Reliability test method and device for upper limb movement assembly of space suit under vacuum lunar dust pollution

Abstract

The application discloses a reliability test method and device for an upper limb movement component of a space suit under vacuum lunar dust pollution, relates to the technical field of space environment ground simulation and spacecraft environment effect test, and solves the problem that there is no comprehensive test method in the industry which can directly correlate the complex composite pollution mode of the moon surface with the dynamic performance degradation of the movable joint under the pressure state. The test method is characterized in that: the simulated lunar dust is subjected to vacuum baking pretreatment, and is discharged in coordination with segmented pressure relief in the vacuum chamber; the lunar dust is charged in situ and the component is driven to alternately perform contact dust sticking and multi-posture dust spraying operations, and the joint is driven to reciprocate under the lunar dust covering state, so that quantitative characterization of the reliability performance degradation law of the component is realized; the device integrates the functions of vacuum environment simulation, lunar dust charging, multi-mode pollution application and dynamic performance monitoring, and provides an important test basis for long-life design and life prediction of key components of a space suit.

Description

Technical Field

[0001] This invention relates to the technical field of space environment ground simulation and spacecraft environmental effect testing, and in particular to a reliability testing method and apparatus for upper limb movement components of a spacesuit under vacuum lunar dust contamination. Background Technology

[0002] As manned lunar missions advance, the long-term reliability of spacesuits has become crucial, and lunar dust is one of the most severe challenges they face. Lunar dust particles are charged due to solar ultraviolet radiation, possessing extremely strong abrasiveness and electrostatic adsorption properties, which can cause wear and jamming of mechanical components such as joints in spacesuits.

[0003] In existing technologies, mechanical performance tests of spacesuit joints are typically conducted in a clean vacuum environment to obtain their initial performance, while lunar dust protection tests mostly focus on evaluating static material samples. Currently, the industry lacks a comprehensive testing method that can directly link the complex composite contamination patterns of the lunar surface with the dynamic performance degradation of movable joints under pressurization. Therefore, there is an urgent need to develop a new method that can simulate the charged lunar dust composite contamination environment on Earth with high fidelity and continuously and dynamically quantify the degradation process of key spacesuit components, providing crucial experimental evidence for the design and lifespan prediction of spacesuits for future long-term lunar missions. Summary of the Invention

[0004] To address the aforementioned problem of the lack of a comprehensive testing method in the industry that can directly link the complex composite contamination patterns of the lunar surface with the dynamic performance degradation of movable joints under pressurization, the present invention aims to provide a reliability testing method and apparatus for upper limb movement components of spacesuits under vacuum lunar dust contamination.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A reliability testing method for upper limb movement components of a spacesuit under vacuum lunar dust contamination, comprising the following steps:

[0007] S1: Selection and pretreatment of simulated lunar dust: Select simulated lunar dust and perform vacuum baking pretreatment to remove adsorbed water and volatiles, and then lay it in the lunar dust tank 107 and the spraying mechanism 103;

[0008] S2: Component installation and initial calibration: Install the upper limb motion component 108 of the spacesuit onto the component drive mechanism 106, test and record its initial airtightness and joint drive torque reference curve in a clean environment;

[0009] S3: Collaborative segmented pressure relief: During the vacuuming process of the vacuum test chamber 101, the internal pressure of the upper limb movement component 108 is synchronously adjusted through the pressure control circuit to ensure that the internal pressure of the component is always higher than the pressure inside the chamber until the preset test vacuum degree and working pressure state are reached.

[0010] S4: Charged lunar dust composite pollution test: The simulated lunar dust is charged in situ using ultraviolet radiation source 102, which drives the upper limb motion component 108 to alternately perform contact with sticky dust and multi-posture dust spraying operations, and performs joint reciprocating motion under the lunar dust coverage state, and collects motion torque and internal pressure data in real time.

[0011] S5: Synergistic segmented repressurization: Simultaneously repressurize the vacuum test chamber 101 and the upper limb movement component 108, maintaining the internal pressure of the component higher than the internal pressure of the chamber until it returns to normal pressure;

[0012] S6: Data processing and reliability characterization: Based on the rigid body dynamics model, the additional drag torque and dissipated work caused by lunar dust intrusion are separated, and combined with the airtightness degradation data, the reliability of the components is quantitatively characterized.

[0013] The reliability testing method described above, wherein the combined contamination test in step S4 is a cyclic test, and the single test procedure includes:

[0014] M1: Contact with dust: After the ultraviolet radiation source 102 is turned on so that the lunar dust in the lunar dust tank 107 reaches the saturation potential, the surface of the upper limb motion component 108 is driven to come into contact with the lunar dust.

[0015] M2: Frontal dust spraying: Adjust the upper limb motion component 108 to face upwards, use the spraying mechanism 103 to spray lunar dust and charge it in situ through the ultraviolet radiation source 102;

[0016] M3: Backside dusting: Flip the upper limb motion component 108 so that the back is facing up, use the spraying mechanism 103 to spray lunar dust and charge it in situ through the ultraviolet radiation source 102;

[0017] M4: Dynamic monitoring: Drives the arm bearing 78 and elbow 75 of the upper limb motion component 108 to reciprocate, obtains real-time torque through motor current feedback, and monitors airtightness data through mass flow meter 82.

[0018] In the above-described reliability testing method, the method for extracting the additional resistance torque in step S6 is as follows:

[0019] N1: Establishing a joint dynamics model: Establishing the joint dynamics equations for the upper limb motion components as follows:

[0020]

[0021] in, To measure the total driving torque, For inertial torque, For gravitational torque, It is a viscous damping torque. This is the resistance torque;

[0022] N2: Physical Parameter Identification: In the clean environment of step S2, the inherent physical parameters in the model are determined using the controlled variable method; the control component performs extremely low-speed reciprocating motion, and the gravity torque term constant is identified by least-squares fitting of the mean forward and reverse torques under the same posture, after removing friction interference. The control components operate at multiple constant velocity gradients, with angular velocity... Perform a linear regression fit on the independent variable, and the regression slope is the viscous damping coefficient. The control components execute high-acceleration motion, using known gravity and damping terms to subtract the inertial residual from the total torque, through acceleration. The moment of inertia was obtained by linear regression identification. ;

[0023] N3: Cleanliness reference resistance torque Acquisition: In clean environment testing, using identified... , , The inherent drag torque at each sampling point's pose is calculated based on the dynamic equations and used as baseline data for the health status.

