Space station manipulator joint space environment loading test device and method

Abstract

The present invention discloses a space environment loading test device and method for a space station manipulator joint. The device is composed of a thermal vacuum environment simulation system, a torque loading test system, and a speed loading test system. The thermal vacuum environment simulation system can simulate a vacuum high and low temperature space environment; the torque loading test system can simulate the working torque of the joint on orbit, and time-share the output end torque loading for two joints in the thermal vacuum environment simulation system to test the motion performance of the joint under torque loading; the speed loading test system can simulate the working speed of the joint on orbit, and time-share the speed loading for the input end reducers of the two joints in the thermal vacuum environment simulation system to test the performance of the joint reducers. The device can realize the dynamic loading of the space station manipulator joints under normal temperature and pressure, vacuum high and low temperature environments, and complete the comprehensive test of the control accuracy, torque, speed, efficiency and other performance of the space station manipulator joints.

Description

Technical Field

[0001] The present invention relates to the field of loading tests in a simulated space environment, and in particular to a simulation loading device for performance testing of a space station robotic arm joint in a space environment, which can realize time-sharing torque loading and speed loading simulation of two joints in a space environment, and further test the functional performance parameters of the space station robotic arm joint. Background Art

[0002] The joint is the core component of the space manipulator. It is the basis for the manipulator to realize the on-orbit motion function and the key to ensure the manipulator's motion accuracy, connection stiffness, output torque and other indicators. The manipulator must perform tasks such as cabin segment transfer and docking, support astronauts to go out of the cabin, and carry cargo outside the cabin. Different tasks make the joint loading conditions complicated. How to simulate the on-orbit loading state of the joint in ground testing and accurately obtain the dynamic characteristics of the joint is of great significance to the reliability verification of the joint design.

[0003] At present, a series of simulation loading devices have been designed for joint reducer performance testing in China, and corresponding methods have been proposed for the performance testing of robot joint reducers. Through the study of existing robot joint and reducer performance testing equipment, it is found that the existing joint and reducer performance testing equipment cannot meet the needs of space manipulator joint testing. The reasons are as follows: 1) The loading test equipment is not combined with the space environment simulation equipment, and can only load the joints under normal temperature and pressure environment; 2) The performance of the test equipment is single, and multiple devices are required to complete the torque loading test, input torque characteristic test, speed characteristic test, and deceleration characteristic test of the joint reducer; 3) The test object is unique, and only a single reducer can be tested, and the vacuuming and temperature rise and fall process of space environment simulation is long. When testing multiple joints, it is necessary to open the can and replace the joints, which is inefficient and time-consuming; 4) The loading torque is small, generally less than 1000Nm, while the test of the space station manipulator joint requires a load of more than 0-2000Nm, a wide range of loading torque, large load changes, and the joint load needs to be simulated according to the simulation torque curve. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a space station manipulator arm joint space environment loading test device and method, which solves the problems of the prior test equipment having a single test item, a small test torque, a single load simulation, a unique test object, the inability to accurately load the torque load, and the inconvenient installation and adjustment of the loading equipment.

[0005] The technical solution of the present invention is: a space environment loading test device for a space station manipulator joint, used for simulating loading tests of a space station manipulator joint under normal temperature and pressure and space vacuum high and low temperature environments, including a thermal vacuum environment simulation system, a torque loading test system, and a speed loading test system;

[0006] The torque loading test system performs torque loading on the two robotic arm joints in the thermal vacuum environment simulation system in a time-sharing manner to test the performance of the joints under the loaded torque; the speed loading test system performs speed loading on the two joints in the thermal vacuum environment simulation system separately to test the performance of the joint reducers at different speeds; the thermal vacuum environment simulation system provides on-orbit vacuum, high and low temperature environment simulation for the joints.

