CN100417577C - astronaut trainer - Google Patents

Abstract

The invention provides an astronaut training device. It includes the frame, a set of rope driving device installed on the four corners of the frame which the rope is connected to a cestus and the run machine is set under the frame; the rope driving device is made up of the servo electric machine with the coder fixed on the frame middle, the reducer, the trolley, the pull sensor installed under the frame, the crown block and its angle sensor, the over wheel and its angle sensor, the rope with one end fixed around the trolley and the other end connected to the cestus around the crown block; the pull sensor is connected to the rope between the trolley and the crown block. The invention can simulate the gravity field in the micro gravity condition to train the astronaut to avoid get the space flight sport illness, also the invention cab be used for recovering device.

Description

astronaut trainer

(1) Technical field

The invention relates to an astronaut training device, which belongs to the field of aerospace life sciences.

(2) Background technology

Medical theories, experiments and facts have proved that in the state of weightlessness, astronauts have to face harsh space environments different from those on the ground. These environmental factors may lead to astronauts' space motion sickness, changes in bone and muscle structure and function, and cardiovascular system function. A series of biomedical and psychological problems such as disorder, sensory-motor function delay, sleep cycle disorder, and emotional depression may even threaten the lives of astronauts in severe cases. Therefore, in order to reduce the impact of the weightless state on the astronauts as much as possible, it is necessary to go through a cyclical and gradual training process, so that the astronauts can continuously exercise their own functions in the "simulated gravity environment" generated by the trainer, and finally It can better adapt to the space environment and reduce the impact of the space environment on the human body.

At present, the relevant patents at home and abroad mainly include the following types:

Patent No. 94104348.7 and the invention patent titled "Method to Solve the Effect of Weightlessness" expounded that in aerospace vehicles, artificial gravity is generated by using the magnetic effect of the magnetic field. This method is not only difficult to implement, but also cannot provide gait movement training , is only an artificial gravity field; the invention patent with the patent name of 200510119864.6 titled "Aerospace Imitation Earth State Operation Sportswear" describes space clothing that is made of rubber bands or stretchable materials and acts on the human body , In order to generate a sense of oppression, the tension of the rubber band or the stretchable material in the clothing is not controllable, and it is also impossible to achieve gait exercise training. The utility model with patent No. 02251613.1 and the patent name "lower limb rehabilitation training robot" expounds that through a set of human standing gravity balance system and orderly actions of gait and posture coordination mechanism, patients can simulate the steps of normal people while standing Regularly, carry out muscle training and walking function training. The system cannot generate artificial gravity, and at the same time, the system is relatively large and cannot adapt to the space environment. Patent No. WO03035184 and the invention patent titled "Closed-Loop Force Control Body Weight Support System" describe that a harness is used to reduce weight through an upper pull rope, and the force closed-loop control method can adjust the size of weight loss, but it cannot Establish artificial gravity with single function.

(3) Contents of the invention

The purpose of the present invention is to provide an astronaut trainer capable of generating gravitational field effects to meet the needs of simulating the gravitational field in the space environment.

The object of the present invention is achieved in that it comprises a frame, a set of rope traction drive mechanism is respectively set at the four corners of the frame, the ropes of four rope traction drive mechanisms are connected on a waist belt, and a treadmill is set at the bottom of the frame; The rope traction driving mechanism is composed of a servo motor with an encoder, a reducer, and a roller fixed in the middle of the frame, a tension sensor installed below the frame, a fixed pulley and its angle sensor, a pulley and its angle sensor, and one end It consists of a rope that is fixed and wound on the roller, and the other end is connected to the waist belt by passing around the fixed pulley. A tension sensor is connected in series on the rope between the roller and the fixed pulley.

The present invention also has some structural features:

1. The pulley connecting rod in the above-mentioned rope traction driving mechanism is connected with a tension spring, and the other end of the connecting rod can rotate around the supporting point and an angle sensor is installed on it.

2. The four ropes of the four rope traction drive mechanisms are arranged obliquely downward and crossed, and are connected to the waist belt by four connecting buckles.

3. In the rope traction driving mechanism, the tension sensor is connected with the rope passing through the fixed pulley along the vertical direction.

4. The fixed pulley in the rope traction drive mechanism is installed on a rotatable vertical shaft, and its angle sensor is installed at one end of the vertical shaft.

The astronaut trainer of the present invention is made up of frame, 4 rope traction driving mechanisms, waist belt and 1 treadmill; , reducer, rollers, ropes, tension sensors, fixed pulleys and angle sensors, passing wheels and angle sensors, connecting plates and connecting buckles, which are used to generate simulated gravity; the belt is used to fix the trainee; the treadmill is used to realize the training of the trainee gait movement. In addition to the role of supporting the rope, the fixed pulley in the rope traction drive mechanism can also rotate around the vertical axis as a whole, and the angle sensor can be used to measure its angle; the pulley in the rope traction drive mechanism relies on the tension of the spring. In contact with the rope, when the rope rotates around the fixed pulley, the passing wheel can move along the rope, and the supporting point of the connecting rod of the passing wheel rotates, and the angle sensor on it can measure the angle around which the rope is wound; 4 ropes are crossed diagonally downwards, 4 connecting buckles are connected with the waist belt to generate simulated gravity; in the said rope traction driving mechanism, the tension sensor is connected with the rope passing through the fixed pulley along the vertical direction.