[0024]

[0025] N4: In the charged lunar dust contamination test in step S4, the measured drag torque including lunar dust interference is calculated using the same identification parameters. ;

[0026]

[0027] By measuring the values Reference value at the same pose Perform differential calculations to extract the additional drag torque caused by lunar dust intrusion. ;

[0028] N5: Reliability Index Quantification: Calculating the additional work caused by lunar dust in a single contamination cycle. ;

[0029]

[0030] Will As a core indicator for quantitatively characterizing the reliability and performance degradation of upper limb motor components.

[0031] A reliability testing device for upper limb movement components of a spacesuit under vacuum lunar dust contamination, applicable to the aforementioned reliability testing method, comprising: a vacuum test chamber 101, an ultraviolet radiation source 102, a spraying mechanism 103, and a test fixture 104, wherein the ultraviolet radiation source 102 and the spraying mechanism 103 are both installed inside the vacuum test chamber 101; the vacuum test chamber 101 includes: a lunar dust chamber 1, which is equipped with an openable and closable hatch 2; the test fixture 104 can be moved into or out of the lunar dust chamber 1 via the hatch 2; and a guide rail 3 is provided inside the lunar dust chamber 1;

[0032] The test fixture 104 includes: a test base 105, a component drive mechanism 106, and a lunar dust tank 107. The bottom of the test base 105 is detachably slidably mounted on the guide rail 3. The component drive mechanism 106 and the lunar dust tank 107 are both mounted on the upper surface of the test base 105. The upper limb movement component 108 is detachably mounted on the component drive mechanism 106. The ultraviolet radiation source 102 and the spraying mechanism 103 are both located above the upper limb movement component 108.

[0033] It also includes a pressure control circuit, which is used to regulate the internal pressure of the vacuum test chamber 101 and the upper limb movement component 108.

[0034] The aforementioned reliability testing apparatus includes a test base 105 comprising: a dustproof shell 12, a fixing mechanism 13, a guide rail movement mechanism 14, and a flat-ground movement mechanism 15. The lifting freedom device interface 11 is located on the top of the dustproof shell 12. Each corner of the bottom of the dustproof shell 12 is equipped with a fixing mechanism 13, a guide rail movement mechanism 14, and a flat-ground movement mechanism 15. Two fixing mechanisms 13 on the left side are slidably mounted on a guide rail 3; two guide rail movement mechanisms 14 on the left side are matched with the guide rail 3 and used to achieve movement on the guide rail 3; two fixing mechanisms 13 on the right side are slidably mounted on another guide rail 3; two guide rail movement mechanisms 14 on the right side are matched with the guide rail 3 and used to achieve movement on the guide rail 3; four flat-ground movement mechanisms 15 are used to achieve movement on the ground.

[0035] Each fixing mechanism 13 includes: a fixing base 16, a pull rod 17, a nut, and a locking block 18. The fixing base 16 is installed at one corner of the bottom of the dust cover 12. The fixing base 16 is provided with an assembly through hole. The upper end of the pull rod 17 is provided with a thread. The pull rod 17 passes through the assembly through hole from bottom to top. The nut is installed at the upper end of the pull rod 17 and is located above the assembly through hole. The installation depth of the pull rod 17 in the assembly through hole can be adjusted by adjusting the nut. The lower end of the pull rod 17 is connected to the locking block 18. The locking block 18 is provided with a C-shaped groove that matches the guide rail 3.

[0036] The aforementioned reliability testing apparatus includes a component drive mechanism 106 comprising: a lifting degree-of-freedom device 6, an extension degree-of-freedom device 7, a swing degree-of-freedom device 8, a rotation degree-of-freedom device 9, and a pitch degree-of-freedom device 10. The lifting degree-of-freedom device 6 is mounted on the lifting degree-of-freedom device interface 11, the pitch degree-of-freedom device 10 is mounted on the lifting degree-of-freedom device 6, the rotation degree-of-freedom device 9 is mounted on the pitch degree-of-freedom device 10, the swing degree-of-freedom device 8 is mounted on the rotation degree-of-freedom device 9, and the extension degree-of-freedom device 7 is mounted on the swing degree-of-freedom device 8.

[0037] The aforementioned reliability testing apparatus, wherein the lifting freedom device 6 includes: a first lifting frame, a planetary reducer 19, a coupling 20, a lower limit block 21, a fixed seat 22, a trigger block 23, an upper limit block 24, a lifting seat 25, a ball screw 26, a linear guide rail 27, and a servo motor 28. The lifting seat 25 is slidably mounted on the front side of the first lifting frame along two linear guide rails 27 in the vertical direction. The trigger block 23 is mounted on the side of the lifting seat 25, and the upper limit block 24 and the lower limit block 21 are mounted on the side of the first lifting frame. When the lifting seat 25 moves upward along the linear guide rail 27 to the position where the trigger block 23 and the upper limit block 24 are aligned, the lifting test device can be used to test the lifting freedom device. When block 24 contacts, lifting seat 25 moves to the upper limit position; when lifting seat 25 moves down along linear guide rail 27 until trigger block 23 contacts lower limit block 21, lifting seat 25 moves to the lower limit position; servo motor 28 is installed at the bottom of the first lifting frame, planetary reducer 19 is installed at the output end of servo motor 28, the output end of planetary reducer 19 and the lower end of ball screw 26 are connected by coupling 20, the servo motor 28 is used to drive the screw to rotate, the sliding nut of ball screw 26 is connected to lifting seat 25, and the lifting seat 25 slides in the vertical direction by rotating the screw;

