A micro-low gravity simulation device for aerospace popular science experience

Abstract

The application relates to a micro-low-gravity simulation device for aerospace popular science experience, and relates to the technical field of aerospace ground simulation systems. The application is used for solving the problem that an existing partial suspension system is prone to additional horizontal disturbance force and sling tension fluctuation when an experimenter is in high dynamic motion. The application comprises a support frame, a constant tension control mechanism, a two-dimensional dynamic tracking mechanism, a bearing connecting mechanism and an electric control box, the constant tension control mechanism and the two-dimensional dynamic tracking mechanism are electrically connected with the electric control box, the constant tension control mechanism provides stable and controllable constant tension in the vertical direction for the bearing connecting mechanism, the two-dimensional dynamic tracking mechanism is arranged on the upper portion of the support frame and is used for driving the bearing connecting mechanism to move in two dimensions, so that the stable unloading tension in the vertical direction is guaranteed. The application is used for aerospace popular science experience.

Description

Technical Field

[0001] This invention relates to the field of aerospace ground simulation system technology, specifically to a micro-low gravity simulation device for aerospace science popularization experience. Background Technology

[0002] Considering the needs of aerospace science popularization demonstrations, low-gravity motion experiences, and ground-based simulation teaching, micro-low gravity environments such as lunar and Martian gravity environments are difficult to obtain directly on the ground. Specialized micro-low gravity simulation devices are typically required to partially unload the gravity on the participant or payload to reproduce the motion state under low gravity conditions. Therefore, the simulation accuracy, servo performance, and operational stability of the micro-low gravity simulation device directly affect the ground simulation results. Currently, micro-low gravity ground simulation technologies mainly include air buoyancy, water buoyancy, parabolic flight, and suspended gravity unloading methods. Among these, the suspended gravity unloading method, due to its ability to achieve long-term, continuous gravity compensation, has been widely used in astronaut ground training and spacecraft performance testing. Existing suspended micro-low gravity simulation systems typically consist of a constant tension control unit and a horizontal servo unit. By providing a constant vertical compensation force to the participant and maintaining the direction of the suspension cable basically consistent with the direction of gravity, a low-gravity environment simulation is achieved.

[0003] However, existing microgravity simulation devices are primarily designed for professional aerospace missions and generally suffer from large system size, complex structure, and high manufacturing and deployment costs, making them unsuitable for the miniaturized and low-cost application needs of science museums, school science popularization bases, and other similar venues. Furthermore, some existing suspended simulation systems still suffer from problems such as large additional inertia, significant mechanical friction, or insufficient high-dynamic response during motion, leading to additional horizontal interference forces generated during the movement of the participants, affecting the accuracy of the gravity unloading direction and the fidelity of the simulation process. Simultaneously, when the suspension point position changes abruptly or the participant's motion state changes rapidly, the tension of the suspension cable is prone to fluctuation, impacting system stability and safety. Therefore, for aerospace science popularization and youth experience scenarios, there is an urgent need for a compact, cost-effective, stable unloading device capable of maintaining the verticality of the suspension cable, allowing the general public to safely and intuitively experience low-gravity environments such as the Moon and Mars. Summary of the Invention

[0004] In order to solve the problem that some existing suspension systems are prone to generating additional horizontal interference forces and cable tension fluctuations when the user is in high dynamic motion, this invention proposes a micro-low gravity simulation device for aerospace science popularization experience.

[0005] The technical application adopted by this invention to solve the above-mentioned technical problems is as follows:

[0006] A micro-low gravity simulation device for aerospace science popularization experience includes a support frame, a constant tension control mechanism, a two-dimensional dynamic tracking mechanism, a load-bearing connection mechanism, and an electrical control box. The constant tension control mechanism and the two-dimensional dynamic tracking mechanism are electrically connected to the electrical control box. The constant tension control mechanism provides a stable and controllable constant tension in the vertical direction to the load-bearing connection mechanism. The two-dimensional dynamic tracking mechanism is located on the upper part of the support frame and is used to drive the load-bearing connection mechanism to perform two-dimensional following movement to ensure stable unloading of the tension in the vertical direction.

[0007] Furthermore, the constant tension control mechanism includes a servo motor, a winding mechanism, a pulley block, a force sensor, and a spring buffer mechanism. The servo motor is connected to the winding mechanism. One end of the sling in the pulley block is fixed to and wound around the winding mechanism, and the other end of the sling is connected to one end of the spring buffer mechanism. The other end of the spring buffer mechanism is fixed to the support frame. The force sensor is set at the upper end of the hook in the pulley block to capture changes in tension in real time, drive the servo motor to rotate to compensate for the displacement of the sling, and maintain the tension of the sling within the set target range.

