CN112079258A - Movable Microgravity Environment Simulator - Google Patents

Movable Microgravity Environment Simulator Download PDF

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Publication number
CN112079258A
CN112079258A CN202010932404.XA CN202010932404A CN112079258A CN 112079258 A CN112079258 A CN 112079258A CN 202010932404 A CN202010932404 A CN 202010932404A CN 112079258 A CN112079258 A CN 112079258A
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suspension bracket
environment simulation
microgravity environment
mobile
hoisting
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唐俊
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Zhongyuan Power Intelligent Robot Co Ltd
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Zhongyuan Power Intelligent Robot Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00—Base supporting structures with legs
    • B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods

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  • Mechanical Engineering (AREA)
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Abstract

本发明涉及低重力模拟装置技术领域，公开了一种可移动微重力环境模拟装置，包括悬吊支架、自动导向移动装置、路线采集装置、起吊装置、牵引绳和力量参数反馈装置；其中，自动导向移动装置设于所述悬吊支架底端，用于驱动所述悬吊支架移动；路线采集装置设于所述悬吊支架上且与所述自动导向移动装置电性连接；起吊装置设于所述悬吊支架上；牵引绳与所述起吊装置连接；所述起吊装置驱动所述牵引绳伸长或收缩；力量参数反馈装置设于所述悬吊支架上且与所述起吊装置电性连接。本发明提供的可移动微重力环境模拟装置可全自动实现跟随目标移动，可实现对所拉动的目标进行多种微重力的模拟，结构简单、灵活多变，使用效率高，成本低。

Figure 202010932404

The invention relates to the technical field of low-gravity simulation devices, and discloses a movable micro-gravity environment simulation device, comprising a suspension bracket, an automatic guide moving device, a route acquisition device, a hoisting device, a traction rope and a force parameter feedback device; The guiding moving device is arranged at the bottom end of the suspension bracket and is used to drive the suspension bracket to move; the route collecting device is arranged on the suspension bracket and is electrically connected with the automatic guiding movement device; the hoisting device is arranged at the on the suspension bracket; the traction rope is connected with the hoisting device; the hoisting device drives the traction rope to extend or contract; a force parameter feedback device is arranged on the suspension bracket and is electrically connected to the hoisting device connect. The movable microgravity environment simulation device provided by the invention can automatically realize the movement of following the target, and can realize the simulation of various microgravity on the pulled target.

Figure 202010932404

Description

可移动微重力环境模拟装置Movable Microgravity Environment Simulator

技术领域technical field

本发明属于低重力模拟装置领域，特别是涉及一种可移动微重力环境模拟装置。The invention belongs to the field of low-gravity simulation devices, in particular to a movable micro-gravity environment simulation device.

背景技术Background technique

目前，常用的微重力模拟方法包括落塔法、抛物飞行法、水浮法、气浮法、悬吊法和静平衡法等。现有的悬吊法主要采用的是固定悬吊方式的吊绳方案，存在控制难度大，占用面积较大等，而且位置固定不变，只能在室内实现，基本不具备可移动性，不能实现户外环境的模拟测试,，使用效率较低。At present, the commonly used microgravity simulation methods include drop tower method, parabolic flight method, water flotation method, air flotation method, suspension method and static equilibrium method. The existing suspension method mainly adopts the sling scheme of fixed suspension method, which is difficult to control, occupies a large area, etc., and the position is fixed, which can only be realized indoors, and basically has no mobility and cannot be used. To achieve the simulation test of the outdoor environment, the use efficiency is low.

发明内容SUMMARY OF THE INVENTION

本发明的目的是克服了现有技术的问题，提供了一种可自动跟随目标移动、实现对所拉动的目标进行多种微重力的模拟、结构简单的可移动微重力环境模拟装置。The purpose of the present invention is to overcome the problems of the prior art, and to provide a movable microgravity environment simulation device with a simple structure that can automatically follow the movement of the target and realize various microgravity simulations on the pulled target.