[0038] The pitch freedom device 10 includes: a servo motor 29, a planetary reducer 30, a crossed roller bearing 31, a worm gear shaft 32, a worm gear 33, a three-way connector 34, a variable lead worm gear 35, an angular contact ball bearing 36, and a worm gear housing 37. The worm gear housing 37 is mounted on the lifting base 25. The variable lead worm gear 35 is rotatably mounted in the worm gear housing 37 via the angular contact ball bearing 36. The worm gear shaft 32 is rotatably mounted in the worm gear housing 37 via the crossed roller bearing 31. The worm gear 33 is sleeved on the worm gear shaft 32. The upper part is connected to the worm gear shaft 32 via a key; the worm gear 33 and the variable lead worm gear 35 mesh and drive each other; the planetary reducer 30 is mounted on the worm gear box 37, and the output end of the planetary reducer 30 is connected to the end of the variable lead worm gear 35; the output end of the servo motor 29 is connected to the input end of the planetary reducer 30; the three-way connector 34 is provided with a middle port and left and right side ports; the middle port of the three-way connector 34 is connected to the end of the worm gear shaft 32, and the servo motor 29 is used to drive the three-way connector 34 to rotate around the axis of the middle port.

[0039] The aforementioned reliability testing apparatus, wherein the rotational degree-of-freedom device 9 comprises: a servo motor 39, a planetary reducer 40, an angular contact ball bearing 41, a variable lead worm gear 42, a worm wheel 43, a worm wheel housing 44, a worm wheel shaft 47, and a crossed roller bearing 48. The worm wheel housing 44 is mounted on the left or right port of the three-way connector 34; the worm wheel shaft 47 is rotatably mounted within the worm wheel housing 44 via the crossed roller bearing 48; and the worm wheel 43 is located within the worm wheel housing 44 and sleeved on the worm wheel shaft 47. The outer wall of the worm gear 43 is keyed to the outer wall of the worm gear shaft 47. The variable lead worm gear 42 is rotatably mounted in the worm gear box 44 through the angular contact ball bearing 41. The variable lead worm gear 42 meshes with the worm gear 43 for transmission. The planetary reducer 40 is mounted on the worm gear box 44. The output end of the planetary reducer 40 is connected to the end of the variable lead worm gear 42, and the input end of the planetary reducer 40 is connected to the output end of the servo motor 39. The servo motor 39 is used to drive the worm gear shaft 47 to rotate around its own axis.

[0040] The rotational degree of freedom device 9 further includes: a sealing flange 46 and a support arm 45. One end of the sealing flange 46 is installed at the end of the worm gear shaft 47, and the two support arms 45 are symmetrically installed on the outer wall of the sealing flange 46. The sealing flange 46 is used to install an inflation tube. The upper limb movement component 108 is sleeved on the inflation tube.

[0041] The rotational degree of freedom device 9 further includes: a compression ring 49, which surrounds the inflation tube and is mounted on the other end of a sealing flange 46 by a plurality of screws. The compression ring 49 and the sealing flange 46 are used to clamp the shoulder 72 of the upper limb motion assembly 108.

[0042] The aforementioned reliability testing apparatus, wherein the swinging degree-of-freedom device 8 includes: a servo motor 51, a planetary reducer 52, a gear 53, a rotating bracket 54, a spacesuit elbow fixing structure 55, a fixed bracket 56, a toothed V-shaped guide rail 57, and V-shaped wheels 58. The rear end of the fixed bracket 56 is mounted on two support arms 45, and multiple V-shaped wheels 58 are mounted along the front end of the fixed bracket 56. The toothed V-shaped guide rail 57 is rotatably mounted on the multiple V-shaped wheels 58. The rotating bracket 54 is connected to the front end of the toothed V-shaped guide rail 57. The toothed V-shaped guide rail 55 and the fixed bracket 56 are connected. Support 56 and rotating support 54 are coaxially arranged; the inner circumferential guide rail of toothed V-shaped guide rail 57 is matched with multiple V-shaped wheels 58, and the outer circumference of toothed V-shaped guide rail 57 is provided with a toothed structure; servo motor 51 is mounted on fixed support 56, the output end of servo motor 51 is connected to the input end of planetary reducer 52, the output end of planetary reducer 52 is equipped with gear 53, the gear 53 and the toothed structure of toothed V-shaped guide rail 57 mesh and transmit power, and the servo motor 51 is used to drive the toothed V-shaped guide rail 57 to rotate, thereby driving the rotating support 54 to rotate;

[0043] The elbow fixing structure 55 of the spacesuit is installed on the inner circumference of the fixing bracket 56. The elbow fixing structure 55 includes: a fixing ring 59, an angle adjusting ring 60, an upper retaining ring 61, a lower retaining ring 62, and a connecting arm 63. The fixing ring 59 is installed on the inner circumference of the fixing bracket 56 through two connecting arms 63. The fixing ring 59 is provided with a first arc-shaped elongated hole. The angle adjusting ring 60 is installed in the first arc-shaped elongated hole through multiple adjusting bolts. The first arc-shaped elongated hole is used to realize the rotation and locking of the angle adjusting ring 60 around its own axis. The upper retaining ring 61 is detachably installed on the angle adjusting ring 60. The lower retaining ring 62 is detachably installed on the upper retaining ring 61. The upper retaining ring 61 and the lower retaining ring 62 together form a ring structure. The upper retaining ring 61 and the lower retaining ring 62 are used to clamp the elbow 75 of the upper limb motion component 108.