[0008] Furthermore, the spring buffer mechanism is mounted on the support frame diagonally opposite to the servo motor and the winding mechanism. The spring buffer mechanism is vertically mounted, with its upper end fixedly connected to the other end of the sling in the pulley block, and its lower end fixedly connected to the support frame.

[0009] Furthermore, the two-dimensional dynamic tracking mechanism includes a set of X-axis guide rails, a set of X-axis movable slides, a set of Y-axis guide rails, a set of Y-axis movable slides, an X-axis drive motor, a Y-axis drive motor, an X-axis transmission mechanism, and a Y-axis transmission mechanism. The X-axis guide rails are fixed to the upper end of the support frame, and the X-axis movable slides are set on the X-axis guide rails. The X-axis drive motors drive the X-axis movable slides to slide along the X-axis guide rails through the X-axis transmission mechanism. The Y-axis guide rails are fixed to the X-axis movable slides, and the Y-axis movable slides are set on the Y-axis guide rails. The Y-axis drive motors drive the Y-axis movable slides to slide along the Y-axis guide rails through the Y-axis transmission mechanism. The hook in the pulley block moves with the Y-axis movable slides.

[0010] Furthermore, the pulley block includes a movable pulley, a hook, a sling, and multiple fixed pulleys. The sling suspends the movable pulley below the Y-axis movable slide block through the multiple fixed pulleys, and the hook is connected to the movable pulley through a force sensor.

[0011] Furthermore, the micro-low gravity simulation device for aerospace science popularization experience also includes a position detection unit, which is located on the outer side of the support frame and electrically connected to the position detection unit control box.

[0012] Furthermore, the position detection unit measures the position of the load-bearing connection mechanism and the two-dimensional dynamic tracking mechanism. When there is a deviation between the two, the X-axis drive motor and the Y-axis drive motor move in tandem to keep the hook in a plumb state.

[0013] Furthermore, the position detection unit includes a motion capture component and a displacement detection component. The motion capture component measures the position of the load-bearing connection mechanism, and the displacement detection component measures the position of the two-dimensional dynamic tracking mechanism.

[0014] Furthermore, the position detection unit includes a motion capture component that simultaneously measures the positions of the load-bearing connection mechanism and the two-dimensional dynamic tracking mechanism.

[0015] Furthermore, the motion capture component includes multiple motion capture cameras, which are symmetrically and evenly distributed along the circumferential direction on the outside of the support frame via camera mounting brackets, with the motion capture cameras facing the load-bearing connection mechanism.

[0016] The beneficial effects of this invention compared to the prior art are:

[0017] 1. Compact structure, reduced cost, and suitable for widespread use: This invention breaks through the limitations of traditional aerospace microgravity simulation equipment, which is expensive and has a large system size. It adopts a modular support frame and compact electromechanical design, which has a small footprint and flexible deployment, significantly reducing manufacturing costs and solving the problem of widespread deployment in public venues.

[0018] 2. Composite constant force control with strong impact resistance: This invention innovatively combines a passive spring buffer mechanism with an active servo motor closed-loop control; the spring buffer mechanism quickly absorbs the high-frequency impact tension generated by the human body during high-dynamic jumps or landings, and the servo motor performs smooth active displacement compensation, which greatly improves the system's adaptability to the intense movement of people, avoids frequent fluctuations in tension, and ensures the safety and comfort of constant force unloading.

[0019] 3. Complete decoupling of follow-up motion, improving simulation fidelity: This invention addresses the coupling interference problem that easily occurs during two-dimensional horizontal follow-up motion by designing a fixed rope length routing mechanism, which ensures that the horizontal following motion of the XY bidirectional platform does not interfere with the vertical extension and retraction of the sling; this ensures that the sling can maintain a vertical state without damping and with precision, effectively eliminating parasitic interference forces in the horizontal direction and improving the physical fidelity of simulations of micro-low gravity environments such as 1 / 6 gravity.

[0020] 4. Safe and reliable, suitable for frequent use in science education: The overall structure is stable, the movements are gentle, and the response is fast. With mechanical limit and safety restraint design, it can withstand high-frequency use; stable operation and high safety make it suitable for teenagers and the general public.

[0021] 5. Low height, solving space constraints, suitable for indoor exhibitions: The combination of active and passive control, with active servo constant force control and passive spring system connected in series, and force transmitted through pulleys, can reduce the overall height of the system and reduce the dead zone in the vertical direction, making it more suitable for the limited spaces of laboratories and science museums.