为了达到上述目的，本发明采用以下方案：In order to achieve the above object, the present invention adopts the following scheme:

可移动微重力环境模拟装置，包括悬吊支架；还包括：Movable microgravity environment simulation device, including suspension bracket; also includes:

自动导向移动装置，其设于所述悬吊支架底端，用于驱动所述悬吊支架移动；an automatic guide moving device, which is arranged at the bottom end of the suspension bracket and is used to drive the suspension bracket to move;

路线采集装置，其设于所述悬吊支架上且与所述自动导向移动装置电性连接；a route acquisition device, which is arranged on the suspension bracket and is electrically connected with the automatic guide moving device;

起吊装置，其设于所述悬吊支架上；a hoisting device, which is arranged on the suspension bracket;

牵引绳，其与所述起吊装置连接；所述起吊装置驱动所述牵引绳伸长或收缩；a traction rope, which is connected with the hoisting device; the hoisting device drives the traction rope to extend or contract;

力量参数反馈装置，其设于所述悬吊支架上且与所述起吊装置电性连接。A force parameter feedback device is arranged on the suspension bracket and is electrically connected with the hoisting device.

进一步地，所述悬吊支架包括：Further, the suspension bracket includes:

两根底支杆；所述自动导向移动装置设于所述底支杆上；two bottom support rods; the automatic guide moving device is arranged on the bottom support rod;

两根竖向支杆，其分别与两根所述底支杆连接；two vertical struts, which are respectively connected with the two bottom struts;

人形支架，其连接于两根竖向支杆之间；所述路线采集装置设于所述人形支架上；a human-shaped bracket, which is connected between two vertical support rods; the route collection device is arranged on the human-shaped bracket;

两根顶支杆，其分别与两根所述竖向支杆的上端连接；每根顶支杆的前端均设有一个所述起吊装置和力量参数反馈装置。The two top support rods are respectively connected with the upper ends of the two vertical support rods; the front end of each top support rod is provided with a hoisting device and a force parameter feedback device.

进一步地，每根所述底支架的两端分别设有一个所述自动导向移动装置；所述自动导向移动装置包括方向控制装置和移动滚轮。Further, the two ends of each of the bottom brackets are respectively provided with an automatic guide moving device; the automatic guide moving device includes a direction control device and a moving roller.

进一步地，所述移动滚轮为麦克纳姆轮。Further, the moving roller is a Mecanum wheel.

进一步地，所述顶支杆的前端具有一个杆内腔；所述力量参数反馈装置设于所述杆内腔内；所述起吊装置设于所述杆内腔内；所述起吊装置包括驱动电机和绕绳轮；所述牵引绳连接在所述绕绳轮上；所述驱动电机的输出轴与所述绕绳轮连接且驱动所述绕绳轮旋转以伸长或收缩。Further, the front end of the top support rod has a rod inner cavity; the force parameter feedback device is arranged in the rod inner cavity; the lifting device is arranged in the rod inner cavity; the lifting device includes a drive A motor and a reel; the traction rope is connected to the reel; an output shaft of the driving motor is connected to the reel and drives the reel to rotate to extend or contract.

进一步地，所述悬吊支架为碳纤维悬吊支架。Further, the suspension bracket is a carbon fiber suspension bracket.

进一步地，所述顶支杆与下方对应的所述底支杆相平行。Further, the top support rod is parallel to the bottom support rod corresponding to the bottom.

进一步地，所述竖向支杆的下端与所述底支杆之间、所述竖向支杆的上端与所述顶支杆之间通过螺钉和三通套筒连接。Further, the lower end of the vertical support rod and the bottom support rod, and the upper end of the vertical support rod and the top support rod are connected by screws and three-way sleeves.

进一步地，所述力量参数反馈装置为拉力传感器。Further, the force parameter feedback device is a tension sensor.

进一步地，所述路线采集装置为摄像采集装置。Further, the route collection device is a camera collection device.

