Ground device for simulating movement in low-gravity environment

Abstract

The invention discloses a ground device for simulating movement in a low-gravity environment, relates to the field of low-gravity human factor experiment devices, and aims at solving the problem that an existing suspension type low-gravity simulation system is insufficient in the aspects of movement accuracy and virtual scene fusion. The system comprises a frame sliding rail unit, a movement unit, a manned suspension unit, a central control computer and a recorder, the frame sliding rail unit is vertically arranged on the ground, the movement unit is arranged in the frame sliding rail unit, the manned suspension unit is arranged at the bottom end of the movement unit, and the central control computer and the recorder are both arranged on the outer side of the frame sliding rail unit. The central control computer is in signal connection with the signal input end of the motion unit and the signal input end of the frame sliding rail unit, and the data output end of the recorder is in signal connection with the data input end of the central control computer. The device is mainly used for simulating a ground device moving in a low-gravity environment, and human factor experiments related to low-gravity horizontal movement can be carried out.

Description

Technical Field

[0001] The invention relates to the field of low-gravity human factors experimental devices, and in particular to a ground device for simulating movement in a low-gravity environment. Background Art

[0002] The moon is the natural satellite of the earth and is vital to human exploration of the universe. The establishment of a lunar research station will help solve the problem of resource shortage and enhance my country's aerospace and national defense science and technology strength. The lunar research station provides a long-term work and living base for astronauts and promotes in-depth research on the moon and deep space.

[0003] To achieve the above goals, on the one hand, it is necessary to obtain the scale parameters of the manned space under the low gravity conditions on the moon, and on the other hand, it is necessary to obtain the organizational structure and method of each functional space under such conditions. The fact that the low gravity environment on the moon is difficult to simulate on the ground is an important problem currently faced, which also leads to the difficulty in obtaining relevant scale parameters from the human factor perspective. At present, the liquid flotation method is a professional experimental method for achieving a low gravity environment on the ground. It can provide a long-term simulation environment and is often used in astronaut training. However, it is limited by the high requirements of neutral buoyancy pools and experimental sites and is not popular enough, and cannot be used by students for scientific research.

[0004] The other is a low-gravity experimental simulation device based on the suspension method. By adjusting the size of the compensation force, it can accurately simulate the low-gravity environment of celestial bodies such as the moon or Mars, providing an effective training method for astronauts. This method is suitable for low-gravity simulation in the human factor direction because it occupies less space resources, is simple in theory, flexible and easy to implement.

[0005] The development trend of suspended low-gravity simulation systems is to move towards high-precision, large-load and high-dynamic simulation to meet the needs of future manned space missions. However, existing equipment has deficiencies in terms of movement accuracy and virtual scene integration. Therefore, this application proposes a ground device for simulating movement in a low-gravity environment, which can conduct human factors experiments related to low-gravity horizontal movement. Summary of the invention

[0006] In order to solve the problems that the existing suspended low-gravity simulation system has deficiencies in movement accuracy and virtual scene fusion, the present invention further provides a ground device for simulating movement in a low-gravity environment;

[0007] A ground device for simulating movement in a low-gravity environment, the ground device comprising a frame slide rail unit, a motion unit, a manned suspension unit, a central control computer and a recorder, the frame slide rail unit being erected on the ground, the motion unit being arranged in the frame slide rail unit, and the top of the motion unit being slidably connected to the inner top of the frame slide rail unit, the manned suspension unit being arranged at the bottom of the motion unit, and the top of the manned suspension unit being fixedly connected to the bottom of the motion unit, the central control computer and the recorder being arranged on the outside of the frame slide rail unit, the central control computer being signal-connected to the signal input end in the motion unit and the signal input end in the frame slide rail unit, and the data output end of the recorder being signal-connected to the data input end of the central control computer;

[0008] Furthermore, the frame slide rail unit includes a supporting steel frame and a slide rail assembly, the supporting steel frame is erected on the ground, the slide rail assembly is arranged on the top of the supporting steel frame, and the bottom of the slide rail assembly is fixedly connected to the top of the supporting steel frame;

[0009] Further, the supporting steel frame includes a bottom steel ring and three supporting steel rods, the bottom steel ring is arranged on the ground, the three supporting steel rods are equidistantly arranged on the top of the bottom steel ring along the circumferential direction, and the bottom end of each supporting steel rod is fixedly connected to the top end of the bottom steel ring, the slide rail assembly is arranged on the top of the three supporting steel rods, and the bottom of each slide rail assembly is fixedly connected to the top of the three supporting steel rods;

[0010] Further, the slide rail assembly includes an annular slide rail and a linear slide rail, the annular slide rail is arranged on the top of the three supporting steel rods, and the bottom of the annular slide rail is fixedly connected to the top of the three supporting steel rods, an annular inner slide groove with a T-shaped longitudinal section is processed on the inner ring wall of the annular slide rail, the linear slide rail is arranged in the annular slide rail, and the extension direction of the linear slide rail is the same as the extension direction of a diameter in the annular slide rail, both ends of the linear slide rail are embedded in the annular inner slide groove of the annular slide rail, and the two ends of the linear slide rail are respectively slidably connected to the annular slide rail through a No. 1 sliding assembly;

[0011] Two annular rack groups are embedded in the annular inner slide groove, and the two annular rack groups are arranged along the center line of the width direction of the annular inner slide groove. Each annular rack group includes an outer annular rack and an inner annular rack. The outer annular rack is embedded on the outer ring wall of the annular inner slide groove, and the inner annular rack is embedded on the inner ring wall of the annular inner slide groove.