[0022] 6. Unlock more motion calculations: Using a motion capture system can better adapt to the various motion calculations of the target audience and meet the needs of popular science education. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure after removing the position detection unit in this invention;

[0025] Figure 3 This is a schematic diagram of the constant tension control mechanism in this invention;

[0026] Figure 4 This is a schematic diagram of the two-dimensional dynamic tracking mechanism in this invention;

[0027] Figure 5 This is a schematic diagram of the overall force distribution of the micro-low gravity simulation device of the present invention;

[0028] Figure 6 This is a schematic diagram of the control principle of the electronic control system in this invention. Detailed Implementation

[0029] To make the technical problems solved by this invention, the technical applications, and the beneficial effects clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0030] Specific implementation method one: Combining Figures 1 to 6 This embodiment describes a micro-low gravity simulation device for aerospace science popularization experience, comprising a support frame 1, a constant tension control mechanism 2, a two-dimensional dynamic tracking mechanism 3, a load-bearing connection mechanism, and an electrical control box 4. The constant tension control mechanism 2 and the two-dimensional dynamic tracking mechanism 3 are electrically connected to the electrical control box 4. The constant tension control mechanism 2 provides a stable and controllable constant tension in the vertical direction to the load-bearing connection mechanism. The two-dimensional dynamic tracking mechanism 3 is located on the upper part of the support frame 1 and is used to drive the load-bearing connection mechanism to perform two-dimensional following movement to ensure stable unloading of the tension in the vertical direction.

[0031] The overall space occupied by the support frame 1 is designed to be 1.5m×2m×3m. The effective experience area of ​​the two-dimensional dynamic tracking mechanism 3 is 1.5m×2m, and the maximum movement speed is 2m / s. The constant tension control mechanism 2 supports the unloading of gravity by a participant with a maximum weight of 100kg, and the dynamic gravity unloading accuracy is controlled within 10%.

[0032] The control circuit of the electrical control box 4 is connected to a 220V AC power supply, with a total power requirement of 2kW. The electrical control box 4 is equipped with an industrial computer, main power switch, servo driver, relay module, power module and emergency stop protection circuit.

[0033] The load-bearing connection mechanism includes a connection mechanism and a safety mechanism. The connection mechanism is connected to the hook, and the safety mechanism is installed on the connection mechanism.

[0034] The safety protection module includes a safety belt, software limiters, and mechanical limiters, which respectively limit the movement range of the two-dimensional dynamic tracking system and cut off the drive output in abnormal conditions.

[0035] The support frame 1 serves as the main load-bearing structure and is fixed in the work environment. The constant tension control mechanism 2 is used to provide the user with a stable and controllable constant vertical tension in real time to compensate for part of the user's weight. The two-dimensional dynamic tracking mechanism 3 is used to drive the suspension point of the constant tension control mechanism 2 to move in two dimensions in the horizontal plane according to the user's horizontal movement state, keeping the sling always in a vertical state and ensuring that the unloading direction of the constant tension is not disturbed by the horizontal.

[0036] like Figure 2 As shown, the support frame 1 is fixed at the top of the work area, the two-dimensional dynamic tracking mechanism 3 is installed on the support frame 1, and the constant tension control mechanism 2 is installed at the moving end of the two-dimensional dynamic tracking mechanism 3. The output end of the constant tension control mechanism 2 is connected to the load-bearing connection mechanism via a sling, which is used to connect with the user. The device is based on the principle of suspended microgravity simulation. By providing the user with a constant upward tension equivalent to 5 / 6 of their body weight and strictly controlling the magnitude and direction of the tension, it achieves dynamic simulation of a lunar gravity environment of 1 / 6.

[0037] The support frame 1 can be a profile frame or a steel structure frame, which is easy to install, stable and reliable. It is fixed to the indoor top load-bearing structure to form the main load-bearing foundation of the device. The load-bearing connection mechanism can be a sling-type wearable structure, which is connected to the waist or torso of the user. The unloading force output by the constant tension control mechanism 2 is stably transmitted to the user.

[0038] like Figure 6 As shown, when the micro-low gravity simulation device of this embodiment is subjected to force, the user is mainly subjected to their own weight G, the upward pulling force T transmitted by the bearing connection mechanism, and the supporting reaction force N of the ground. When the upward pulling force T output by the constant tension control mechanism 2 is set to 5 / 6 of the user's weight, the user is equivalent to being in a lunar gravity environment of 1 / 6 on the ground. At the same time, the two-dimensional dynamic tracking mechanism 3 keeps the sling as vertical as possible, so that the direction of the sling tension T is basically consistent with the direction of gravity, reducing the horizontal additional force and improving the realism of the micro-low gravity simulation.