与现有的技术相比，本发明具有如下优点：Compared with the prior art, the present invention has the following advantages:

本发明将牵引绳系目标上进行牵引，使目标处于低重力状态，通过力量参数反馈装置反馈的数据，使起吊装置可持续驱动牵引绳的伸长或收缩，以提供相同的牵引绳的拉力，实现精准的拉力抵消重力，保证目标处于低重力状态，同时，通过自动导向移动装置驱动悬吊支架跟随目标移动，并根据路线采集装置采集并反馈目标移动的路线数据，及时调整移动路线，使该可移动微重力环境模拟装置可全自动实现跟随目标移动，并且可持续在目标上方提供拉力，实现对所拉动的目标进行多种微重力的模拟，如固定在室内的微重力模拟、户外环境移动的微重力模拟，结构简单、灵活多变，使用效率高，成本低。The invention pulls the traction rope on the target, so that the target is in a low gravity state, and through the data fed back by the force parameter feedback device, the hoisting device can continuously drive the extension or contraction of the traction rope to provide the same pulling force of the traction rope, Realize accurate pulling force to offset gravity, ensure that the target is in a low gravity state, at the same time, drive the suspension bracket to move with the target through the automatic guiding mobile device, and collect and feed back the route data of the target movement according to the route acquisition device, and adjust the moving route in time to make the target move. The movable microgravity environment simulation device can automatically move with the target, and can continuously provide pulling force above the target, so as to realize various microgravity simulations on the pulled target, such as microgravity simulation fixed indoors, outdoor environment movement The microgravity simulation is simple, flexible and changeable, with high efficiency and low cost.

附图说明Description of drawings

下面结合附图和具体实施方式对本申请作进一步详细的说明。The present application will be described in further detail below with reference to the accompanying drawings and specific embodiments.

图1是本发明的可移动微重力环境模拟装置的立体示意图。FIG. 1 is a schematic perspective view of the movable microgravity environment simulation device of the present invention.

图2是本发明的可移动微重力环境模拟装置一方向角度的结构示意图。FIG. 2 is a schematic structural diagram of a direction angle of the movable microgravity environment simulation device of the present invention.

图3是本发明的起吊装置的结构示意图。FIG. 3 is a schematic structural diagram of the hoisting device of the present invention.

图4是本发明的力量参数反馈装置与起吊装置之间电连接示意图。4 is a schematic diagram of the electrical connection between the force parameter feedback device and the hoisting device of the present invention.

图中包括：The figure includes:

悬吊支架1、底支杆11、竖向支杆12、人形支架13、顶支杆14、自动导向移动装置2、方向控制装置21、移动滚轮22、路线采集装置3、起吊装置4、驱动电机41、绕绳轮42、牵引绳5、力量参数反馈装置6、螺钉7、三通套筒8。Suspension bracket 1, bottom support rod 11, vertical support rod 12, humanoid support 13, top support rod 14, automatic guide mobile device 2, direction control device 21, moving roller 22, route acquisition device 3, lifting device 4, drive Motor 41 , rope reel 42 , traction rope 5 , force parameter feedback device 6 , screw 7 , three-way sleeve 8 .

具体实施方式Detailed ways

下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.