[0007] The thermal vacuum environment simulation system comprises an equipment rack, a vacuum container, a heat sink, a joint mounting platform, a vacuum pumping system, a high and low temperature system, a temperature measurement system, a magnetic fluid sealing structure, etc. The vacuum container is a stainless steel cylinder, which is horizontally mounted on the equipment rack. The front end of the cylinder is a door, and the vacuum container provides a vacuum environment for the joint. The heat sink is distributed in a fishbone pattern on the inner surface of the cylinder and the inner surface of the door of the vacuum container, providing a 100K cold black background and a temperature change environment in the range of -150℃ to +150℃ for the joint. The joint mounting platform is arranged on the bottom surface of the vacuum container to provide an installation interface in the vacuum container for the test joint. An interface is configured at the bottom of the vacuum container for connecting the vacuum pumping system with the high and low temperature system. The vacuum pumping system includes connecting pipes and molecular pumps, valves, etc., and the high and low temperature system includes connecting pipes, liquid nitrogen storage tanks, fans, etc. The connecting pipes between the vacuum pumping system and the high and low temperature system are integrated inside the equipment rack. The molecular pumps, valves, and fans of the high and low temperature system of the vacuum pumping system are installed on the outside of the rear side of the vacuum container. The liquid nitrogen storage tank of the high and low temperature system is installed outdoors, the vacuum exhaust system obtains a vacuum environment for the vacuum container, and the high and low temperature system provides high and low temperature medium circulation support for the heat sink. The temperature measurement system consists of two parts: measurement and control. The measurement part of the temperature measurement system is installed inside the vacuum container, and the control part of the temperature measurement system is set outside the vacuum container. The temperature measurement system displays the status of the thermal vacuum environment simulation system and controls the normal operation of the thermal vacuum environment simulation system. Flange interfaces are set on the left and right sides of the vacuum container, which are sealed with a magnetic fluid sealing structure and are used for the through connection of the joint shaft system.

[0008] The torque loading test system is composed of a lifting platform, a set of torque motors, torque sensors, circular gratings, diaphragm couplings, control and test systems, etc. The lifting platform is installed on the outside of the left side of the vacuum container, and the torque motor is fixed on the lifting platform. The lifting platform can be lifted up and down, moved forward and backward, and driven to move the torque motor to connect with different joints in the vacuum container; the torque motor is connected to the torque sensor and circular grating through the diaphragm coupling, and passes through the magnetic fluid sealing structure in the thermal vacuum environment simulation system, connected to the diaphragm coupling in the vacuum container, and finally connected to the joint output end. The torque motor can provide a spatial torque load simulation for the tested joint, the torque sensor is used to measure the actual output torque of the torque motor, the circular grating is used to measure the speed of the torque motor output, and the diaphragm coupling is used to connect the axes of various components. The control and test system is used for the control of the torque motor, the reading and processing of the torque sensor and circular grating data, and the joint torque loading test and data processing.

[0009] The speed loading test system is composed of two sets of servo motors, diaphragm couplings, circular gratings, differentials, mounting platforms, control and test systems, etc. The mounting platform of the speed loading test system is placed outside the right side of the vacuum container, and the servo motor is fixed on the mounting platform. The servo motor is connected to the torque sensor and circular grating through the diaphragm coupling, and passes through the magnetic fluid sealing structure in the vacuum simulation system, connected to the differential in the vacuum container, and finally connected to the joint input end. The servo motor provides the joint with an on-track motion speed loading curve simulation, the torque sensor is used to measure the actual output torque of the servo motor, the circular grating is used to measure the actual output speed of the servo motor, the differential is used to decelerate the output speed of the servo motor, the diaphragm coupling is used for the axial connection of various components, and the control and test system is used for the control of the servo motor, the data reading and processing of the torque sensor and the circular grating, and the joint speed loading test and data processing.

[0010] The torque loading test system can perform joint performance tests, including joint accuracy tests (no-load motion dynamic tracking accuracy, load motion dynamic tracking accuracy), torque characteristic tests (rated output torque, maximum output torque, continuous stall torque, minimum output torque), power tests (rated power, maximum power, load power curve at the same speed, load power curve at the same load, speed characteristic tests (rated load speed, speed range for different loads), inertia characteristic tests (no-load acceleration / stop time, rated load acceleration / stop time, acceleration / stop time for loads with different inertias, inertia load curve simulation).