[0039] Specific Implementation Method Two: Combining Figures 1 to 6 This embodiment describes a constant tension control mechanism 2, which includes a servo motor 2-1, a winding mechanism 2-2, a pulley block 2-3, a force sensor 2-4, and a spring buffer mechanism 2-5. The servo motor 2-1 is connected to the winding mechanism 2-2. One end of the sling in the pulley block 2-3 is fixed to and wound around the winding mechanism 2-2, and the other end of the sling is connected to one end of the spring buffer mechanism 2-5. The other end of the spring buffer mechanism 2-5 is fixed to the support frame 1. The force sensor 2-4 is located at the upper end of the hook in the pulley block 2-3 to capture changes in tension in real time, drive the servo motor 2-1 to rotate to compensate for the displacement of the sling, and maintain the tension of the sling within the set target range.

[0040] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment 1.

[0041] The constant tension control system includes a servo motor, a transmission pulley block, a force sensor, a spring buffer mechanism, and a sling. The servo motor 2-1 is mounted on the support frame 1 and operates the sling by winding and unwinding the pulley block 2-3. The spring buffer mechanism 2-5 and the force sensor 2-4 are connected in series in the transmission circuit of the sling. When the user jumps or falls, causing a sudden change in the position of the suspension point, the spring buffer mechanism 2-5 responds quickly through its own deformation and absorbs the high-frequency impact of the tension. This change in tension is captured in real time by the force sensor 2-4 and quickly adjusted. The servo motor 2-1 synchronously compensates for the length of the sling, so that the tension is always stable at the set value.

[0042] This implementation adopts a combination of active and passive methods, with a spring buffer mechanism 2-5 providing basic tension and a servo motor 2-1 performing compensation to ensure suspension accuracy; for closed-loop oscillation, filtering and vibration suppression strategies are configured to improve the stability of dynamic working conditions.

[0043] like Figure 3 As shown, in this embodiment, the servo motor 2-1 is connected to the winding mechanism 2-2 to drive the sling winding and unwinding; one end of the sling is wound around the winding mechanism 2-2; the force sensor 2-4 is set on the force transmission path of the sling to detect the sling tension in real time; the spring buffer mechanism 2-5 is connected in series with the force transmission chain of the sling to absorb transient impacts and alleviate tension fluctuations when the position of the suspension point changes abruptly or the user's movement changes rapidly. The constant tension control mechanism 2 uses a high-performance servo motor and closed-loop constant force control to precisely regulate the sling tension. Through closed-loop control, it ensures that the sling always provides a stable and controllable constant tension; when the position of the suspension point changes abruptly, the spring buffer mechanism 2-5 first responds to the change in its elongation, and the servo motor 2-1 quickly responds to compensate for the displacement, ensuring that the sling tension is maintained within the set range, thereby improving the system's adaptability to impacts and its anti-interference ability.

[0044] In a preferred embodiment, the constant tension control mechanism 2 can adopt a combination of active and passive methods: the basic constant tension is provided by an elastic element, and the active servo mechanism compensates for the tension deviation in real time, thereby achieving high-precision constant tension suspension; for closed-loop oscillations caused by the mechanical structure, filtering and vibration suppression strategies can also be configured in the control program to improve stability under high dynamic conditions. Related materials have proposed that constant tension suspension technology adopts a combination of active and passive methods and achieves high-precision gravity unloading through servo compensation.

[0045] like Figure 6 As shown, the electrical control box 4 in this embodiment is equipped with an electrical control system. The electrical control system adopts the PLC control principle, and the PLC and the industrial control computer together constitute the control core. The industrial control computer acts as the host computer, responsible for system parameter setting, status monitoring, human-machine interaction, and operation data display. The PLC acts as the lower control unit, collecting real-time tension data from the force sensor 2-4, position information of the two-dimensional dynamic tracking mechanism 3, and limit signals, and outputs control commands to the servo driver. Specifically, based on the deviation between the tension data collected by the force sensor 2-4 and the target tension value, the PLC controls the servo motor 2-1 in the constant tension control mechanism 2 to adjust the sling length in real time to maintain constant tension. At the same time, based on the horizontal displacement information of the user or the sling posture information, the PLC controls the X-axis drive motor 3-5 and the Y-axis drive motor 3-6 in the two-dimensional dynamic tracking system 3 to move in tandem, realizing horizontal follow-up of the lifting point. The system also integrates status monitoring, fault alarm, and emergency stop protection logic to ensure the safe and stable operation of the device. Existing materials indicate that the platform's control system is centered on an industrial computer and integrates various sensing and execution control functions, mainly including force sensing data acquisition, two-dimensional tracking system motor control, status monitoring, and safety control; the control program is built on the TIAPortal development platform.