[0012] The No. 1 sliding assembly includes an arc-shaped sliding block, two No. 1 sliding structures and two No. 2 sliding structures. The arc-shaped sliding block is arranged in the inner annular sliding groove, and one end of the arc-shaped sliding block extends outside the inner annular sliding groove and is fixedly connected to one end of the linear slide rail. The two No. 1 sliding structures and the two No. 2 sliding structures are all installed in the arc-shaped sliding block, and each No. 1 sliding structure is correspondingly matched with an outer annular rack, and each No. 2 sliding structure is correspondingly matched with an inner annular rack.

[0013] The No. 1 sliding structure includes a No. 1 driving motor, a No. 1 arc gear fixing frame, a No. 1 driving gear, two No. 1 driven gears and a plurality of No. 1 transmission gears. The No. 1 driving motor is installed in the corresponding arc sliding block. The No. 1 driving gear is mounted on the power output shaft of the No. 1 driving motor. The two No. 1 driven gears are respectively arranged on both sides of the No. 1 driving gear, and the No. 1 driving gear is connected to one No. 1 driven gear through an odd number of No. 1 transmission gears, and the No. 1 driving gear is connected to another No. 1 driven gear through an even number of No. 1 transmission gears. The No. 1 driving gear, the two No. 1 driven gears and the plurality of No. 1 transmission gears are all installed in the arc sliding block through the No. 1 arc gear fixing frame. The toothed portions of the two No. 1 driven gears are all extended to the outside of the arc sliding block and meshed with the corresponding outer annular rack teeth.

[0014] The No. 2 sliding structure includes a No. 2 driving motor, a No. 2 arc gear fixing frame, a No. 2 driving gear, two No. 2 driven gears and a plurality of No. 2 transmission gears. The No. 2 driving motor is installed in the corresponding arc sliding block. The No. 2 driving gear is sleeved on the power output shaft of the No. 2 driving motor. The two No. 2 driven gears are respectively arranged on both sides of the No. 2 driving gear, and the No. 2 driving gear is connected to one No. 2 driven gear through an odd number of No. 2 transmission gears, and the No. 2 driving gear is connected to another No. 2 driven gear through an even number of No. 2 transmission gears. The No. 2 driving gear, the two No. 2 driven gears and the plurality of No. 2 transmission gears are all installed in the arc sliding block through the No. 2 arc gear fixing frame. The toothed portions of the two No. 2 driven gears are all extended to the outside of the arc sliding block and meshed with the corresponding inner annular rack teeth.

[0015] The signal input terminal of the No. 1 drive motor and the signal input terminal of the No. 2 drive motor are both connected to the central control computer signal;

[0016] Furthermore, the motion unit includes a linear slide rail sliding assembly, a suspension rod and a tension adjustment assembly, the linear slide rail sliding assembly is arranged on the linear slide rail and is slidably connected to the linear slide rail, the suspension rod is arranged below the linear slide rail sliding assembly of the suspension rod in the vertical direction, and the top of the suspension rod is fixedly connected to the bottom end of the linear slide rail sliding assembly, the tension adjustment assembly is arranged at the bottom end of the suspension rod, and the top of the tension adjustment assembly is fixedly connected to the suspension rod, the manned suspension unit is arranged at the bottom of the tension adjustment assembly, and the top of the manned suspension unit is detachably connected to the bottom end of the tension adjustment assembly;

[0017] Furthermore, the linear slide rail sliding assembly includes a rectangular sliding block and two No. 3 sliding structures:

[0018] The bottom of the linear slide is processed with a bottom slide groove with a T-shaped longitudinal section along the length extension direction of the linear slide, and two linear racks are arranged in the bottom slide groove, and the length extension direction of each linear rack is the same as the length extension direction of the bottom slide groove. The two linear racks are respectively embedded on one end wall of the transverse groove section in the bottom slide groove, and the toothed parts of the two linear racks are arranged oppositely;

[0019] The rectangular sliding block is arranged in the bottom sliding groove, and the bottom end of the rectangular sliding block extends to the bottom of the bottom sliding groove and is fixedly connected to the top end of the suspension rod, and the two No. 3 sliding structures are both installed in the rectangular sliding block, and each No. 3 sliding structure is arranged in correspondence with a linear rack;

[0020] The No. 3 sliding structure includes a No. 3 driving motor, a rectangular gear fixing frame, a No. 3 driving gear, two No. 3 driven gears and a plurality of No. 3 transmission gears. The No. 3 driving motor is installed in the rectangular sliding block. The No. 3 driving gear is sleeved on the power output shaft of the No. 3 driving motor. The two No. 3 driven gears are respectively arranged on both sides of the No. 3 driving gear, and the No. 3 driving gear is connected to one No. 3 driven gear through an odd number of No. 3 transmission gears, and the No. 3 driving gear is connected to another No. 3 driven gear through an even number of No. 3 transmission gears. The No. 3 driving gear, the two No. 3 driven gears and the plurality of No. 3 transmission gears are all installed in the rectangular sliding block through the rectangular gear fixing frame. The toothed portions of the two No. 3 driven gears are all extended to the outside of the rectangular sliding block and meshed with the corresponding linear rack teeth.