[0044] The aforementioned reliability testing apparatus, wherein the extension degree-of-freedom device 7 comprises: a primary arm 64, a worm gear box 65, a servo motor 66, a secondary arm 67, a fixing ring 68, an angle adjustment ring 69, an upper retaining ring 70, and a lower retaining ring 71. Two primary arms 64 are symmetrically arranged, and the rear ends of both primary arms 64 are connected to a rotating support 54. The front end of each primary arm 64 is rotatably connected to the rear end of a secondary arm 67. The worm gear box 65 is installed at the front end of any one of the primary arms 64. The output end of the servo motor 66 is connected to the input end of the worm gear box 65, and the servo motor 66 is used to drive the two secondary arms 67 to rotate synchronously. The two ends of the fixing ring 68 are rotatably connected to the front ends of the two secondary arms 67 respectively.

[0045] The fixing ring 7 68 is provided with a second arc-shaped elongated hole; the angle adjustment ring 7 69 is installed in the second arc-shaped elongated hole by multiple adjusting bolts. The second arc-shaped elongated hole is used to realize the rotation and locking of the angle adjustment ring 7 69 around its own axis; the upper retaining ring 7 70 is detachably installed on the angle adjustment ring 7 69, and the lower retaining ring 7 71 is detachably installed on the upper retaining ring 7 70. The upper retaining ring 7 70 and the lower retaining ring 7 71 together form a ring structure. The upper retaining ring 70 and the lower retaining ring 7 71 are used to clamp the wrist 76 of the upper limb motion component 108.

[0046] The present invention, by employing the above-mentioned technology, has the following positive effects compared with the prior art:

[0047] (1) This invention is the first to organically combine two pollution modes, namely contact dust and in-situ charged dust, to truly reproduce the complex dust environment encountered by astronauts when working on the lunar surface.

[0048] (2) By adopting the collaborative segmented depressurization and repressurization technology, the problem of pressure regulation of complex flexible components in vacuum environment is effectively solved, ensuring the structural safety and working stability of the components throughout the entire test cycle.

[0049] (3) Based on the rigid body dynamics model, the additional drag torque caused by lunar dust intrusion is separated, eliminating the interference of joint inherent friction, gravity and inertia on the measurement data. It can accurately quantify the small drag changes caused by lunar dust, and provide scientific quantitative indicators for the life prediction of spacesuits. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of a reliability testing device for the upper limb movement components of a spacesuit under vacuum lunar dust contamination, according to the present invention. Figure 2 yes Figure 1 A schematic diagram of the structure of the medium vacuum test chamber. Figure 3 yes Figure 1 A schematic diagram of the experimental setup. Figure 4 yes Figure 3 A first-view structural diagram of the test base. Figure 5 yes Figure 3 A schematic diagram of the second-view structure of the test base. Figure 6 yes Figure 5 A schematic diagram of the fixed mechanism in the diagram. Figure 7 yes Figure 2 A schematic diagram of the lifting degree of freedom device of the middle component drive mechanism. Figure 8 yes Figure 2 First-view sectional view of the pitch degree of freedom device of the middle component drive mechanism. Figure 9 yes Figure 2 A second-view sectional view of the pitch degree of freedom device of the middle component drive mechanism. Figure 10 yes Figure 2 First-view sectional view of the rotational degree of freedom device of the component drive mechanism. Figure 11 yes Figure 2 A second-view sectional view of the rotational degree of freedom device of the drive mechanism of the middle component. Figure 12 yes Figure 2 An embodiment diagram of the rotational degree of freedom device of the component drive mechanism. Figure 13 yes Figure 2 A first-view structural schematic diagram of the swing degree-of-freedom device of the middle component drive mechanism. Figure 14 yes Figure 2 A second-view structural schematic diagram of the swing degree-of-freedom device of the middle component drive mechanism. Figure 15 yes Figure 2 A schematic diagram of the fifth component of the spacesuit elbow fixation structure of the mid-component drive mechanism. Figure 16 yes Figure 2 A schematic diagram of the extension degree of freedom device of the component drive mechanism. Figure 17 This is a schematic diagram of the upper limb motor components. Figure 18 yes Figure 2 A schematic diagram showing the location of the pressure control air vent in the drive mechanism of the middle component. Figure 19 yes Figure 2 A schematic diagram of the pressure control circuit for the upper and middle limb motor components. Figure 20 This is a flowchart of a reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination, according to the present invention. Figure 21 This is an embodiment diagram of a reliability testing method for upper limb movement components of a spacesuit under vacuum lunar dust contamination according to the present invention.

