Actually there's nothing like zero gravity.
Technically speaking, gravity does exist everywhere in the universe because it is defined as the force that attracts two bodies to each other.
Astronauts inside the space station are constantly falling towards the earth. It is also moving at a very high speed - 17,500 miles per hour.
It moves at a speed that matches the way Earth's surface curves. If a person throws a baseball, gravity will cause it to curve down. It will hit the ground fairly quickly.
An orbiting spacecraft moves at the right speed so the curve of its fall matches the curve of Earth. Because of this, the spacecraft keeps falling toward the ground but never hits it. As a result, they fall around the planet.