[0046] Specific implementation method three: Combining Figures 1 to 6 In this embodiment, the spring buffer mechanism 2-5 is mounted on the support frame 1 on the diagonal side opposite to the servo motor 2-1 and the winding mechanism 2-2. The spring buffer mechanism 2-5 is vertically mounted, with its upper end fixedly connected to the other end of the sling in the pulley block 2-3, and its lower end fixedly connected to the support frame 1.

[0047] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Two.

[0048] When the test subject experiences vertical displacement or impact, causing instantaneous fluctuations in the sling tension, the spring buffer mechanism 2-5 absorbs the instantaneous energy through the elastic deformation of the spring, providing buffering compensation and preventing tension spikes from being directly transmitted to the test subject. Simultaneously, the winding mechanism 2-2, based on feedback signals from the force sensor and accelerometer, precisely adjusts the sling's winding or unwinding to compensate for tension deviations caused by spring deformation. Thus, the passive buffering provided by the spring buffer mechanism 2-5, combined with the active and precise adjustment by the servo motor 2-1, works synergistically to achieve a stable output of unloading force in the vertical direction. This arrangement integrates the spring buffer mechanism 2-5 inside or on the side of the truss vertical member, resulting in a compact structure that helps reduce the overall system height and improves the uniformity of stress on the frame, further ensuring the smoothness of the unloading force output.

[0049] Specific implementation method four: Combination Figures 1 to 6 This embodiment describes a two-dimensional dynamic tracking mechanism 3 comprising an X-axis guide rail 3-1, an X-axis movable slide block 3-2, a Y-axis guide rail 3-3, a Y-axis movable slide block 3-4, an X-axis drive motor 3-5, a Y-axis drive motor 3-6, an X-axis transmission mechanism 3-7, and a Y-axis transmission mechanism 3-8. The X-axis guide rail 3-1 is fixed to the upper end of the support frame 1. The X-axis movable slide block 3-2 is mounted on the X-axis guide rail 3-1. The X-axis drive motor 3-5 drives the X-axis movable slide block 3-2 to slide along the X-axis guide rail 3-1 via the X-axis transmission mechanism 3-7. The Y-axis guide rail 3-3 is fixed to the X-axis movable slide block 3-2. The Y-axis movable slide block 3-4 is mounted on the Y-axis guide rail 3-3. The Y-axis drive motor 3-6 drives the Y-axis movable slide block 3-4 to slide along the Y-axis guide rail 3-3 via the Y-axis transmission mechanism 3-8. The hook in the pulley group 2-3 moves with the Y-axis movable slide block 3-4.

[0050] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Two.

[0051] The two-dimensional dynamic tracking mechanism 3 includes an X-axis linear drive platform and a Y-axis linear drive platform fixed to the top of the support frame 1. Both the X-axis and Y-axis linear drive platforms adopt a motor-driven belt transmission structure to form a bidirectional moving guide rail on the horizontal plane, driving the end suspension point of the sling to move directly above the experience area. The two-dimensional dynamic tracking mechanism 3 adopts a fixed rope length routing method, with the sling led out from the servo motor and laid along the axial direction of the two-dimensional guide rail. This ensures that during the movement of the X-axis and Y-axis linear drive platforms to follow the user, there will be no change in the actual length of the sling wire rope, achieving mechanical decoupling between horizontal following and vertical constant force unloading.

[0052] like Figure 4As shown, the two-dimensional dynamic tracking mechanism 3 consists of X and Y bidirectional platform guide rails fixed on the support frame 1 and Y guide rails that can move along the X direction. It is used to keep the end of the sling always directly above the user and to maintain the verticality of the sling direction.

[0053] Both the X and Y dual-line linear drive platforms are equipped with guide rails and sliding supports. The sliding supports are rigidly connected to the constant tension control mechanism 2 to achieve smooth lifting and high-precision planar following motion.

[0054] In this invention, a spring buffer mechanism 2-5 and a servo motor 2-1 are used for closed-loop control to ensure stable unloading of constant tension. A bidirectional XY drive platform with a fixed rope length is used to achieve horizontal following and constant force unloading in the vertical direction, ensuring that the sling is in a plumb state. An industrial control computer and PLC are used as the core units to achieve closed-loop control and safety protection. This device has a compact structure, high integration, and low cost, and controls the dynamic gravity unloading accuracy within 10%, providing reliable operational stability and personnel safety for high-frequency science popularization activities.