[0051] In the attached diagram: 101. Vacuum test chamber; 102. Ultraviolet radiation source; 103. Spraying mechanism; 104. Test fixture; 105. Test base; 106. Component drive mechanism; 107. Lunar dust tank; 108. Upper limb movement component; 1. Lunar dust chamber; 2. Door; 3. Guide rail; 4. Pressure control vent; 6. Lifting degree of freedom device; 7. Extension degree of freedom device; 8. Swinging degree of freedom device; 9. Rotation degree of freedom device; 10. Pitch degree of freedom device; 11. Lifting degree of freedom device interface; 12. Dustproof shell; 13. Fixing mechanism; 14. Guide rail movement mechanism; 15. Ground transport... 16. Motion mechanism; 17. Fixed seat; 18. Tie rod; 19. Locking block; 20. Planetary reducer I; 21. Coupling I; 22. Lower limit block I; 23. Fixed seat I; 24. Trigger block I; 25. Upper limit block I; 26. Lifting seat I; 27. Ball screw I; 28. Linear guide rail I; 29. ​​Servo motor I; 30. Planetary reducer II; 31. Cross roller bearing II; 32. Worm gear shaft II; 33. Worm gear II; 34. T-joint; 35. Variable lead worm gear III; 36. Angular contact ball bearing III; 37. Worm gear box III; 39. Servo motor 40. Planetary reducer; 41. Angular contact ball bearing; 42. Variable lead worm gear; 43. Worm gear; 44. Worm gearbox; 45. Support arm; 46. Sealing flange; 47. Worm gear shaft; 48. Crossed roller bearing; 49. Extrusion ring; 51. Servo motor; 52. Planetary reducer; 53. Gear; 54. Rotary support; 55. Spacesuit elbow fixing structure; 56. Fixed support; 57. Toothed V-rail; 58. V-wheel; 59. Fixed ring; 60. Angle adjustment ring; 61. Upper retaining ring; 62. 63. Lower retaining ring 6; 64. Connecting arm 6; 65. Primary arm 7; 66. Worm gear box 7; 67. Servo motor 7; 68. Secondary arm 7; 69. Fixing ring 7; 70. Angle adjustment ring 7; 71. Upper retaining ring 7; 72. Lower retaining ring 7; 73. Shoulder; 74. Upper arm; 75. Forearm; 76. Elbow; 77. Wrist; 78. Shoulder flange; 79. Arm bearing; 80. Wrist flange; 81. Pressure control through-chamber flange; 82. Pressure gauge; 83. Mass flow meter; 84. Electric valve 1; 85. Electric valve 2; 86. Electric valve 3; 87. Air compressor. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0053] Please refer to Figures 1 to 21As shown, a reliability testing device for the upper limb movement components of a spacesuit under vacuum lunar dust contamination is illustrated. This device is applicable to the aforementioned reliability testing method and includes: a vacuum test chamber 101, an ultraviolet radiation source 102, a spraying mechanism 103, and a test fixture 104. The ultraviolet radiation source 102 and the spraying mechanism 103 are both installed inside the vacuum test chamber 101. The vacuum test chamber 101 includes: a lunar dust chamber 1, which has an openable and closable hatch 2; the test fixture 104 can be moved into or out of the lunar dust chamber 1 via the hatch 2; and a guide rail 3 is provided inside the lunar dust chamber 1.

[0054] The test fixture 104 includes: a test base 105, a component drive mechanism 106, and a lunar dust tank 107. The bottom of the test base 105 is detachably slidably mounted on the guide rail 3. The component drive mechanism 106 and the lunar dust tank 107 are both mounted on the upper surface of the test base 105. The upper limb movement component 108 is detachably mounted on the component drive mechanism 106. The ultraviolet radiation source 102 and the spraying mechanism 103 are both located above the upper limb movement component 108.

[0055] It also includes a pressure control circuit, which is used to regulate the internal pressure of the vacuum test chamber 101 and the upper limb movement component 108.

[0056] Furthermore, in a preferred embodiment, the overall frame of the test base 105 is constructed using aluminum profiles, with four corner casters installed on the bottom as a leveling mechanism 15, enabling manual movement and fixed support on flat ground. The guide rail movement mechanism 14 consists of four grooved wheels installed on the bottom surface of the test base 105. The grooved wheels contain deep groove ball bearings, and their outer surface shape can conform to the guide rail 3 inside the lunar dust chamber, allowing for manual movement within the lunar dust chamber 1.

[0057] Furthermore, in a preferred embodiment, there are four sets of fixing mechanisms 13, installed at the front and rear of the test base 105, in a position that facilitates installation and disassembly. Each set of fixing mechanisms 13 includes a fixing seat 16, a pull rod 17, and a locking block 18. The fixing seat 16 is fixed on the frame of the test base 105, and the locking block 18 is fitted on the guide rail 3 inside the lunar dust chamber 1. The pull rod 17 has a structure similar to a double-headed stud, with one end fixed to the threaded hole of the locking block 18 and the other end passing through the through hole on the fixing seat 16. A nut is screwed on the other end of the through hole. By adjusting the nut, the locking block 18 can be tightened or loosened from the guide rail 3, thereby achieving fixing at any position inside the lunar dust chamber 1.

[0058] Furthermore, in a preferred embodiment, the bottom of the fixed seat 22 is mounted on the test base 105, and the top of the lifting seat 25 is connected to the pitch freedom device 10. The screw of the ball screw 26 is mounted on the fixed seat 22, and the nut of the ball screw 26 is mounted on the lifting seat 25 through a nut seat. A servo motor 28 is used as the drive source, and the screw is driven to rotate through a planetary reducer 19 and a coupling 20, thereby realizing the lifting motion of the lifting seat 25. Two linear guide rails 27 are installed on the left and right sides of the ball screw 26 on the fixed seat 22, and the linear guide rail sliders are mounted on the lifting seat 25 as guide supports for the lifting freedom.

[0059] Furthermore, in a preferred embodiment, an upper limit block 24 and a lower limit block 21 are installed on the side of the fixed base 22, and a trigger block 23 is installed on the lifting base 25. Before the lifting base 25 reaches its travel limit, it will interfere with the upper limit block 24 or the lower limit block 21 to prevent the lifting base 25 from continuing to move, thus ensuring safety. The other side of the fixed base 22 has a limit switch (upper limit block 24 and lower limit block 21) and another trigger block 23 with the same principle.

[0060] Furthermore, in a preferred embodiment, in order to prevent dust from entering the bearings, lead screws and other transmission mechanisms inside the lifting degree-of-freedom device 6 and causing the mechanism to jam, the ball screw 26 is designed inside the fixed seat 22, and a dustproof shell and a telescopic dustproof cover are designed. When the lifting degree-of-freedom device 6 is raised and lowered, the dustproof shell, dustproof cover and lifting seat 25 completely cover the internal mechanism, which can effectively prevent dust from entering the lifting degree-of-freedom device 6.