[0021] Further, the tension adjustment assembly includes a pulley frame, a pulley, a weight and a pulley rope, the pulley frame is a U-shaped frame, the closed end of the pulley frame is arranged at the bottom of the suspension rod, and the closed end of the pulley frame is fixedly connected to the suspension rod, the pulley is arranged at the open end of the pulley frame and is rotatably connected to the pulley frame through a rotating shaft, the pulley rope is laid on the pulley, and both ends of the pulley rope extend to the bottom of the pulley frame, one end of the pulley rope is detachably connected to the weight, and the other end of the pulley rope is detachably connected to the manned suspension unit;

[0022] Furthermore, the manned suspension unit includes a laser positioning device and a personnel fixing device, the personnel fixing device is arranged on the other end of the pulley rope and is detachably connected to the pulley rope, and the laser positioning device is integrated on the personnel fixing device;

[0023] Furthermore, the personnel fixing device comprises a fixing belt and two fixing straps, the two fixing straps are arranged on the top of the fixing belt relatively, and the bottom of each fixing strap is detachably connected to the fixing belt, and the laser positioning device is integrated on the fixing belt;

[0024] The beneficial effects of this application compared to the prior art are as follows:

[0025] 1. The present application provides a ground device for simulating movement in a low-gravity environment, which is composed of a circular track and a linear track passing through its diameter to form a double slide rail mechanism to realize the free movement of the experimental object on the horizontal plane. High-precision motors are installed at both ends of the linear track to realize dynamic rotation along the circular trajectory. The experimental object is connected to a vertical suspension rod, which is coupled to the motor on the linear track to realize horizontal movement along the linear track. The specific drive of the motor is realized by a precise transmission mechanism, which is composed of a combination of gears and matching tooth grooves. The motor drives the gear transmission to realize the movement of the slider in the track groove. The dynamic response characteristics of the motor in the transmission mechanism are crucial to achieve precise positioning. The combination of the two can realize the movement and positioning of any point within the circular range of the experimental simulation device to ensure the accuracy of the movement.

[0026] 2. The present application provides a ground device for simulating movement in a low-gravity environment, wherein a laser positioning system is configured at the bottom of the personnel fixing device, which is combined with a receiver on the sole of the experimental subject to achieve high-precision horizontal movement measurement. In addition, the motor drive system at the top of the suspension rod and the real-time data processing capability of the central control computer jointly ensure low-resistance movement and measurement accuracy during the experiment. In the experiment, low-gravity environments of different intensities were simulated by adjusting the tension adjustment mechanism on the suspension device. However, the inertial effect of the suspension system may cause it to be unable to respond to the footsteps of the experimental subject in real time, thereby affecting the human factors engineering experience of the experiment and the accuracy of data measurement. To solve the above problems, this experimental device integrates a real-time feedback control system. When the experimental subject moves in the device, the signal interaction between the laser positioning point and the sole locator is transmitted to the central control computer, which controls the motor on the track to respond quickly to achieve real-time tracking of the movement of the experimental subject and ensure the uniformity of force in the vertical direction, thereby providing a more realistic low-gravity experience to achieve a good integration of the experimenter and the virtual scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1This is a schematic diagram of the structure of the ground device described in this application;

[0028] Figure 2 This is a schematic diagram of the connection between the linear slide rail and the annular slide rail in the ground device described in this application;

[0029] Figure 3 This is a schematic diagram of the connection between the linear slide rail and the linear slide rail sliding assembly in the ground device described in this application.

[0030] Figure 4 This is a schematic diagram of the structure of the No. 1 sliding structure in the ground device described in this application;

[0031] Figure 5 This is a schematic diagram of the structure of the second sliding structure in the ground device described in this application;

[0032] Figure 6 This is a schematic diagram of the structure of the No. 3 sliding structure in the ground device described in this application;

[0033] In the figure, 1 is a supporting steel frame, 2 is a slide rail assembly, 21 is an annular slide rail, 22 is a linear slide rail, 23 is an arc-shaped sliding block, 24 is an outer annular rack, 25 is a No. 1 sliding structure, 251 is a No. 1 driving motor, 252 is a No. 1 arc-shaped gear fixing frame, 253 is a No. 1 driving gear, 254 is a No. 1 driven gear, 255 is a No. 1 transmission gear, 26 is an inner annular rack, 27 is a No. 2 sliding structure, 271 is a No. 2 driving motor, 272 is a No. 2 arc-shaped gear fixing frame, 273 is a No. 1 driving gear, 274 is a No. 1 driving gear, 275 is a No. 1 driving gear, 276 is a No. 1 driving gear, 277 is a No. 1 driving gear, 278 is a No. 1 driving gear, 279 is a No. 2 driving gear, 280 is a No. 1 driving gear, 281 is a No. 1 driving gear, 282 is a No. 1 driving gear, 283 is a No. 1 driving gear, 284 is a No. 1 driving gear, 285 is a No. 1 driving gear, 286 is a No. 1 driving gear, 287 is a No. 1 driving gear, 288 is a No. 1 driving gear, 289 is a No. 1 driving gear, 290 is a No. 2 driving gear, 300 is a No. 1 driving gear, 311 is a No. 1 driving gear, 321 is a No. 1 driving gear, 331 is a No. 1 driving gear, 342 is a No. 1 driving gear, 353 is a No. 1 driving gear, 36 No. 2 driving gear, 274 No. 2 driven gear, 275 No. 2 transmission gear, 28 rectangular sliding block, 29 No. 3 sliding structure, 291 No. 3 driving motor, 292 rectangular gear fixing frame, 293 No. 3 driving gear, 294 No. 3 driven gear, 295 No. 3 transmission gear, 210 linear rack, 3 linear slide rail sliding assembly, 4 suspension rod, 5 laser positioning device, 6 central control computer, 7 tension adjustment assembly, 8 recorder and 9 personnel fixing device. DETAILED DESCRIPTION