[0011] The speed loading test system can realize joint torque test (starting torque, load driving torque, motion friction torque), speed characteristic test (speed range, transmission ratio accuracy, speed fluctuation), deceleration characteristic curve (speed friction torque curve, efficiency curve).

[0012] A space environment simulation loading test method for a space station manipulator joint, the steps are as follows: According to the test content, choose to use a torque loading test system or a speed loading test system. If it is a torque loading system test project, connect the diaphragm coupling, connect the joint output end with the torque sensor, circular grating and torque motor output shaft to achieve torque loading on the joint output end. Start the thermal vacuum environment simulation system to simulate the vacuum and high and low temperature space environment of the joint's working environment. Through the control and test system, control the torque motor and load the joint with torque according to the test requirements. Through the control and test system, read the torque and speed data of the torque motor output, and calculate the performance test results of the joint based on the torque and speed results.

[0013] If it is a speed loading test system test project, connect the diaphragm coupling, connect the joint input end with the differential, torque sensor, circular grating and servo motor to realize speed loading on the joint input end. Start the thermal vacuum environment simulation system to simulate the vacuum and high and low temperature space environment of the joint's working environment. Control the servo motor through the control and test system, and load the joint with speed according to the test requirements. Read the servo motor output torque and speed data through the control and test system, and calculate the joint performance test results based on the torque and speed results.

[0014] A space environment simulation loading test method for a space station manipulator joint, the steps are as follows: the control and test system mainly includes a display device, an industrial computer, and an input device. The industrial computer controls the drive control system of the torque motor and the drive control system of the servo motor, sends the load torque curve of the joint to the torque motor drive control system, and sends the speed motion curve of the joint input end to the servo motor drive control system, thereby realizing torque loading and speed loading. The circular grating encoder and the high-precision torque sensor feed back the position, speed, and torque information on both sides of the joint input and output ends to the industrial computer, the torque motor control system, and the servo motor control system, thereby realizing precise loading control of the torque and speed closed loop.

[0015] The advantages of the present invention compared with the prior art are:

[0016] (1) The present invention integrates torque loading simulation, speed loading simulation, and space environment simulation, and can realize torque and speed loading tests of space station manipulator joints in a simulated space environment.

[0017] (2) The present invention can seal two joints in one test, realize time-sharing loading of the two joints, effectively reduce the cycle time of space environment simulation, and improve test efficiency.

[0018] (3) The joint torque loading system of the present invention can accurately load the joint according to the torque curve of the joint simulation result, and simulate the actual load torque, impact load and alternating load of the joint.

[0019] (4) The torque loading test system of the present invention can test the actual movement of the joint and obtain the actual movement trajectory of the joint;

[0020] (5) The torque loading test system of the present invention can be electrically adjusted, thereby improving the efficiency of the product assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a system composition diagram of the present invention;

[0022] Figure 2 It is a structural composition diagram of the present invention;

[0023] Figure 3 This is a composition diagram of the lifting platform of the moment loading test system of the present invention;

[0024] Figure 4 It is a diagram of the composition of some equipment in the vacuum container of the present invention;

[0025] Figure 5 is a composition diagram of the differential of the present invention;

[0026] Figure 6 This is a diagram showing the components of the external equipment of the vacuum container of the present invention;

[0027] Figure 7 This is a composition diagram of the thermal vacuum environment simulation system of the present invention;

[0028] Figure 8 It is a control and data interaction flow chart of the present invention;

[0029] Fig. 9 This is a control system diagram of the present invention. DETAILED DESCRIPTION

[0030] like Figure 1-9 As shown in the figure, the space environment loading test equipment for the space station manipulator joints consists of three parts: the torque loading test system, the speed loading test system, and the thermal vacuum environment simulation system. The main task of the torque loading test system is to load the two manipulator joints in the vacuum container with torque in a time-sharing manner to test the performance of the joint output end; the main task of the speed loading test system is to load the two joints in the vacuum container with speeds to test the performance of the joint input end; the thermal vacuum environment simulation system mainly provides on-orbit vacuum and high and low temperature environment simulation for the joints.