如图1至图4所示，可移动微重力环境模拟装置包括悬吊支架1、自动导向移动装置2、路线采集装置3、起吊装置4、牵引绳5和力量参数反馈装置6。自动导向移动装置2设于所述悬吊支架1底端，用于驱动所述悬吊支架1移动；该自动导向移动装置2具有数据分析、方向改变和驱动悬吊支架1移动的功能。路线采集装置3设于所述悬吊支架1上且与所述自动导向移动装置2电性连接；该路线采集装置3为摄像采集装置；该路线采集装置3根据摄像头采集目标移动位置相对悬吊支架1前后、左右的位置，以及移动方向是否有障碍物，生成反馈信息反馈至自动导向移动装置2；自动导向移动装置2根据这些反馈信息，与自动导向移动装置2内的数据库相对比，自动调整移动的路线跟随目标同步移动。起吊装置4设于所述悬吊支架1上；牵引绳5，其与所述起吊装置4连接；所述起吊装置4驱动所述牵引绳5伸长或收缩；力量参数反馈装置6设于所述悬吊支架1上且与所述起吊装置4电性连接。该力量参数反馈装置6为拉力传感器。目标移动，牵动牵引绳5，牵引绳5的拉力超过或低于设定的范围，该力量参数反馈装置6及时检测并反馈数据至起吊装置4，起吊装置4根据力量参数反馈装置6反馈的数据可持续驱动牵引绳5的伸长或收缩，以提供相同的牵引绳5的拉力，实现精准的拉力抵消重力，保证目标处于低重力状态。上述目标指人或微重力模拟实验体(机器人)等；在本具体实施方式中，目标是指微重力模拟实验体(机器人)。As shown in FIG. 1 to FIG. 4 , the movable microgravity environment simulation device includes a suspension bracket 1 , an automatic guide mobile device 2 , a route acquisition device 3 , a hoisting device 4 , a traction rope 5 and a force parameter feedback device 6 . The automatic guiding moving device 2 is arranged at the bottom end of the suspension bracket 1 and is used to drive the suspension bracket 1 to move; the automatic guiding moving device 2 has the functions of data analysis, direction change and driving the suspension bracket 1 to move. The route acquisition device 3 is arranged on the suspension bracket 1 and is electrically connected with the automatic guide mobile device 2; the route acquisition device 3 is a camera acquisition device; the route acquisition device 3 is relatively suspended according to the moving position of the camera acquisition target The front and rear, left and right positions of the bracket 1, and whether there are obstacles in the moving direction, generate feedback information and feed it back to the automatic guiding mobile device 2; Adjust the moving route to move synchronously with the target. A hoisting device 4 is provided on the suspension bracket 1; a traction rope 5 is connected to the hoisting device 4; the hoisting device 4 drives the traction rope 5 to extend or contract; a force parameter feedback device 6 is provided on the The suspension bracket 1 is electrically connected to the hoisting device 4 . The force parameter feedback device 6 is a tension sensor. The target moves, pulling the traction rope 5, and the pulling force of the traction rope 5 exceeds or falls below the set range, the force parameter feedback device 6 detects and feeds back the data to the hoisting device 4 in time, and the hoisting device 4 is based on the data fed back by the force parameter feedback device 6 The extension or contraction of the traction rope 5 can be continuously driven to provide the same pulling force of the traction rope 5, so as to realize the precise pulling force to offset the gravity and ensure that the target is in a low gravity state. The above-mentioned target refers to a person or a microgravity simulated experimental body (robot), etc. In this specific embodiment, the target refers to a microgravity simulated experimental body (robot).

该可移动微重力环境模拟装置将牵引绳5系在目标上进行牵引，使目标处于低重力状态，通过力量参数反馈装置6反馈的数据，使起吊装置4可持续驱动牵引绳5的伸长或收缩，以提供相同的牵引绳5的拉力，实现精准的拉力抵消重力，保证目标处于低重力状态，同时，通过自动导向移动装置2驱动悬吊支架1跟随目标移动，并根据路线采集装置3采集并反馈目标移动的路线数据，及时调整移动路线，使该可移动微重力环境模拟装置可全自动实现跟随目标移动，并且可持续在目标上方提供拉力，实现对所拉动的目标进行多种微重力的模拟，如固定在室内的微重力模拟、户外环境移动的微重力模拟，结构简单、灵活多变，使用效率高，成本低。The movable microgravity environment simulation device ties the traction rope 5 on the target for traction, so that the target is in a low gravity state, and through the data fed back by the force parameter feedback device 6, the hoisting device 4 can continuously drive the elongation of the traction rope 5 or Contraction to provide the same pulling force of the traction rope 5, to achieve accurate pulling force to offset gravity, to ensure that the target is in a low-gravity state, and at the same time, drive the suspension bracket 1 to follow the target through the automatic guide mobile device 2, and collect data according to the route collection device 3. And feed back the route data of the target movement, and adjust the movement route in time, so that the movable microgravity environment simulation device can automatically follow the target movement, and can continuously provide pulling force above the target, so as to realize various microgravity effects on the pulled target. simulation, such as fixed indoor microgravity simulation and outdoor environment moving microgravity simulation, the structure is simple, flexible, high efficiency and low cost.