[0034] Specific implementation method 1: Combination Figures 1 to 6 To describe this embodiment, a ground device for simulating movement in a low-gravity environment is provided in this embodiment, the ground device includes a frame slide rail unit, a motion unit, a manned suspension unit, a central control computer 6 and a recorder 8. The frame slide rail unit is erected on the ground, the motion unit is arranged in the frame slide rail unit, and the top of the motion unit is slidably connected to the inner top of the frame slide rail unit, the manned suspension unit is arranged at the bottom of the motion unit, and the top of the manned suspension unit is fixedly connected to the bottom of the motion unit, the central control computer 6 and the recorder 8 are both arranged on the outside of the frame slide rail unit, the central control computer 6 is signal-connected to the signal input end in the motion unit and the signal input end in the frame slide rail unit, and the data output end of the recorder 8 is signal-connected to the data input end of the central control computer 6.

[0035] In this embodiment, a ground device for simulating movement in a low-gravity environment is provided, wherein the frame slide rail unit, the motion unit and the manned suspension unit constitute the main body of the experimental device, and the central control computer 6 is the control center serving the entire experimental device. The central control computer controls the operation of the motors in the frame slide rail unit and the motion unit through signal connection according to the preset experimental parameters, so that the device can accurately simulate the horizontal movement in a low-gravity environment. The recorder 8 is installed at different angles in the experimental area to record the video and other data during the experiment in real time, providing complete data support for subsequent experimental analysis. The built-in high-precision camera and sensor in the recorder 8 can capture every detail in the experiment to ensure the accuracy and integrity of the data.

[0036] Specific implementation method 2: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the first embodiment is that the frame slide rail unit includes a supporting steel frame 1 and a slide rail assembly 2. The supporting steel frame 1 is erected on the ground, the slide rail assembly 2 is arranged on the top of the supporting steel frame 1, and the bottom of the slide rail assembly 2 is fixedly connected to the top of the supporting steel frame 1. Other components and connection methods are the same as those of the first embodiment.

[0037] Specific implementation method three: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the second embodiment is that the support steel frame 1 includes a bottom steel ring and three support steel rods. The bottom steel ring is set on the ground. The three support steel rods are equidistantly arranged on the top of the bottom steel ring along the circumferential direction, and the bottom end of each support steel rod is fixedly connected to the top end of the bottom steel ring. The slide rail assembly 2 is set on the top of the three support steel rods, and the bottom of each slide rail assembly 2 is fixedly connected to the top of the three support steel rods. Other components and connection methods are the same as those of the second embodiment.

[0038] Specific implementation method four: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the specific embodiment 3 is that the slide rail assembly 2 includes an annular slide rail 21 and a linear slide rail 22. The annular slide rail 21 is arranged on the top of the three supporting steel rods, and the bottom of the annular slide rail 21 is fixedly connected to the top of the three supporting steel rods. The inner ring wall of the annular slide rail 21 is processed with an annular inner slide groove with a T-shaped longitudinal section. The linear slide rail 22 is arranged in the annular slide rail 21, and the extension direction of the linear slide rail 22 is the same as the extension direction of a diameter in the annular slide rail 21. Both ends of the linear slide rail 22 are embedded in the annular inner slide groove of the annular slide rail 21, and the two ends of the linear slide rail 22 are slidably connected to the annular slide rail 22 through a No. 1 sliding assembly respectively.

[0039] Two annular rack groups are embedded in the annular inner slide groove, and the two annular rack groups are arranged along the center line of the width direction of the annular inner slide groove. Each annular rack group includes an outer annular rack 24 and an inner annular rack 26. The outer annular rack 24 is embedded on the outer ring wall of the annular inner slide groove, and the inner annular rack 26 is embedded on the inner ring wall of the annular inner slide groove.

[0040] The No. 1 sliding assembly includes an arc-shaped sliding block 23, two No. 1 sliding structures 25 and two No. 2 sliding structures 27. The arc-shaped sliding block 21 is arranged in the inner annular sliding groove, and one end of the arc-shaped sliding block 23 extends outside the inner annular sliding groove and is fixedly connected to one end of the linear slide rail 22. The two No. 1 sliding structures 25 and the two No. 2 sliding structures 27 are all installed in the arc-shaped sliding block 23, and each No. 1 sliding structure 25 is correspondingly matched with an outer annular rack 24, and each No. 2 sliding structure 27 is correspondingly matched with an inner annular rack 26.