[0055] Specific Implementation Method Five: Combining Figures 1 to 6 This embodiment describes a pulley block 2-3 comprising a movable pulley, a hook, a sling, and multiple fixed pulleys. The sling suspends the movable pulley below the Y-direction movable slide block 3-4 via the multiple fixed pulleys. The hook is connected to the movable pulley via a force sensor 2-4.

[0056] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Four.

[0057] The transmission pulley system employs a combination of multiple fixed and movable pulleys to reduce the frictional resistance of the sling movement and ensure uniform force transmission and lag-free response.

[0058] Specific Implementation Method Six: Combination Figures 1 to 6 This embodiment describes a micro-low gravity simulation device for aerospace science popularization experience, which also includes a position detection unit. The position detection unit is located on the outer side of the support frame 1 and is electrically connected to the position detection unit control box 4.

[0059] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Four.

[0060] Specific implementation method seven: Combination Figures 1 to 6 In this embodiment, the position detection unit measures the position of the bearing connection mechanism and the two-dimensional dynamic tracking mechanism 3. When there is a deviation between the two, the X-axis drive motor 3-5 and the Y-axis drive motor 3-6 move together to keep the hook in a plumb state.

[0061] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Six.

[0062] To improve the servo accuracy and control stability of the micro-low gravity constant force unloading simulation device during dynamic experience, a position detection unit can be added to the outside of the device. This position detection unit is mainly used to measure the spatial motion state of the suspended load or the user in real time, and can be further used to measure the motion state of the two-dimensional dynamic tracking mechanism 3, providing high-precision position feedback information for two-dimensional servo control and constant force unloading control.

[0063] Specific implementation method eight: Combination Figures 1 to 6 This embodiment describes a position detection unit that includes a motion capture component and a displacement detection component. The motion capture component measures the position of the load-bearing connection mechanism, and the displacement detection component measures the position of the two-dimensional dynamic tracking mechanism 3.

[0064] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Seven.

[0065] In one control method, the motion capture component is mainly used to measure the real-time position of the suspended load or the user, while displacement detection components such as laser rangefinders and encoders are used to measure the position of the two-dimensional dynamic tracking mechanism 3 or the suspension point mechanism. The control system compares the load position obtained by the motion capture unit with the suspension point position obtained by the laser rangefinder to obtain the position deviation between the two. This deviation can be used as the control input of the two-dimensional dynamic tracking mechanism 3, and after being calculated by the PID controller, it is output to the X-axis drive motor and the Y-axis drive motor, causing the two-dimensional dynamic tracking mechanism 3 to move the suspension point directly above the load, thereby reducing the sling inclination angle and keeping the sling as vertical as possible.

[0066] Specific Implementation Method Nine: Combining Figures 1 to 6 This embodiment describes a position detection unit that includes a motion capture component, which simultaneously measures the positions of the load-bearing connection mechanism and the two-dimensional dynamic tracking mechanism 3.

[0067] The undisclosed technical features in this embodiment are the same as those in Specific Embodiment Seven.

[0068] In another control method, the motion capture component can simultaneously measure the positions of the suspended load and the moving end of the two-dimensional dynamic tracking mechanism 3. In this case, the motion capture component or its data processing unit can directly calculate the relative deviation between the load position and the position of the two-dimensional dynamic tracking mechanism 3 internally and output this deviation signal to the PD or PID controller. The controller drives the two-dimensional dynamic tracking mechanism 3 to perform follow-up compensation based on this deviation signal, ensuring that the movement of the two-dimensional dynamic tracking mechanism 3 always follows the load movement. Using this method, the motion capture component not only performs the load motion measurement function but also the position feedback function of the two-dimensional dynamic tracking mechanism 3, reducing reliance on separate laser ranging or external position detection devices.

[0069] Specific Implementation Method Ten: Combining Figures 1 to 6 This embodiment describes a motion capture assembly comprising multiple motion capture cameras 5. The multiple motion capture cameras 5 are symmetrically and evenly distributed on the outside of the support frame 1 along the circumferential direction via camera mounting brackets 6, and the motion capture cameras 5 are positioned facing the load-bearing connection mechanism.

[0070] The undisclosed technical features in this embodiment are the same as those in specific embodiments seven or eight.

