 108 cm (from 44 to 54 sizes), which, when adjusting the corset over the hips, must correspond to the risks 91 applied on the right side of the corset.

Pillows attached to the corset are additionally fixed to the corset using a textile fastener of the pillow holder 108.

Stacking of accessories is intended for placement and storage on board the SC of a heart rate monitor, which includes a heart rate receiver, heart rate sensor, heart rate belt, and a USB flash drive needed for use with the simulator during training (heart rate heart rate )

Accessories stacking 109, shown in FIGS. 30 and 31, is a folding cover sewn from textile material (“Nomex”) with inner pockets (for accommodating accessories) equipped with Velcro hook-and-loop fasteners to prevent spontaneous opening. It consists of a cover 110 (1 pc.), A heart rate receiver 111 (1 pc.), A USB flash drive 112 (1 pc.), Heart rate sensors 113 (3 pc.) And heart rate belts 114 (3 pc.) .).

The heart rate monitor of the POLAR company (Finland), shown in Fig. 32, consisting of the heart rate receiver 111, heart rate sensor 113 and heart rate belt 114, is designed to record the heart rate of the trainer in real time and transmit the heart rate signal on the simulator PU for the purpose of its indication and recording in the data file of the current training (Fig. 33).

The removal of the heart rate signal from the body of the trainee is carried out by means of the heart rate sensor mounted on the chest of the trainee using the heart rate belt. The sensor is attached to the belt using quick disconnect contacts, in accordance with the marking of its contacts: “R” is the right side, “L” is the left side.

The heart rate belt has a size adjustment and is equipped with an elastic strap that provides comfortable use during training. We put on a heart rate belt with an attached heart rate sensor on the body of the trainee, as shown in Fig. 34.

The heart rate receiver provides wireless reception of the heart rate signal of the trainee in real time and transmits it to the simulator PU, for which it is connected to one of the USB connectors of the PU indicated in Fig. 23. Reception and transmission of a heart rate signal is carried out automatically.

The USB flash drive shown in Fig. 31 by Transcend (JetFlash V70 4GB model) is intended for transferring training data files recorded in the memory of the control panel to the on-board computer for subsequent reset to Earth via telemetry channels.

The USB flash drive JetFlash V70, with a memory capacity of 4 GB (memory size may vary), is made in a shockproof, dustproof housing that ensures reliable operation in space flight conditions.

Thus, the above-described structural implementation of the claimed simulator allows to achieve the specified technical result.

Claims (20)

1. A simulator with a “moving” track for the spacecraft, comprising a control panel and a web unit attached to a vibration isolation system and consisting of a support assembly and a tie-in assembly, which can be rotated up to 90 ° relative to each other, while the support assembly includes the web itself, a drive motor connected through a belt to a driving drum, a driven drum, a roller assembly, a belt tensioning mechanism, a strain gauge system and a control unit, and a tie-in assembly comprises an engine, a shock absorber cord at the ends of which are closed imprisonment prisoners interacting with the roller system, the tension mechanism and output devices placed on the carrier plate, and is configured to attach an astronaut's training and load-bearing suit to it. 2. The simulator according to claim 1, characterized in that the control panel comprises a tablet computer with a touch screen enclosed in a housing. 3. The simulator according to claim 1, characterized in that the canvas is a tape made of rubber and designed to transmit movement to a person through direct contact. 4. The simulator according to claim 1, characterized in that the strain gauge system includes four strain gauges, two blocks of strain gauges and two force sensors. 5. The simulator according to claim 1, characterized in that the drive motor comprises a housing, an electronics unit and an output shaft with a pulley. 6. The simulator according to claim 1, characterized in that the control unit is a block-modular design, which includes a drive motor control module, an engine control module of the pull-in assembly, a communication controller module, a power supply module, a relay module. 7. The simulator according to claim 1, characterized in that the roller assembly is a base with roller blocks located therein and serves as a support for the web. 8. The simulator according to claim 1, characterized in that the driven drum is a barrel-shaped shaft, fixed in two supports, and is designed to support and tension the canvas. 9. The simulator according to claim 1, characterized in that the belt tensioning mechanism includes a tensioner bracket, a tensioner roller, a rod with a spring located inside it and a nut. 10. The simulator according to claim 1, characterized in that the driving drum is a barrel-shaped shaft fixed in two bearings, on one side of which there is a pulley for a V-ribbed belt that transmits torque to the shaft, and on the other side is a locking mechanism disk. 11. The simulator according to claim 1, characterized in that the depreciation cord tension mechanism consists of a linear module, a drive module, an electronic module, end sensors and a manual closer. 12. The simulator according to claim 1, characterized in that the cushioning cord is a cushioning cord with an airplane diameter of 14 mm. 13. The simulator according to claim 1, characterized in that the output devices of the swath assembly consist of a guide bracket, a swivel roller and a housing. 14. The simulator according to claim 2, characterized in that on the sides of the case there are handles for holding and transferring the control panel (PU), while on the rear side of the case there is a hinged lid that is held in the closed position by magnets, under the lid there are two USB connectors for flash drive and heart rate receiver, as well as a connector for the PU cable. 15. The simulator according to claim 1, characterized in that the vibration isolation system is a spatial structure having attachment points to a web block with a control system and to the spacecraft structure and comprising a frame, four main vibration isolators, four side vibration isolators and two torsion bars. 16. The simulator according to item 15, wherein the frame consists of four power angles located at the corners of the structure, longitudinal and transverse beams, while beams are attached to the corners of the frame through the corners using bolts, the corners together with the corners, longitudinal and transverse beams form a power frame, providing overall structural rigidity. 17. The simulator according to clause 15, wherein the main vibration isolator comprises a vibration isolating block, an elastic coupling located in the upper part of the main vibration isolator and providing elastic coupling of the simulator blade block and the vibration isolating rod stem, a slot-joint, consisting of upper and lower levers, wherein the lower arm is connected to the vibration-insulating block stationary in the direction of the Y axis and the upper arm, and the upper arm is connected to the stem of the vibration-isolating block and the lower arm, the slot-joint is designed to I fastening the torsion bar, together with the torsion bar, the slot-hinge forms a device designed for lateral stabilization of the angular position of the simulator web block, to ensure displacements in the direction of the X and Z axes, levers and a housing are used for mounting to the frame, as well as a pin designed for fastenings of a rod of a lateral vibration isolator. 18. The simulator according to item 15, wherein the torsion bar includes two brackets and a cross member. 19. The simulator according to claim 1, characterized in that the training-load suit consists of a corset - left and right parts, straps, right and left corset pillows, shoulder pads and a leash. 20. The simulator according to claim 1, characterized in that it further includes laying accessories for placing and storing a heart rate monitor, which includes a heart rate receiver, heart rate sensor, heart rate belt, and a USB flash drive.

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