[0041] The first sliding structure 25 includes a first driving motor 251, a first arc gear fixing frame 252, a first driving gear 253, two first driven gears 254 and a plurality of first transmission gears 255. The first driving motor 251 is installed in the corresponding arc sliding block 23. The first driving gear 253 is mounted on the power output shaft of the first driving motor 251. The two first driven gears 254 are respectively arranged on both sides of the first driving gear 253, and the first driving gear 253 is connected to the first driving gear 253 through an odd number of first transmission gears. The wheel 255 is connected to a No. 1 driven gear 254 in transmission connection, the No. 1 driving gear 253 is connected to another No. 1 driven gear 253 in transmission connection through an even number of No. 1 transmission gears 255, the No. 1 driving gear 254, two No. 1 driven gears 254 and a plurality of No. 1 transmission gears 255 are all installed in the arc-shaped sliding block 23 through a No. 1 arc-shaped gear fixing frame 252, and the toothed portions of the two No. 1 driven gears 254 are both extended to the outside of the arc-shaped sliding block 23 and meshed with the corresponding outer annular rack 24;

[0042] The second sliding structure 27 includes a second driving motor 271, a second arc gear fixing frame 272, a second driving gear 273, two second driven gears 274 and a plurality of second transmission gears 275. The second driving motor 271 is installed in the corresponding arc sliding block 23, the second driving gear 273 is sleeved on the power output shaft of the second driving motor 271, the two second driven gears 274 are respectively arranged on both sides of the second driving gear 273, and the second driving gear 273 is connected to the second driving gear 273 through an odd number of second transmission gears. The wheel 275 is connected to a No. 2 driven gear 274 by transmission, and the No. 2 driving gear 273 is connected to another No. 2 driven gear 274 by transmission through an even number of No. 2 transmission gears 275. The No. 2 driving gear 273, two No. 2 driven gears 274 and a plurality of No. 2 transmission gears 275 are all installed in the arc-shaped sliding block 23 through the No. 2 arc-shaped gear fixing frame 272. The toothed portions of the two No. 2 driven gears 274 extend to the outside of the arc-shaped sliding block 23 and mesh with the corresponding inner annular rack 26.

[0043] The signal input end of the first drive motor and the signal input end of the second drive motor are both connected to the central control computer 6. Other components and connection methods are the same as those of the third specific implementation method.

[0044] In combination with the description of specific embodiments two to four, the supporting steel frame 1 is the basic frame of the entire device and is made of solid metal material to ensure the stability and durability of the entire device. The annular slide is firmly welded to the top of the supporting steel frame to form a closed circular track, which is used to support and guide the linear slide to rotate around the center of the annular slide during the experiment. The annular slide is made of high-strength material and welded to the top of the supporting steel frame 1 to guide the arc-shaped sliding block at the end of the linear slide to perform circular motion. A load-bearing arm is welded on the top of the linear slide to ensure the supporting strength of the linear slide. The two ends of the linear slide are embedded in the interior of the annular slide through an arc-shaped sliding block. A gear sliding component is installed inside the arc-shaped sliding block, and a series of precisely machined racks that match the gears on the arc-shaped sliding block are designed on the inner wall of the annular slide. The gear meshing rack transmission is driven by a motor, so that the whole composed of the linear slide and the load-bearing arm can move smoothly along the annular slide, providing precise horizontal movement capability.

[0045] Specific implementation method five: Combination Figures 1 to 6This embodiment is described. The difference between this embodiment and the fourth embodiment is that the motion unit includes a linear slide rail sliding assembly 3, a suspension rod 4 and a tension adjustment assembly 7. The linear slide rail sliding assembly 3 is arranged on the linear slide rail and is slidably connected to the linear slide rail. The suspension rod 4 is arranged below the linear slide rail sliding assembly 3 of the suspension rod 4 in the vertical direction, and the top of the suspension rod 4 is fixedly connected to the bottom of the linear slide rail sliding assembly 3. The tension adjustment assembly 7 is arranged at the bottom of the suspension rod 4, and the top of the tension adjustment assembly 7 is fixedly connected to the suspension rod 4. The manned suspension unit is arranged at the bottom of the tension adjustment assembly 7, and the top of the manned suspension unit is detachably connected to the bottom of the tension adjustment assembly 7. Other components and connection methods are the same as those of the fourth embodiment.

[0046] Specific implementation method six: Combination Figures 1 to 6 To explain this embodiment, this embodiment differs from the specific embodiment 5 in that the linear guide rail sliding assembly 3 includes a rectangular sliding block 28 and two No. 3 sliding structures 29;

[0047] The bottom of the linear slide is processed with a bottom slide groove with a T-shaped longitudinal section along the length extension direction of the linear slide. Two linear racks 210 are arranged in the bottom slide groove, and the length extension direction of each linear rack 210 is the same as the length extension direction of the bottom slide groove. The two linear racks 210 are respectively embedded on one end wall of the transverse groove section in the bottom slide groove, and the toothed parts of the two linear racks 210 are arranged oppositely.

[0048] The rectangular sliding block 28 is arranged in the bottom slide groove, and the bottom end of the rectangular sliding block 28 extends to the bottom of the bottom slide groove and is fixedly connected to the top end of the suspension rod 4. Two No. 3 sliding structures 29 are installed in the rectangular sliding block 28, and each No. 3 sliding structure 29 is arranged in correspondence with a linear rack 210.