[0031] The torque loading test system consists of a lifting platform A1, a torque motor 2, a first diaphragm coupling 3, a first torque sensor 4, a second diaphragm coupling 5, a first circular grating 6, a platform B7, a third diaphragm coupling 8, a torque motor output shaft 26 and a control system. The torque motor 2 is installed on the lifting platform A1, connected to the first torque sensor 4 through the first diaphragm coupling 3, and then connected to the first circular grating 6 and the torque motor output shaft 26 fixed on the platform B7 through the second diaphragm coupling 5, and finally connected to the output end of the tested mechanical arm joint 10 on the joint mounting platform 9 through the third diaphragm coupling 8.

[0032] The torque motor 2 in the torque loading system provides loading torque output for the measured joint 10. The load torque curves of the joint under different working tasks are sent to the control system, and the control system controls the torque motor 2 to output the loading torque, which is transmitted to the output end of the measured joint 10 through the first diaphragm coupling 3, the second diaphragm coupling 5, and the third diaphragm coupling 8, thereby realizing the simulated loading of the output end of the joint 10. The first torque sensor 4 is used to measure the actual output torque of the torque motor 2, and the circular grating 6 is used to read the speed of the torque motor 2 output.

[0033] The lifting platform A1 is composed of a linear bearing 19, a moving motor 20, a lifting motor 21, an adjusting hand wheel 22, a horizontal guide rail 23, a horizontal guide wheel screw 24 and a support frame 25.

[0034] The torque motor 2 realizes the time-sharing loading of two joints by one motor through the moving function of the descending platform A1. The support frame 25 is used to support the weight of the torque motor 2. When the torque motor 2 is working, it is located on the marble platform above the support frame 25, and the marble platform is clamped up and down by bolts and nuts to ensure that the torque motor 2 is stable and reliable when outputting torque. The lifting platform can realize rotational movement, lifting movement, and horizontal movement. When the joint 10 needs to be switched, the first diaphragm coupling 3 is disconnected, and the connection between the torque motor 2 and the shaft system is disconnected. Loosen the bolts and nuts fixing the torque motor 2 to the marble platform. At this time, through the rotation of the lifting motor 21, the torque motor 2 is lifted and moved upward along the linear bearing 19, and the torque motor 2 is separated from the marble platform, and the torque motor 2 can be translated and rotated. The mobile motor 20 rotates, pushing the torque motor 2 to move to the axis position of another measured joint 10 along the horizontal guide rail 23 and the guide wheel screw 24. Then, the angle adjustment of the position of the torque motor 2 is achieved by adjusting the handwheel 22.

[0035] The speed loading test system is composed of a differential reducer 11, a fourth diaphragm coupling 12, a second circular grating 13, a platform C14, a fifth diaphragm coupling 15, a second torque sensor 16, a sixth diaphragm coupling 17, a speed servo motor 18 and a control system. The speed servo motor 18 is installed on the platform C14, connected to the second torque sensor 16 through the sixth diaphragm coupling 17, and then connected to the second circular grating 13 through the fifth diaphragm coupling 15, and finally connected to the differential reducer 11 through the fourth diaphragm coupling 12, and then connected to the input end of the mechanical arm joint 10 under test.

[0036] The differential reducer 11 is composed of an input shaft 27, an output shaft 28, a reduction gear 29 and a three-dimensional adjustment base 30. The reduction gear 29 adopts a three-stage spur gear transmission. The gear adopts spatial solid lubrication measures to meet the vacuum degree and high and low temperature environment in the vacuum tank. One input shaft 27 of the differential reducer 11 corresponds to two output shafts, which can drive the main and backup drive mechanisms of the measured joint 10 respectively.