悬吊支架1包括底支杆11、竖向支杆12、人形支架13和顶支杆14。其中，所述自动导向移动装置2设于所述底支杆11上；两根竖向支杆12分别与两根所述底支杆11连接；人形支架13连接于两根竖向支杆12之间；所述路线采集装置3设于所述人形支架13上，方便该人形支架13设计是通过人带“T”字帽子，然后大字张开，形成一个“天”字；双手双脚分别与两根竖向支杆12连接，使该可移动微重力环境模拟装置整体美观，视觉效果好。两根顶支杆14分别与两根所述竖向支杆12的上端连接；每根顶支杆14的前端均设有一个所述起吊装置4和力量参数反馈装置6。通过将底支杆11、竖向支杆12、人形支架13和顶支杆14设置成悬吊支架1，使该可移动微重力环境模拟装置整体质量减轻，方便移动，大大缩小该可移动微重力环境模拟装置的占地面积。The suspension bracket 1 includes a bottom support rod 11 , a vertical support rod 12 , a human-shaped support rod 13 and a top support rod 14 . The automatic guide moving device 2 is arranged on the bottom support rod 11 ; the two vertical support rods 12 are respectively connected with the two bottom support rods 11 ; the human-shaped bracket 13 is connected with the two vertical support rods 12 between; the route collection device 3 is arranged on the human-shaped bracket 13, so that the human-shaped bracket 13 is designed to wear a "T" hat by a person, and then the large characters are opened to form a "Tian" word; hands and feet are respectively It is connected with two vertical support rods 12, so that the movable microgravity environment simulating device is beautiful as a whole and has a good visual effect. The two top support rods 14 are respectively connected with the upper ends of the two vertical support rods 12 ; the front end of each top support rod 14 is provided with the hoisting device 4 and the force parameter feedback device 6 . By arranging the bottom support rod 11, the vertical support rod 12, the human-shaped support 13 and the top support rod 14 as the suspension support 1, the overall mass of the movable microgravity environment simulation device is reduced, and it is convenient to move, greatly reducing the size of the movable microgravity environment simulation device. The footprint of the gravity environment simulator.

优选的，所述悬吊支架1为碳纤维悬吊支架1。该悬吊支架1采用碳纤维制成，具有良好的硬度和强度，同时可以大大地减轻可移动微重力环境模拟装置整体质量，方便移动，灵活多变，适用于不同的环境，使用效率高，成本低。Preferably, the suspension bracket 1 is a carbon fiber suspension bracket 1 . The suspension bracket 1 is made of carbon fiber, which has good hardness and strength, and can greatly reduce the overall quality of the movable microgravity environment simulation device. It is convenient to move, flexible, and suitable for different environments. Low.

其中，所述顶支杆14与下方对应的所述底支杆11相平行。通过设置顶支杆14和对应的顶支杆14相平衡，便于起吊装置4对牵引绳5的长度调节。Wherein, the top support rod 14 is parallel to the bottom support rod 11 corresponding to the bottom. By setting the top support rods 14 and the corresponding top support rods 14 in balance, the length adjustment of the traction rope 5 by the hoisting device 4 is facilitated.

为了竖向支杆12和底支杆11之间安装方便；所述竖向支杆12的下端与所述底支杆11之间、所述竖向支杆12的上端与所述顶支杆14之间通过螺钉7和三通套筒8连接。将底支杆11和竖向支杆12相配合套设在三通套筒8上，在通过螺钉7锁紧固定，结构简单，拆装方便。In order to facilitate the installation between the vertical support rod 12 and the bottom support rod 11; between the lower end of the vertical support rod 12 and the bottom support rod 11, the upper end of the vertical support rod 12 and the top support rod 14 are connected by screws 7 and tee sleeves 8. The bottom support rod 11 and the vertical support rod 12 are matched and sleeved on the three-way sleeve 8, and are locked and fixed by the screw 7, the structure is simple, and the disassembly and assembly are convenient.