At the beginning of the work, the trainee stands on the treadmill and fixes the belt around his waist. Then, while the gait movement is driven by the treadmill, the force and position closed-loop control is used to control the tension of each rope, and the resultant force formed by them produces the effect of the gravity field, which meets the needs of simulating the gravity field in the space environment. The invention can simulate the gravitational field under the microgravity condition, and is used for exercising the self-function of the astronauts, so as to prevent the astronauts from suffering from space motion sickness in the process of performing tasks in the weightless state. The invention can also be used as rehabilitation equipment.

(4) Description of drawings

Fig. 1 is a structural diagram of the present invention;

Fig. 2 is the structural diagram of rope drive mechanism;

Fig. 3 is the top view of Fig. 1;

Fig. 4 is a left side view of Fig. 1 .

(5) Specific implementation methods

The present invention is described in more detail below in conjunction with accompanying drawing example:

With reference to Figures 1-4, the astronaut trainer consists of a frame, 4 rope traction drive mechanisms, a belt and a treadmill. The frame 1 is made of aluminum profile and plays a supporting role; each rope traction driving mechanism is composed of a servo motor 12 with an encoder, a reducer 11, a roller 10, a rope 9, a tension sensor 8, a fixed pulley 4 and an angle sensor 2 , passing wheel 5, angle sensor 7, connecting plate 3 and connecting buckle 14, the servo motor 12 with encoder is connected to the reducer 11 through the flange, the reducer 11 is fixed on the frame 1, and the output shaft of reducer 11 Drive the roller 10 to rotate, thereby changing the length of the rope 9. The tension sensor 8 is inserted into the rope 9 to detect the tension of the rope to form a force closed-loop control. The rope 9 bypasses the fixed pulley 4 to change the direction, and the fixed pulley is installed on a rotatable vertical shaft. 20, its angle sensor 2 is installed on one end of the vertical shaft, and the rotation of the whole fixed pulley 4 around the vertical shaft can be measured by the angle sensor 2 on it, and its whole is fixed on the frame 1 through the connecting plate 3, and the passing wheel 5 is connected by The part is fixed on the connecting part of the fixed pulley, and it relies on the pulling force of the spring 6 to ensure that it is always in contact with the rope 9. When the rope 9 rotates around the fixed pulley 4, the passing wheel 5 can move along the rope 9, and the supporting point of the connecting rod of the passing wheel rotates. Utilize angle sensor 7 on it and can measure the angle that rope is wound; Rope 9 is connected on the waist belt 13 by connecting buckle 14, and waist belt 13 is fixed on the trainee; Treadmill 15 belongs to relatively independent system, is used to realize trainee's gait movement.

At the beginning of the work, the trainee stands on the treadmill and fixes the belt around his waist. Then, while the gait movement is driven by the treadmill, the force and position closed-loop control is used to control the tension of each rope, and the resultant force formed by them produces the effect of the gravity field, which meets the needs of simulating the gravity field in the space environment. The invention can also be used as rehabilitation equipment.

Claims (9)

1. astronaut exercising apparatus, it comprises framework, it is characterized in that: four jiaos at framework respectively are provided with a sets of cords traction drive mechanism, and the rope of four cable drives is connected on the waistband, and a treadmill is set in the bottom of framework; Described cable drive is by being fixed on the framework middle servomotor that has coder, retarder, roller, be installed in pulling force sensor, fixed pulley and angular transducer thereof, third wheel and the angular transducer thereof of framework below, one end fix and on roller, the other end walks around the rope that fixed pulley links to each other with waistband and forms, and is serially connected with pulling force sensor on the rope between roller and the fixed pulley.

2. astronaut exercising apparatus according to claim 1 is characterized in that: be connected with tension spring on the third wheel pipe link in the described cable drive, the other end of pipe link can around the strong point rotate and its on angular transducer is installed.

3. astronaut exercising apparatus according to claim 1 and 2 is characterized in that: the oblique arranged crosswise down of 4 ropes of described four cable drives is connected with waistband by 4 junction buttons.

4. astronaut exercising apparatus according to claim 1 and 2 is characterized in that: pulling force sensor vertically is connected with rope by fixed pulley in the described cable drive.

5. astronaut exercising apparatus according to claim 3 is characterized in that: pulling force sensor vertically is connected with rope by fixed pulley in the described cable drive.

6. astronaut exercising apparatus according to claim 1 and 2 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.

7. astronaut exercising apparatus according to claim 3 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.

8. astronaut exercising apparatus according to claim 4 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.

9. astronaut exercising apparatus according to claim 5 is characterized in that: the fixed pulley in the described cable drive is installed on the rotating vertical axis, and its angular transducer is installed in an end of vertical axis.

Images