[0071] The motion capture assembly can consist of multiple motion capture cameras 5, camera mounting brackets 6, marker point components, an image acquisition unit, a data processing unit, and a communication interface. Preferably, the motion capture assembly uses an arrangement of eight motion capture cameras 5, with two camera mounting brackets 6 arranged on the four outer sides of the support frame 1, and one motion capture camera 5 mounted on each camera mounting bracket 6. The optical axes of each motion capture camera 5 are all oriented towards the suspension area inside the support frame 1 or the working area of ​​the two-dimensional dynamic tracking mechanism 3, enabling the motion capture cameras 5 to simultaneously observe the object under test from different directions, thereby forming multi-view coverage of the central suspension system. The camera mounting brackets 6 maintain a certain distance from the support frame 1 and are symmetrically arranged around the central axis of the device to ensure uniform coverage of the measurement field of view and reduce obstruction and measurement blind spots.

[0072] In practical applications, reflective markers, actively luminous markers, or other identifiable feature marks can be set on the suspended load, the wearable component of the user, the suspension mechanism, or the mobile end of the two-dimensional dynamic tracking mechanism 3. The motion capture component synchronously acquires images of the markers through the multi-motion capture camera 5, and obtains the motion information of the measured object through three-dimensional reconstruction and motion calculation. The motion information may include the position, velocity, and acceleration of the measured object, and can be further extended to pose information such as attitude angle and angular velocity according to control requirements. For this device, the motion capture component can measure the motion state of the suspended load or the user, as well as the motion state of the two-dimensional dynamic tracking mechanism 3, so it can essentially be used as a high-precision non-contact position sensor.

[0073] By setting up the aforementioned motion capture components, this device can obtain the real-time motion state of the suspended load or the user during the movement process, providing a more accurate basis for the follow-up control of the two-dimensional dynamic tracking mechanism 3. When the user performs dynamic actions such as jumping, swinging, horizontal movement, or landing cushioning, the motion capture components can capture the changes in position in a timely manner. The control system adjusts the position of the two-dimensional dynamic tracking mechanism 3 accordingly, so that the suspension point is always located as directly above the user or load as possible, reducing the horizontal additional force caused by the inclination of the suspension cable, and improving the realism, stability, and safety of the low gravity simulation process.

[0074] Therefore, the motion capture component in this device can serve as an external, multi-view, non-contact motion measurement module. Its core function is to acquire real-time motion information of the load and / or the two-dimensional platform and convert it into position deviation signals required for two-dimensional servo control. This system can be used in conjunction with sensors such as laser rangefinders and encoders, or it can independently perform the function of measuring the relative motion between the load and the platform, thereby improving the closed-loop control accuracy and dynamic response capability of the micro-low gravity suspension simulation device.

[0075] The micro-low gravity simulation device of this embodiment is used under the following conditions: preferably placed in an indoor work area with dimensions of 1.5m × 2m × 3m and an ambient temperature of -15℃ to 40℃; the effective experience area of ​​the device is 1.5m × 2m, and the maximum movement speed is 2m / s; the maximum mass of the user is 100kg, the gravity unloading accuracy is 10%, and it has safety protection functions such as safety belts and software limits. The above parameters are suitable for use in science museums, aerospace science popularization exhibition halls, educational bases, and science and education activity spaces for primary and secondary schools, but are not limited to these specifications. The structural dimensions and working parameters can be adjusted according to application requirements. It should be noted that there is a note next to the "maximum unloading gravity" value in the original material, indicating that this value needs further verification. Therefore, this embodiment does not consider this value as a necessary limitation.

[0076] The structural parameter design method of the micro-low gravity simulation device in this embodiment is as follows: The mass of the simulated object, the unloading accuracy, and the dynamic response capability of the device mainly depend on the tensile output capability of the constant tensile force control mechanism 2 and the follow-up speed and tracking accuracy of the two-dimensional dynamic tracking mechanism 3. For the device design aimed at public science popularization scenarios, priority should be given to ensuring that the device occupies little space, has a compact structure, is cost-controllable, and is flexible in deployment. Based on meeting the requirements of a maximum user mass of 100kg, an effective experience area of ​​1.5m×2m, and a maximum movement speed of 2m / s, the dimensions of the support frame 1, the guide rail stroke, the servo motor power, and the load-bearing connection mechanism structure are matched and designed. For different loads or different site conditions, the parameters can also be enlarged or reduced based on the above structure.

[0077] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A microgravity simulation device for aerospace science popularization experience, characterized in that: It includes a support frame (1), a constant tension control mechanism (2), a two-dimensional dynamic tracking mechanism (3), a load-bearing connection mechanism, and an electrical control box (4). The constant tension control mechanism (2) and the two-dimensional dynamic tracking mechanism (3) are electrically connected to the electrical control box (4). The constant tension control mechanism (2) provides a stable and controllable constant tension in the vertical direction to the load-bearing connection mechanism. The two-dimensional dynamic tracking mechanism (3) is set on the upper part of the support frame (1) and is used to drive the load-bearing connection mechanism to perform two-dimensional following movement to ensure stable unloading of the tension load in the vertical direction.