在本具体实施方式中，每根所述底支架的两端分别设有一个所述自动导向移动装置2；即该自动导向移动装置2具有4个。所述自动导向移动装置2包括方向控制装置21和移动滚轮22。该具有数据分析、方向改变和驱动移动滚轮22转动的功能，可以实现4个移动在地面上实现任意方向的直线移动，更加灵活，可保证时刻紧随目标。In this specific embodiment, two ends of each of the bottom brackets are respectively provided with one of the automatic guide moving devices 2 ; that is, there are four automatic guide moving devices 2 . The automatic guide moving device 2 includes a direction control device 21 and a moving roller 22 . It has the functions of data analysis, direction change and driving the moving roller 22 to rotate, and it can realize 4 moves on the ground to realize linear movement in any direction, which is more flexible and can ensure that it follows the target at all times.

具体的，所述移动滚轮22为麦克纳姆轮。通过使用4个麦克纳姆轮实现移动，可以在地面上实现任意方向的直线移动，更加灵活，可保证时刻紧随目标。Specifically, the moving roller 22 is a Mecanum wheel. By using 4 Mecanum wheels to achieve movement, it can achieve linear movement in any direction on the ground, which is more flexible and can ensure that it follows the target at all times.

所述顶支杆14的前端具有一个杆内腔；所述力量参数反馈装置6设于所述杆内腔内；所述起吊装置4设于所述杆内腔内；即起吊装置4和力量参数反馈装置6的数量具有2个。所述起吊装置4包括驱动电机41和绕绳轮42；所述牵引绳5连接在所述绕绳轮42上；所述驱动电机41的输出轴与所述绕绳轮42连接且驱动所述绕绳轮42旋转以伸长或收缩。通过将驱动电机41和绕绳轮42设于杆内腔内，使该可移动微重力环境模拟装置整体美观，同时，驱动电机41根据力量参数反馈装置6反馈的数据可持续驱动绕绳轮42滚转，以使牵引绳5的伸长或收缩，使两条提供相同的牵引绳5的拉力，实现精准的拉力抵消重力，保证目标处于低重力状态。The front end of the top support rod 14 has a rod inner cavity; the force parameter feedback device 6 is arranged in the rod inner cavity; the lifting device 4 is arranged in the rod inner cavity; that is, the lifting device 4 and the force The number of parameter feedback devices 6 is two. The hoisting device 4 includes a drive motor 41 and a rope reel 42; the traction rope 5 is connected to the rope reel 42; the output shaft of the drive motor 41 is connected to the rope reel 42 and drives the rope reel 42. The sheave 42 is rotated to extend or retract. By arranging the drive motor 41 and the rope reel 42 in the inner cavity of the rod, the movable microgravity environment simulation device is made beautiful as a whole, and at the same time, the drive motor 41 can continuously drive the rope reel 42 according to the data fed back by the force parameter feedback device 6 Roll, so that the traction rope 5 can be extended or contracted, so that the two traction ropes 5 can provide the same pulling force, so as to realize the precise pulling force to offset the gravity, and ensure that the target is in a low gravity state.