[0037] The control system controls the joint to drive the servo motor 18 to rotate according to the speed loading curve. The loading torque of the servo motor 18 is transmitted to the joint input end drive mechanism through the diaphragm coupling 6, the second torque sensor 16, the fifth diaphragm coupling 15, the circular grating 13 and the diaphragm coupling 4, driving the tested joint 10 to move according to the speed loading curve. The joint input end loading system is installed on the platform C14. The speed loading test system has two sets of servo motors 18, which drive two tested joints 10 respectively.

[0038] The thermal vacuum environment simulation system consists of a joint installation platform 9, an output end magnetic fluid sealing structure 31 and an input end magnetic fluid sealing structure 33, a vacuum container 32, a heat sink 34, an equipment rack 35, a vacuum exhaust system 36, a high and low temperature system 37, and a temperature measurement system 38. The joint installation platform 9 is installed at the bottom of the vacuum container 32 for the installation of the joint 9 to be tested; the output end magnetic fluid sealing structure 31 and the input end magnetic fluid sealing structure 33 are used for the through-cabin sealing of the torque motor output shaft 26 and the torque motor input shaft 27; the heat sink 34 is distributed on the inner wall of the vacuum container 32 to provide a 100K cold black background and a temperature change environment in the range of -150℃ to +150℃ for the joint 9 to be tested. The vacuum exhaust system 36, the high and low temperature system 37, and the temperature measurement system 38 are used to realize the control of the vacuum high and low temperature environment.

[0039] The couplings designed in the test equipment are all diaphragm couplings. Diaphragm couplings do not require lubrication, have a wide operating temperature range, and have a large coaxiality tolerance. The maximum positioning tolerance can reach 2mm, which can effectively ensure the coaxiality indicators of the test equipment and the joint being tested.

[0040] The torque loading test system can realize joint accuracy test (no-load motion dynamic tracking accuracy, load motion dynamic tracking accuracy), torque characteristic test (rated output torque, maximum output torque, continuous stall torque, minimum output torque), power test (rated power, maximum power, load power curve at the same speed, load power curve at the same load, speed characteristic test (rated load speed, speed range of different loads), inertia characteristic test (no-load acceleration / stop time, rated load acceleration / stop time, acceleration / stop time of loads with different inertias, inertia load curve simulation).

[0041] The speed loading test system can realize joint torque test (starting torque, load driving torque, motion friction torque), speed characteristic test (speed range, transmission ratio accuracy, speed fluctuation), deceleration characteristic curve (speed friction torque curve, efficiency curve).

[0042] The torque and speed loading of the space station manipulator joint space environment loading test equipment is achieved by controlling the torque motor 2 and servo motor 18 on both sides of the test equipment so that the loading value changes according to the preset torque and speed curve. Its control system is divided into three levels, namely the execution layer (loading equipment), the drive layer (electric cabinet) and the central control layer (monitoring station and industrial computer). The execution layer is composed of torque motor (servo motor), torque sensor, circular grating, etc., which is an actuator specifically used to realize precise loading and torque, position, and speed feedback measurement; the drive layer is composed of motor controller, circular grating decoder and frequency transmitter, which is used to drive the execution layer equipment and process the feedback information in turn. The torque signal in the form of frequency measured by the torque sensor is transmitted to the frequency transmitter, and the frequency transmitter feeds back the converted voltage signal to the motor controller, and the torque signal is obtained through the A / D sampling of the motor controller. The data measured by the circular grating is transmitted to the grating decoder, the grating decoder decodes the grating signal, and transmits it to the industrial computer via USB to obtain the position and speed information of the torque loading side and the speed loading side. The closed-loop control of torque or speed is implemented in the motor controller. The motor controller feeds back the torque information obtained to the industrial computer through the CAN bus. The industrial computer sends control commands through the CAN bus to complete the corresponding loading task.