[0049] The third sliding structure 29 includes a third driving motor 291, a rectangular gear fixing frame 292, a third driving gear 293, two third driven gears 294 and a plurality of third transmission gears 295. The third driving motor 291 is installed in the rectangular sliding block 28. The third driving gear 293 is sleeved on the power output shaft of the third driving motor 291. The two third driven gears 294 are respectively arranged on both sides of the third driving gear 293. The third driving gear 293 is connected to a third driven gear 294 through an odd number of third transmission gears 295. 94 transmission connection, the third driving gear 293 is transmission connected with another third driven gear 294 through an even number of third transmission gears 295, the third driving gear 293, two third driven gears 294 and a plurality of third transmission gears 295 are all installed in the rectangular sliding block 28 through a rectangular gear fixing frame 292, the toothed portions of the two third driven gears 294 are extended to the outside of the rectangular sliding block 28 and meshed with the corresponding linear rack 210, and the signal input end of the third driving motor 291 is signal-connected to the central control computer 6. Other components and connection methods are the same as those in the specific embodiment 5.

[0050] Specific implementation method seven: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the sixth embodiment is that the tension adjustment assembly 7 includes a pulley frame, a pulley, a weight and a pulley rope. The pulley frame is a U-shaped frame. The closed end of the pulley frame is arranged at the bottom of the suspension rod 4, and the closed end of the pulley frame is fixedly connected to the suspension rod 4. The pulley is arranged at the open end of the pulley frame and is rotatably connected to the pulley frame through a rotating shaft. The pulley rope is laid on the pulley, and both ends of the pulley rope extend to the bottom of the pulley frame. One end of the pulley rope is detachably connected to the weight, and the other end of the pulley rope is detachably connected to the manned suspension unit. Other components and connection methods are the same as those of the sixth embodiment.

[0051] In combination with the description of the fifth to seventh embodiments, the driving mechanism of the rectangular sliding block involves an integrated motor system, which realizes precise power transmission through the gears on the rectangular sliding block. Two No. 3 driven gears are respectively provided on both sides of the rectangular sliding block, and the No. 3 driven gears are meshed with the linear racks on the inner wall of the linear slide rail to form an efficient transmission system. The rotational motion of the No. 3 driving motor is converted into the linear motion of the rectangular sliding block on the linear track through the gear transmission system. The rectangular sliding block can move freely in the horizontal plane through the cooperation of the linear slide rail and the annular slide rail. The suspension rod 4 is used to suspend the manned suspension unit. The suspension rod 4 ensures that the suspended object maintains balance during the movement to avoid swaying or instability caused by movement. A tension adjustment component 7 is provided between the suspension rod 4 and the manned suspension unit, and the tension adjustment component 7 is used to provide a constant tension in the vertical direction to the ground. The device can automatically adjust the tension according to the weight of the person or object in the experiment, ensure the stability of the suspension force during the experiment, and simulate the real state in a low gravity environment.

[0052] Specific implementation method eight: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the seventh embodiment is that the manned suspension unit includes a laser positioning device 5 and a personnel fixing device 9. The personnel fixing device 9 is arranged on the other end of the pulley rope and is detachably connected to the pulley rope, and the laser positioning device 5 is integrated on the personnel fixing device 9. Other components and connection methods are the same as those of the seventh embodiment.

[0053] Specific implementation method nine: Combination Figures 1 to 6 This embodiment is described. The difference between this embodiment and the eighth embodiment is that the personnel fixing device 9 includes a fixed waist belt and two fixed shoulder straps, the two fixed shoulder straps are arranged on the top of the fixed waist belt, and the bottom of each fixed shoulder strap is detachably connected to the fixed waist belt, and the laser positioning device 5 is integrated on the fixed waist belt. The other components and connection methods are the same as those of the eighth embodiment.

[0054] In combination with the eighth and ninth embodiments, the laser positioning device 5 is installed on the fixed belt of the personnel fixing device 9. At the same time, in order to cooperate with the work of the laser positioning device 5, a corresponding laser emitting unit is also set on the sole of the experimenter's foot. The laser positioning device 5 is used to monitor and record the position changes of the person or object during the experiment in real time, and provide accurate position information feedback. When the laser positioning device 5 is used, a corresponding paving part will also be configured. The paving part ensures the flatness of the experimental ground to avoid the uneven ground from affecting the experimental results. The personnel fixing device 9 fixes the person or object in the experiment. The device is designed to be adjustable and can be adjusted according to the size and shape of different experimental objects to ensure the safety and stability of the experimental objects during the experiment.

[0055] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0056] How it works

[0057] When the present application is working, first check the stability of the device, then start the central control computer 6, check whether the annular slide rail 21 and the arc-shaped slide block 23 slide correctly, and whether the linear slide rail 22 and the rectangular slide block 28 slide correctly, turn on the recorder 8 and the laser positioning device 5, connect them to the central control computer 6, the experimenter wears the personnel fixing device 9, starts the laser positioning device 5 on the personnel fixing device 9, adjusts the appropriate pulling force required to achieve the corresponding low-gravity simulation effect, and then the experimenter simply walks a few steps to debug whether the upper device can move freely with the person. After everything is correct, the system can start the relevant human factors experiment of low-gravity simulation.

[0058] The area defined by the annular slide rail 21 in this application constitutes the maximum spatial range of the activity. In this space, we constructed a plane rectangular coordinate system that covers the vertical space from the ground to a height of 4 meters. In order to achieve accurate position tracking, the laser positioning device 5 needs to have a refresh rate of at least 50 Hz, capture position information by point recording, and simulate the motion path based on the position changes of these points over time. The collected data is transmitted to the central control computer 6, and after processing, the path is fitted, and at the same time, combined with the newly received position point data, the path is optimized in real time to ensure that the two sets of sliders (arc slider 23 and rectangular slider 28) can achieve the conversion of the target position with the shortest moving distance. In addition, the system needs to have the ability to respond immediately to changes in the experimenter's moving path, that is, it can terminate the currently executed instructions and immediately execute new instructions, and the new instructions have a higher execution priority. These instructions are executed by the motors equipped with the sliders, and the two sets of sliders can move in coordination within the same time period.