[0061] Furthermore, in a preferred embodiment, the pitch degree-of-freedom device 10 employs a variable lead worm gear transmission, with the entire transmission mechanism housed within the worm gear box 37, preventing dust contamination. The bottom of the worm gear box 37 is fixed to the lifting degree-of-freedom device 6. The servo motor 29 mounted on the worm gear box 37 drives the variable lead worm gear 35 to rotate via a planetary reducer 30. The variable lead worm gear 35 drives the worm wheel shaft 32 to rotate, and the worm wheel shaft 32 is connected to the rotation degree-of-freedom device 9 via a three-way connector 34. The variable lead worm gear mechanism allows adjustment of the worm gear backlash by adjusting the axial position of the worm wheel 33. The worm gear, in conjunction with the planetary reducer 30, can provide a larger reduction ratio, suitable for low-speed, high-torque applications. The worm gear transmission mechanism has self-locking properties, improving the safety of the testing device.

[0062] Furthermore, in a preferred embodiment, the second worm gear shaft 32 is designed as a hollow structure. The spacesuit pressurization tube and the control cables for several degrees of freedom at its end pass through the tee joint 34 and the second worm gear shaft 32 into the drag chain of the lifting degree-of-freedom device 6, avoiding external wiring, simplifying the structure, and improving aesthetics. Cables pass through the tee joint 34 in two directions, with the last direction serving as the operation window.

[0063] Furthermore, in a preferred embodiment, the testing device as a whole is a cantilever structure, and each degree of freedom will generate a large inertial force during movement. To improve strength and rigidity, the worm gear shaft 32 is supported at two points by two crossed roller bearings 31. The crossed roller bearings 31 can simultaneously withstand large axial and radial forces, and can resist the forces and torques in different directions generated by the end degree of freedom under different postures. The variable lead worm gear 35 has two rows of angular contact ball bearings 36 at both ends for support. The axial position of the variable lead worm gear 35 is adjusted by shims, thereby changing the backlash of the worm gear.

[0064] Furthermore, in a preferred embodiment, the drive structure of the rotational degree-of-freedom device 9 is the same as that of the pitch degree-of-freedom device 10. The worm gear box 44 is mounted on the tee member 34, and the worm gear shaft 47 is connected to the swing degree-of-freedom device 8 via the adjustable support arm 45.

[0065] Furthermore, in a preferred embodiment, the upper limbs of the spacesuit need to be pressurized during the test, so a sealing flange 46 is installed on the worm gear shaft 47 to fix the shoulder of the upper limb of the spacesuit. An inflation tube is installed on the sealing flange 46 to pressurize the upper limb of the spacesuit. The inflation tube and the end-degree-of-freedom cable enter the tee 34 through the hollow worm gear shaft 47.

[0066] Furthermore, in a preferred embodiment, the adjustable support arm 45 provides support on both sides. The support arm 45 uses elongated holes instead of through holes for mounting bolts, thereby adjusting the length and angle of the support arm 45 to accommodate the size differences of the upper limbs of different spacesuits. The sealing flange 46 uses bolts to pull and compress the compression ring 49, compressing and fixing the shoulder area of ​​the spacesuit's upper limb. This eliminates the need for pre-drilled mounting holes on the spacesuit, and the spacesuit material can be completely sealed after being compressed.

[0067] Furthermore, in a preferred embodiment, such as Figures 12 to 14 The diagram shows the swing freedom device 8 of the testing apparatus, guided by a V-shaped guide rail and driven by a gear ring. The toothed V-shaped guide rail 57 is a complete ring, with an outer gear ring and an inner V-shaped guide rail. A fixed bracket 56 is mounted on an adjustable support arm 45. A servo motor 51 mounted on the fixed bracket 56 drives a gear 53 to rotate via a planetary reducer 52. The gear 53 drives the toothed V-shaped guide rail 57 to rotate. A rotating bracket 54 is mounted on the toothed V-shaped guide rail 57 and connects to the extension freedom device 7. Six V-shaped wheels 58 are evenly distributed on the fixed bracket 56, providing support for the rotating bracket 54. A dustproof shell is designed to completely enclose the gear 53, toothed V-shaped guide rail 57, and V-shaped wheels 58 to prevent dust from entering.

[0068] Furthermore, in a preferred embodiment, this structure is generally ring-shaped, with sufficient internal space to install the upper limb movement component 108. The upper limb movement component 108 has two protrusions at the elbow, which are used to design the following spacesuit elbow fixing structure 55. The fixing ring 59 is mounted on the fixing bracket 56 via two connecting arms 63. The fixing ring 59 and the angle adjustment ring 60 are connected by bolts through an arc-shaped elongated hole for adjusting the installation angle. The angle adjustment ring 60 is connected to the upper retaining ring 61 by studs, allowing for adjustment of the installation position. The upper retaining ring 61 and the lower retaining ring 62 each have a groove that fits the protrusion of the upper limb elbow of the spacesuit. The upper retaining ring 61 and the lower retaining ring 62 are bolted together; tightening the bolts forms a complete ring to fix the upper limb elbow of the spacesuit.

[0069] Furthermore, in a preferred embodiment, such as Figure 15 The diagram shows the extension degree-of-freedom device 7 of the testing apparatus, a double-sided support structure using a variable lead worm gear transmission. The first-stage arm 764 is mounted on the rotating support 54, and the worm gear box 765 is mounted on the first-stage arm 764. A servo motor 766 drives the worm to rotate, which in turn drives the worm gear shaft to rotate, which in turn drives the second-stage arm 767 to swing. The other side is driven; a crossed roller bearing is installed between the first-stage arm 764 and the second-stage arm 767 to achieve double-sided support. A spacesuit upper limb wrist fixation structure, similar to the elbow fixation structure, is installed between the ends of the two second-stage arms 767, including a fixing ring 768, an angle adjustment ring 769, an upper locking ring 760, and a lower locking ring 761.

[0070] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0071] In addition to the above, the present invention also has the following embodiments:

[0072] In a further embodiment of the present invention, since the upper limbs of the spacesuit need to be pressurized inside during the test, the testing device needs to be installed on the outside of the upper limbs of the spacesuit in a form similar to an exoskeleton.