[0043] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A space station manipulator joint space environment loading test equipment, characterized by: It includes a thermal vacuum environment simulation system, a torque loading test system, and a speed loading test system; the torque loading test system performs torque loading on the two manipulator joints in the thermal vacuum environment simulation system in a time-sharing manner, and tests the performance of the joints under the loaded torque; the speed loading test system performs speed loading on the two joints in the thermal vacuum environment simulation system, and tests the performance of the joint reducer at different speeds; the thermal vacuum environment simulation system provides on-orbit vacuum, high and low temperature environment simulation for the joints; The thermal vacuum environment simulation system comprises a joint mounting platform (9), an output end magnetic fluid sealing structure (31) and an input end magnetic fluid sealing structure (33), a vacuum container (32), a heat sink (34), an equipment rack (35), a vacuum exhaust system (36), a high and low temperature system (37), and a temperature measurement system (38); the joint mounting platform (9) is arranged on the inner bottom surface of the vacuum container (32) to provide a mounting interface in the vacuum container for the test joint; the vacuum container (32) is mounted on the equipment rack (35) to provide a vacuum environment for the joint; flange interfaces are provided on the left and right sides of the vacuum container (32) to use the output end magnetic fluid sealing structure (31) and the input end magnetic fluid sealing structure ( 33) seal, used for the joint shaft system to penetrate the connection; the heat sink (34) is distributed on the inner wall of the vacuum container (32) to provide a cold black background and a temperature change environment for the joint (10) to be tested; the bottom of the vacuum container (32) is provided with an interface for connecting the vacuum pumping system (36) and the high and low temperature system (37); the connecting pipeline of the vacuum pumping system (36) and the high and low temperature system (37) is integrated inside the equipment frame (35); the temperature measurement system (38) includes a measuring part and a control part, the measuring part is installed inside the vacuum container, and the control part is arranged outside the vacuum container; the vacuum pumping system (36), the high and low temperature system (37), and the temperature measurement system (38) are used to realize the control of vacuum and high and low temperature environment; The torque loading test system comprises a lifting platform A (1), a torque motor (2), a first diaphragm coupling (3), a first torque sensor (4), a second diaphragm coupling (5), a first circular grating (6), a platform B (7), a third diaphragm coupling (8), a torque motor output shaft (26) and a control system; the lifting platform A (1) is mounted outside the side of a vacuum container (32); the torque motor (2) is mounted on the lifting platform A (1), and is connected to the first torque sensor (4) through the first diaphragm coupling (3), and is then connected to the first circular grating (6) and the torque motor output shaft (26) fixed on the platform B (7) through the second diaphragm coupling (5), and is also connected to the output end of the tested mechanical arm joint (10) on the joint mounting platform (9) through the third diaphragm coupling (8); the control system is used for controlling the torque motor (2), and reading and processing the data of the first torque sensor (4) and the first circular grating (6); The lifting platform A (1) comprises a linear bearing (19), a moving motor (20), a lifting motor (21), an adjusting hand wheel (22), a horizontal guide rail (23), a horizontal guide wheel screw (24) and a support frame (25); the support frame (25) is used to support the weight of the torque motor (2); when the torque motor (2) is working, it is located on a marble platform above the support frame (25) and is fixed by clamping the marble platform with fasteners to ensure that the torque motor (2) outputs a stable torque; when it is necessary to switch the joint (10), the first diaphragm coupling (3) is disconnected and the torque motor (2) is disconnected. The connection between the machine (2) and the shaft system is disconnected; the fasteners fixing the torque motor (2) and the marble platform are loosened, and the torque motor (2) is lifted and moved upward along the linear bearing (19) by the rotation of the lifting motor (21), and the torque motor (2) is separated from the marble platform, and the torque motor (2) can move in translation and rotation; the moving motor (20) rotates to push the torque motor (2) along the horizontal guide rail (23) and the guide wheel screw (24) to the axis position of another measured joint (10); then the angle of the torque motor (2) is adjusted by adjusting the hand wheel (22); The speed loading test system comprises a differential reducer (11), a fourth diaphragm coupling (12), a second circular grating (13), a platform C (14), a fifth diaphragm coupling (15), a second torque sensor (16), a sixth diaphragm coupling (17), a speed servo motor (18) and a control system; the platform C (14) is placed outside the side of the vacuum container (32); the speed servo motor (18) is mounted on the platform C (14), connected to the second torque sensor (16) via the sixth diaphragm coupling (17), then connected to the second circular grating (13) via the fifth diaphragm coupling (15), and finally connected to the differential reducer (11) via the fourth diaphragm coupling (12), and then connected to the input end of the mechanical arm joint (10) to be tested.