Claims

1. A ground device for simulating movement in a low gravity environment, characterized in that: The ground device comprises a frame slide rail unit, a motion unit, a manned suspension unit, a central control computer (6) and a recorder (8). The frame slide rail unit is erected on the ground, the motion unit is arranged in the frame slide rail unit, and the top of the motion unit is slidably connected to the inner top of the frame slide rail unit, the manned suspension unit is arranged at the bottom of the motion unit, and the top of the manned suspension unit is fixedly connected to the bottom of the motion unit, the central control computer (6) and the recorder (8) are both arranged on the outside of the frame slide rail unit, the central control computer (6) is signal-connected to the signal input end in the motion unit and the signal input end in the frame slide rail unit, and the data output end of the recorder (8) is signal-connected to the data input end of the central control computer (6).

2. A ground device for simulating movement in a low gravity environment according to claim 1, characterized in that: The frame slide rail unit comprises a supporting steel frame (1) and a slide rail assembly (2); the supporting steel frame (1) is erected on the ground, the slide rail assembly (2) is arranged on the top of the supporting steel frame (1), and the bottom of the slide rail assembly (2) is fixedly connected to the top of the supporting steel frame (1).

3. A ground device for simulating movement in a low gravity environment according to claim 2, characterized in that: The support steel frame (1) comprises a bottom steel ring and three support steel rods, the bottom steel ring is arranged on the ground, the three support steel rods are equidistantly arranged on the top of the bottom steel ring along the circumferential direction, and the bottom end of each support steel rod is fixedly connected to the top end of the bottom steel ring, the slide rail assembly (2) is arranged on the top of the three support steel rods, and the bottom of the slide rail assembly (2) is fixedly connected to the top of the three support steel rods.

4. A ground device for simulating movement in a low gravity environment according to claim 3, characterized in that: The slide rail assembly (2) comprises an annular slide rail (21) and a linear slide rail (22); the annular slide rail (21) is arranged at the top of three supporting steel rods, and the bottom of the annular slide rail (21) is fixedly connected to the top of the three supporting steel rods; an annular inner slide groove with a T-shaped longitudinal section is processed on the inner ring wall of the annular slide rail (21); the linear slide rail (22) is arranged in the annular slide rail (21), and the extension direction of the linear slide rail (22) is the same as the extension direction of a diameter in the annular slide rail (21); both ends of the linear slide rail (22) are embedded in the annular inner slide groove of the annular slide rail (21), and the two ends of the linear slide rail (22) are respectively slidably connected to the annular slide rail (22) through a No. 1 sliding assembly; Two annular rack groups are embedded in the annular inner slide groove, and the two annular rack groups are arranged along the center line of the width direction of the annular inner slide groove, each annular rack group includes an outer annular rack (24) and an inner annular rack (26), the outer annular rack (24) is embedded on the outer ring wall of the annular inner slide groove, and the inner annular rack (26) is embedded on the inner ring wall of the annular inner slide groove; The No. 1 sliding assembly comprises an arc-shaped sliding block (23), two No. 1 sliding structures (25) and two No. 2 sliding structures (27), the arc-shaped sliding block (21) is arranged in the inner annular sliding groove, and one end of the arc-shaped sliding block (23) extends outside the inner annular sliding groove and is fixedly connected to one end of the linear slide rail (22), the two No. 1 sliding structures (25) and the two No. 2 sliding structures (27) are all installed in the arc-shaped sliding block (23), and each No. 1 sliding structure (25) is correspondingly matched with an outer annular rack (24), and each No. 2 sliding structure (27) is correspondingly matched with an inner annular rack (26); The first sliding structure (25) comprises a first driving motor (251), a first arc-shaped gear fixing frame (252), a first driving gear (253), two first driven gears (254) and a plurality of first transmission gears (255). The first driving motor (251) is installed in the corresponding arc-shaped sliding block (23). The first driving gear (253) is mounted on the power output shaft of the first driving motor (251). The two first driven gears (254) are respectively arranged on both sides of the first driving gear (253). The first driving gear (253) is connected to the first driving gear (253) through an odd number of first transmission gears. The wheel (255) is connected to a No. 1 driven gear (254) by transmission, the No. 1 driving gear (253) is connected to another No. 1 driven gear (253) by transmission through an even number of No. 1 transmission gears (255), the No. 1 driving gear (254), two No. 1 driven gears (254) and a plurality of No. 1 transmission gears (255) are all installed in the arc-shaped sliding block (23) through a No. 1 arc-shaped gear fixing frame (252), and the toothed portions of the two No. 1 driven gears (254) are both extended to the outside of the arc-shaped sliding block (23) and meshed with the corresponding outer annular rack (24) teeth; The second sliding structure (27) comprises a second driving motor (271), a second arc gear fixing frame (272), a second driving gear (273), two second driven gears (274) and a plurality of second transmission gears (275). The second driving motor (271) is installed in the corresponding arc sliding block (23). The second driving gear (273) is sleeved on the power output shaft of the second driving motor (271). The two second driven gears (274) are respectively arranged on both sides of the second driving gear (273). The second driving gear (273) is connected to the second driving gear (273) through an odd number of second transmission gears. The wheel (275) is connected to a No. 2 driven gear (274) in transmission connection, the No. 2 driving gear (273) wheel is connected to another No. 2 driven gear (274) in transmission connection through an even number of No. 2 transmission gears (275), the No. 2 driving gear (273), two No. 2 driven gears (274) and a plurality of No. 2 transmission gears (275) are all installed in the arc-shaped sliding block (23) through the No. 2 arc-shaped gear fixing frame (272), and the toothed parts of the two No. 2 driven gears (274) are extended to the outside of the arc-shaped sliding block (23) and meshed with the corresponding inner annular rack (26) teeth; The signal input end of the No. 1 drive motor and the signal input end of the No. 2 drive motor are both connected to the central control computer (6) by signal.