[0073] In a further embodiment of the present invention, the testing device is designed with a total of 5 degrees of freedom, which are connected in series. From the base to the end, they are: a lifting degree of freedom device 6, a pitch degree of freedom device 10, a rotation degree of freedom device 9, a swing degree of freedom device 8, and an extension degree of freedom device 7. The first three degrees of freedom are mainly used to move and rotate the upper limb motion component 108, while the latter two degrees of freedom are used to drive the upper limb motion component 108 to change posture. The shoulder of the upper limb motion component 108 is fixed between the rotation degree of freedom device 9 and the swing degree of freedom device 8, and the elbow is fixed at the end of the extension degree of freedom device 7.

[0074] In a further embodiment of the present invention, the lifting freedom device 6 is installed on the test base 105. The test base 105 has two sets of motion mechanisms, which can be pushed omnidirectionally by a person on flat ground, or pushed manually along the guide rail 3 inside the lunar dust chamber 1. The test base 105 is designed with a fixing mechanism 13 that can be fixed at any position on the guide rail 3 inside the lunar dust chamber 1.

[0075] In a further embodiment of the present invention, the testing device has multiple rotational degrees of freedom. To avoid the control cable from getting tangled during the movement of each degree of freedom, the pitch degree of freedom device 10 and the rotation degree of freedom device 9 are designed with hollow cable routing structures to maximize the range of motion of the product tooling.

[0076] In a further embodiment of the invention, to cope with dusty environments, dust covers and dust shells are designed to cover the testing device as much as possible, especially the transmission structure. To cope with vacuum environments, vent holes are machined into all enclosed spaces within the testing device. All machined parts are forged from aluminum alloy and bolted together, prohibiting welding and casting processes to prevent the formation of air bubbles and pores during processing. Furthermore, all motors, reducers, limit switches, and other components selected for the testing device are models resistant to vacuum, dust, and ultraviolet radiation. All bearings, sliders, and lead screw nuts used are cleaned of their own grease and coated with special grease.

[0077] In a further embodiment of the present invention, a reliability testing method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination is described based on a reliability testing device for the upper limb movement components of a spacesuit under vacuum lunar dust contamination. The lifting degree-of-freedom device 6 can be simplified to a lifting axis, the pitch degree-of-freedom device 10 can be simplified to a pitch axis, the rotation degree-of-freedom device 9 can be simplified to a shoulder rotation axis, the swing degree-of-freedom device 8 can be simplified to an arm rotation axis, and the extension degree-of-freedom device 7 can be simplified to an elbow rotation axis; this is for the purpose of subsequent description.

[0078] In a further embodiment of the present invention, a reliability testing method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination is provided, wherein the method is implemented by performing a test cycle comprising the following ordered steps in a vacuum environment:

[0079] First, lunar dust contamination of the upper limb movement component 108 is applied in the first mode: In the vacuum test chamber 101, the simulated lunar dust placed in the lunar dust tank 107 is pre-charged using the ultraviolet radiation source 102. After the simulated lunar dust reaches the saturation potential, the upper limb movement component 108 is driven to contact the simulated lunar dust in the lunar dust tank to achieve contact-type dust adhesion.

[0080] Next, the upper limb movement component 108 is subjected to a second mode of lunar dust contamination: the uncharged simulated lunar dust is sprayed onto the surface of the upper limb movement component 108 using the spraying mechanism 103, and after the spraying is completed, the simulated lunar dust sprayed onto the surface of the upper limb movement component 108 is charged in situ using the ultraviolet radiation source 102 until the potential is saturated.

[0081] After completing the lunar dust contamination in the above two modes, the upper limb motion component 108 is driven to perform a predetermined movement in a vacuum environment, and the driving torque and internal pressure of the upper limb motion component 108 are continuously monitored during the predetermined movement.

[0082] By repeatedly executing the above test cycle, driving torque data related to the number of pollution events and the number of movements, as well as internal pressure data of the upper limb movement component 108, were obtained. The drag torque of the upper limb movement component was calculated based on the driving torque data sequence, and the pressure change over time was analyzed based on the internal pressure data of the upper limb movement component 108 to characterize airtightness. The calculated drag torque and the analyzed pressure change were used as two core indicators to characterize performance degradation, revealing the intrinsic physical relationship between the performance degradation rate of the upper limb movement component 108 and the cumulative lunar dust exposure.

[0083] In a further embodiment of the present invention, step b, applying the second mode of charged lunar dust contamination, further includes: positioning the upper limb movement component 108 with its front and back facing upwards, respectively, and performing simulated lunar dust spraying and in-situ charging operations on the two surfaces.

[0084] In a further embodiment of the present invention, the joint resistance torque calculated in each test cycle is compared with a preset failure threshold in real time. When the joint resistance torque exceeds the failure threshold, an instruction is automatically sent to the component drive mechanism 106 to terminate the test.

[0085] In a further embodiment of the present invention, a reliability testing method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination is provided. The test is conducted in a large vacuum test chamber 101, which is equipped with a spraying mechanism 103 and a test fixture 104. The test fixture 104 consists of a test base 105, a component driving mechanism 106, and a lunar dust tank 107. The vacuum test chamber 101 is equipped with an ultraviolet radiation source 102, which can irradiate the surface of the lunar dust tank 107 and the upper limb movement components 108 inside the chamber.

[0086] In a further embodiment of the present invention, the upper limb movement component 108 of the spacesuit used as the test subject is as follows: Figure 4 As shown, its main structure includes a shoulder 72, an upper arm 73, a forearm 74, an elbow 75, and a wrist 76, with a shoulder flange 77 and a wrist flange 79 for mounting, and an arm bearing 78 as a key moving joint.