2. A space station manipulator joint space environment loading test equipment according to claim 1, characterized in that: The vacuum container (32) is a stainless steel cylinder, which is horizontally mounted on an equipment frame (35), and the front end surface of the cylinder is the vacuum container opening; the heat sink (34) is distributed in a herringbone pattern on the inner surface of the cylinder and the inner surface of the vacuum container (32), providing a cold black background and a temperature change environment for the joint.

3. The space environment loading test equipment for a space station manipulator joint according to claim 1, characterized in that: The differential reducer (11) comprises an input shaft (27), an output shaft (28), a reduction gear (29) and a three-dimensional adjustment base (30); the reduction gear (29) adopts a three-stage spur gear transmission; the reduction gear (29) is fixed in a vacuum container (32) through the three-dimensional adjustment base (30); an input shaft (27) of the differential reducer (11) corresponds to two output shafts (28), which respectively drive the main and backup drive mechanisms of the measured joint (10).

4. The space environment loading test equipment for a space station manipulator joint according to claim 1, characterized in that: The torque loading test system tests the performance of joints under loading torque, including: joint accuracy test, torque characteristic test, power test, speed characteristic test and inertia characteristic test; The joint accuracy test includes: no-load motion dynamic tracking accuracy test and load motion dynamic tracking accuracy test; The torque characteristic test includes a rated output torque test, a maximum output torque test, a continuous stall torque test and a minimum output torque test; The power test includes rated power test, maximum power test, load power test at the same speed, and load power test at the same load; The speed characteristic test includes a rated load speed test and a speed range test at different loads; The inertia characteristic test includes no-load acceleration / stop time test, rated load acceleration / stop time test, different inertia load acceleration / stop time test, and inertia load curve simulation.

5. The space station manipulator joint space environment loading test equipment according to claim 1, characterized in that: The speed loading test system tests the performance of the joint reducer at different speeds, including: joint torque test, speed characteristic test and deceleration characteristic curve test; the joint torque test includes starting torque test, load driving torque test and motion friction torque test; the speed characteristic test includes speed range test, transmission ratio accuracy test and speed fluctuation test; the deceleration characteristic curve test includes speed friction torque curve test and efficiency curve test.

6. A space environment simulation loading test method for a space station manipulator joint, characterized in that Using the test device according to any one of claims 1 to 5, the test method comprises: Depending on the test content, choose to use a torque loading test system or a speed loading test system; If it is a torque loading system test project, connect the diaphragm coupling, connect the joint output end with the torque sensor, circular grating and the output shaft of the torque motor to realize torque loading on the joint output end; start the thermal vacuum environment simulation system to simulate the vacuum and high and low temperature space environment of the joint's working environment; control the torque motor through the control and test system, and load the joint with torque according to the test requirements; read the torque and speed data of the torque motor output through the control and test system, and calculate the performance test results of the joint according to the torque and speed results; If it is a speed loading test system test project, connect the diaphragm coupling, connect the joint input end with the differential, torque sensor, circular grating and servo motor to realize speed loading on the joint input end; start the thermal vacuum environment simulation system to simulate the vacuum and high and low temperature space environment of the joint's working environment; control the servo motor through the control system and load the joint with speed according to the test requirements; read the servo motor output torque and speed data through the control system, and calculate the joint performance test results based on the torque and speed results.

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