综上，本发明实施例提供一种移动微重力环境模拟装置。其中，该移动微重力环境模拟装置将牵引绳5系在目标上进行牵引，使目标处于低重力状态，通过力量参数反馈装置6反馈的数据，使起吊装置4可持续驱动牵引绳5的伸长或收缩，以提供相同的牵引绳5的拉力，实现精准的拉力抵消重力，保证目标处于低重力状态，同时，通过自动导向移动装置2驱动悬吊支架1跟随目标移动，并根据路线采集装置3采集并反馈目标移动的路线数据，及时调整移动路线，使该可移动微重力环境模拟装置可全自动实现跟随目标移动，并且可持续在目标上方提供拉力，实现对所拉动的目标进行多种微重力的模拟，如固定在室内的微重力模拟、户外环境移动的微重力模拟，结构简单、灵活多变，使用效率高，成本低。To sum up, the embodiments of the present invention provide a mobile microgravity environment simulation device. Among them, the mobile microgravity environment simulation device ties the traction rope 5 on the target for traction, so that the target is in a low gravity state, and through the data fed back by the force parameter feedback device 6, the hoisting device 4 can continuously drive the extension of the traction rope 5. Or shrink, to provide the same pulling force of the traction rope 5, to achieve accurate pulling force to offset the gravity, to ensure that the target is in a low gravity state, and at the same time, the suspension bracket 1 is driven to follow the target through the automatic guiding mobile device 2, and according to the route acquisition device 3 Collect and feed back the route data of the target movement, and adjust the movement route in time, so that the movable microgravity environment simulation device can automatically follow the target movement, and can continuously provide pulling force above the target, so as to realize various micro-movements on the pulled target. The simulation of gravity, such as the fixed indoor microgravity simulation and the outdoor environment moving microgravity simulation, has a simple structure, flexible and changeable, high efficiency and low cost.

以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请技术原理的前提下，还可以做出若干改进和替换，这些改进和替换也应视为本申请的保护范围。The above are only the preferred embodiments of the present application. It should be pointed out that for those skilled in the art, without departing from the technical principles of the present application, several improvements and replacements can be made. These improvements and replacements It should also be regarded as the protection scope of this application.

Claims (10)

1. The movable microgravity environment simulation device comprises a suspension bracket; the method is characterized in that: further comprising:
the automatic guiding and moving device is arranged at the bottom end of the suspension bracket and is used for driving the suspension bracket to move;
the route acquisition device is arranged on the suspension bracket and is electrically connected with the automatic guiding and moving device;
the hoisting device is arranged on the suspension bracket;
the traction rope is connected with the hoisting device; the hoisting device drives the traction rope to extend or contract;
and the force parameter feedback device is arranged on the suspension bracket and is electrically connected with the hoisting device.
2. The mobile microgravity environment simulation device of claim 1, wherein: the suspension bracket includes:
two bottom struts; the automatic guiding and moving device is arranged on the bottom support rod;
the two vertical supporting rods are respectively connected with the two bottom supporting rods;
the human-shaped support is connected between the two vertical supporting rods; the route acquisition device is arranged on the human-shaped bracket;
the two top supporting rods are respectively connected with the upper ends of the two vertical supporting rods; the front end of each top supporting rod is provided with one lifting device and a force parameter feedback device.
3. The mobile microgravity environment simulation device of claim 2, wherein: two ends of each bottom bracket are respectively provided with one automatic guiding and moving device; the automatic guiding and moving device comprises a direction control device and a moving roller.
4. The mobile microgravity environment simulation device of claim 3, wherein: the moving roller is a Mecanum wheel.
5. The mobile microgravity environment simulation device of claim 2, wherein: the front end of the top supporting rod is provided with a rod inner cavity; the force parameter feedback device is arranged in the rod inner cavity; the hoisting device is arranged in the rod inner cavity; the hoisting device comprises a driving motor and a rope winding wheel; the traction rope is connected to the rope winding wheel; an output shaft of the driving motor is connected with the rope winding wheel and drives the rope winding wheel to rotate so as to extend or contract.
6. The mobile microgravity environment simulation device of claim 1, wherein: the suspension bracket is a carbon fiber suspension bracket.
7. The mobile microgravity environment simulation device of claim 2, wherein: the top supporting rod is parallel to the bottom supporting rod corresponding to the lower part.
8. The mobile microgravity environment simulation device of claim 2, wherein: the lower ends of the vertical supporting rods are connected with the bottom supporting rod, and the upper ends of the vertical supporting rods are connected with the top supporting rod through screws and tee sleeves.
9. The mobile microgravity environment simulation device of claim 1, wherein: the force parameter feedback device is a tension sensor.
10. The mobile microgravity environment simulation device of claim 1, wherein: the route acquisition device is a camera acquisition device.
CN202010932404.XA 2020-09-08 2020-09-08 Movable Microgravity Environment Simulator Pending CN112079258A (en)

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Application publication date: 20201215