2. The microgravity simulation device for aerospace science popularization experience according to claim 1, characterized in that: The constant tension control mechanism (2) includes a servo motor (2-1), a winding mechanism (2-2), a pulley block (2-3), a force sensor (2-4), and a spring buffer mechanism (2-5). The servo motor (2-1) is connected to the winding mechanism (2-2). One end of the sling in the pulley block (2-3) is fixed and wound around the winding mechanism (2-2). The other end of the sling is connected to one end of the spring buffer mechanism (2-5). The other end of the spring buffer mechanism (2-5) is fixed to the support frame (1). The force sensor (2-4) is set at the upper end of the hook in the pulley block (2-3) to capture the change in tension in real time, drive the servo motor (2-1) to rotate to compensate for the displacement of the sling, and maintain the tension of the sling within the set target range.

3. A micro-low gravity simulation device for aerospace science popularization experience according to claim 2, characterized in that: The spring buffer mechanism (2-5) is set on the support frame (1) on the opposite side of the servo motor (2-1) and the winding mechanism (2-2). The spring buffer mechanism (2-5) is set vertically. The upper end of the spring buffer mechanism (2-5) is fixedly connected to the other end of the sling in the pulley block (2-3), and the lower end of the spring buffer mechanism (2-5) is fixedly connected to the support frame (1).

4. A micro-low gravity simulation device for aerospace science popularization experience according to claim 2, characterized in that: The two-dimensional dynamic tracking mechanism (3) includes a set of X-axis guide rails (3-1), a set of X-axis moving slides (3-2), a set of Y-axis guide rails (3-3), a set of Y-axis moving slides (3-4), an X-axis drive motor (3-5), a Y-axis drive motor (3-6), an X-axis transmission mechanism (3-7), and a Y-axis transmission mechanism (3-8). The X-axis guide rails (3-1) are fixed to the upper end of the support frame (1), the X-axis moving slides (3-2) are set on the X-axis guide rails (3-1), and the X-axis drive motors (3-8) are connected to the upper end of the support frame (1). 5) The X-axis moving slide (3-2) is driven to slide along the X-axis guide rail (3-1) by the X-axis transmission mechanism (3-7). The Y-axis guide rail (3-3) is fixed on the X-axis moving slide (3-2). The Y-axis moving slide (3-4) is set on the Y-axis guide rail (3-3). The Y-axis drive motor (3-6) drives the Y-axis moving slide (3-4) to slide along the Y-axis guide rail (3-3) through the Y-axis transmission mechanism (3-8). The hook in the pulley block (2-3) moves with the Y-axis moving slide (3-4).

5. A microgravity simulation device for aerospace science popularization experience according to claim 4, characterized in that: The pulley block (2-3) includes a movable pulley, a hook, a sling and multiple fixed pulleys. The sling suspends the movable pulley below the Y-direction movable slide block (3-4) through multiple fixed pulleys. The hook is connected to the movable pulley through a force sensor (2-4).

6. A micro-low gravity simulation device for aerospace science popularization experience according to claim 4, characterized in that: The micro-low gravity simulation device for aerospace science popularization experience also includes a position detection unit, which is set on the outside of the support frame (1) and electrically connected to the position detection unit control box (4).

7. A micro-low gravity simulation device for aerospace science popularization experience according to claim 6, characterized in that: The position detection unit measures the position of the load-bearing connection mechanism and the two-dimensional dynamic tracking mechanism (3). When the two deviate, the X-direction drive motor (3-5) and the Y-direction drive motor (3-6) work together to keep the hook in a plumb state.

8. A microgravity simulation device for aerospace science popularization experience according to claim 7, characterized in that: The position detection unit includes a motion capture component and a displacement detection component. The motion capture component measures the position of the load-bearing connection mechanism, and the displacement detection component measures the position of the two-dimensional dynamic tracking mechanism (3).

9. A microgravity simulation device for aerospace science popularization experience according to claim 7, characterized in that: The position detection unit includes a motion capture component that simultaneously measures the position of the load-bearing connection mechanism and the two-dimensional dynamic tracking mechanism (3).

10. A micro-low gravity simulation device for aerospace science popularization experience according to claim 8 or 9, characterized in that: The motion capture assembly includes multiple motion capture cameras (5). The multiple motion capture cameras (5) are symmetrically arranged on the outside of the support frame (1) along the circumferential direction through camera mounting brackets (6). The motion capture cameras (5) are arranged facing the load-bearing connection mechanism.

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