5. A ground device for simulating movement in a low gravity environment according to claim 4, characterized in that: The motion unit comprises a linear slide rail sliding assembly (3), a suspension rod (4) and a tension adjustment assembly (7); the linear slide rail sliding assembly (3) is arranged on the linear slide rail and is slidably connected to the linear slide rail; the suspension rod (4) is arranged below the linear slide rail sliding assembly (3) of the suspension rod (4) in the vertical direction, and the top of the suspension rod (4) is fixedly connected to the bottom of the linear slide rail sliding assembly (3); the tension adjustment assembly (7) is arranged at the bottom of the suspension rod (4), and the top of the tension adjustment assembly (7) is fixedly connected to the suspension rod (4); the passenger suspension unit is arranged at the bottom of the tension adjustment assembly (7), and the top of the passenger suspension unit is detachably connected to the bottom of the tension adjustment assembly (7).

6. A ground device for simulating movement in a low gravity environment according to claim 5, characterized in that: The linear slide rail sliding assembly (3) comprises a rectangular sliding block (28) and two No. 3 sliding structures (29); The bottom of the linear slide is processed with a bottom slide groove with a T-shaped longitudinal section along the length extension direction of the linear slide groove, and two linear racks (210) are arranged in the bottom slide groove, and the length extension direction of each linear rack (210) is the same as the length extension direction of the bottom slide groove. The two linear racks (210) are respectively embedded on one end wall of the transverse groove section in the bottom slide groove, and the toothed parts of the two linear racks (210) are arranged opposite to each other; The rectangular sliding block (28) is arranged in the bottom sliding groove, and the bottom end of the rectangular sliding block (28) extends to the bottom of the bottom sliding groove and is fixedly connected to the top end of the suspension rod (4), and the two No. 3 sliding structures (29) are both installed in the rectangular sliding block (28), and each No. 3 sliding structure (29) is arranged in correspondence with a linear rack (210); The third sliding structure (29) comprises a third driving motor (291), a rectangular gear fixing frame (292), a third driving gear (293), two third driven gears (294) and a plurality of third transmission gears (295). The third driving motor (291) is installed in the rectangular sliding block (28). The third driving gear (293) is sleeved on the power output shaft of the third driving motor (291). The two third driven gears (294) are respectively arranged on both sides of the third driving gear (293). The third driving gear (293) is connected to a third driven gear (294) through an odd number of third transmission gears (295). The third driving gear (293) is connected to the third driven gear (294) through an even number of third transmission gears (295), the third driving gear (293) is connected to another third driven gear (294) through a even number of third transmission gears (295), the third driving gear (293), two third driven gears (294) and a plurality of third transmission gears (295) are installed in the rectangular sliding block (28) through a rectangular gear fixing frame (292), the toothed portions of the two third driven gears (294) are extended to the outside of the rectangular sliding block (28) and are meshed with the corresponding linear rack (210), and the signal input end of the third driving motor (291) is connected to the central control computer (6) for signal.

7. A ground device for simulating movement in a low gravity environment according to claim 6, characterized in that: The tension adjustment component (7) comprises a pulley frame, a pulley, a weight and a pulley rope. The pulley frame is a U-shaped frame. The closed end of the pulley frame is arranged at the bottom of the suspension rod (4), and the closed end of the pulley frame is fixedly connected to the suspension rod (4). The pulley is arranged at the open end of the pulley frame and is rotatably connected to the pulley frame through a rotating shaft. The pulley rope is laid on the pulley, and both ends of the pulley rope extend to the bottom of the pulley frame. One end of the pulley rope is detachably connected to the weight, and the other end of the pulley rope is detachably connected to the manned suspension unit.

8. A ground device for simulating movement in a low gravity environment according to claim 7, characterized in that: The manned suspension unit comprises a laser positioning device (5) and a personnel fixing device (9), wherein the personnel fixing device (9) is arranged on the other end of the pulley rope and is detachably connected to the pulley rope, and the laser positioning device (5) is integrated on the personnel fixing device (9).

9. A ground device for simulating movement in a low gravity environment according to claim 8, characterized in that: The personnel fixing device (9) comprises a fixing waist belt and two fixing shoulder straps, wherein the two fixing shoulder straps are arranged opposite to each other on the top of the fixing waist belt, and the bottom of each fixing shoulder strap is detachably connected to the fixing waist belt, and the laser positioning device (5) is integrated on the fixing waist belt.

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