[0087] In a further embodiment of the present invention, the component drive mechanism 106 is a five-axis robot system, including a lifting axis and a pitch axis for adjusting position, and a shoulder rotation axis, an arm rotation axis, and an elbow rotation axis for driving component movement. This mechanism securely mounts the upper limb motion component 108 onto the test fixture 104 via shoulder clamps, arm clamps, and wrist clamps. The motors of the arm rotation axis and the elbow rotation axis directly drive the arm bearing 78 and the elbow 75 of the upper limb motion component 108 to move, and can provide real-time feedback of the torque data required for driving.

[0088] In a further embodiment of the present invention, the internal pressure of the upper limb movement component 108 is precisely controlled by a pressure control circuit located outside the vacuum test chamber 101. This circuit is connected to the inner cavity of the upper limb movement component 108 through a pressure control through-chamber flange 80 and a pressure control air port 4 reserved on the component drive mechanism 106. The pressure control circuit consists of an electric valve 1 83, an electric valve 2 84, an electric valve 3 85, an electric valve 4 86, an air compressor 87, a pressure gauge 81, and a mass flow meter 82, which can realize precise pressure relief, repressurization, and pressurization control of the upper limb movement component 108.

[0089] In a further embodiment of the present invention, the test method of the present invention is according to Figure 20 The process shown includes the following consecutive steps:

[0090] S1: Simulated Lunar Dust Selection and Preprocessing

[0091] First, based on the physical and chemical properties of real lunar soil, the type with the highest similarity was selected from a variety of candidate simulated lunar dust. Then, the selected simulated lunar dust underwent vacuum baking pretreatment to remove adsorbed moisture and other volatile substances. Finally, the treated simulated lunar dust was evenly spread into the lunar dust tank 107 and the spreading mechanism 103, respectively, for use in subsequent experiments.

[0092] S2: Component installation and pre-testing

[0093] The upper limb movement component 108 of the spacesuit is installed on the component drive mechanism 106 and secured using shoulder clamps, arm clamps, and wrist clamps. A pressure control circuit is connected, and performance tests are conducted before the actual test, including: 1) an airtightness test to ensure that the upper limb movement component 108 is leak-free under pressure; and 2) a joint drive torque test, driving the arm bearing 78 and elbow 75 in a clean environment, recording the initial, uncontaminated drive torque curves as a benchmark for subsequent comparisons.

[0094] S3: Vacuum chamber and components depressurization in stages

[0095] The vacuum pump unit of the vacuum test chamber 101 is started to evacuate the chamber. Simultaneously, pressure is released from the upper limb movement component 108 via a pressure control circuit. During this process, the opening and closing of electric valves 83 and 86, as well as the opening degree of mass flow meter 82, are precisely controlled by the program to ensure that the pressure inside the upper limb movement component 108 is always higher than the pressure inside the vacuum test chamber 101, preventing damage to the component structure. The pressure release ultimately reaches the target state: the pressure inside the vacuum test chamber 101 is lower than... The pressure within the upper limb motion component 108 is maintained at the working pressure. .

[0096] S4: Component-based electrostatic dust adhesion test

[0097] This step is the core of the invention, simulating the cumulative effect of lunar dust through a repeatable experimental cycle (M1-M4):

[0098] M1 Upper Limb Motion Component Dust Retention: The ultraviolet radiation source 102 is activated to charge the simulated lunar dust in the lunar dust tank 107. The charging time is set according to a pre-determined time required for the simulated lunar dust surface potential to reach saturation. Once saturation potential is reached, the component drive mechanism 106 drives the upper limb motion component 108, causing its surface to come into contact with the charged lunar dust in the lunar dust tank 107, simulating the "dust" contamination caused by astronauts directly contacting lunar soil during lunar operations.

[0099] M2 Upper Limb Motion Component Front Dust Spray: The component drive mechanism 106 adjusts the posture of the upper limb motion component 108 so that its outer side (front) faces upward. The spraying mechanism 103 is activated to evenly sprinkle uncharged simulated lunar dust onto the component surface, simulating the settling of suspended lunar dust. After spraying, the lunar dust sprinkled on the component surface is charged in situ using an ultraviolet radiation source 102 to simulate its actual charged state on the lunar surface.

[0100] M3 Upper Limb Movement Component Backside Dust Removal: Repeat the steps of M2, but the component drive mechanism 106 flips the upper limb movement component 108 so that its inner side (back side) faces upward, completing the backside dust removal and in-situ charging operation, achieving comprehensive contamination of the component.

[0101] M4 Upper Limb Motion Component Movement Test: After the above-mentioned compound contamination is completed, the arm rotation axis and elbow rotation axis of the program control component drive mechanism 106 drive the arm bearing 78 and elbow 75 of the upper limb motion component 108 to perform reciprocating motion according to the preset range of motion, speed and number of times. During this process, the torque data required by the drive motor and the internal pressure of the upper limb motion component 108 are monitored and recorded in real time and continuously.

[0102] The complete cycle from M1 to M4 can be repeated multiple times as needed to simulate different levels of cumulative lunar dust exposure.

[0103] S5: Vacuum chamber and component segmented repressurization

[0104] After the test, the vacuum test chamber 101 and the upper limb movement component 108 were subjected to segmented repressurization. By controlling the opening and closing of electric valves 83 and 85, atmospheric air was introduced into the cavity of the upper limb movement component 108, while the vacuum test chamber 101 was simultaneously pressurized. Similarly, the opening of the mass flow meter 82 was strictly controlled during this process to ensure that the pressure inside the upper limb movement component 108 remained higher than the chamber pressure until both were restored to one standard atmosphere (approximately 101 kPa).

[0105] S6: Post-experimental data processing and analysis

[0106] This step aims to extract core information from the collected raw data that can quantitatively characterize performance degradation. In this invention, performance degradation is mainly characterized by parameters in two dimensions: joint drag torque and airtightness. The detailed process is as follows:

[0107] S6-A: Mechanical Performance (Joint Drag Torque) Degradation Analysis:

[0108] Raw data acquisition and synchronization: For the performance test in step S2 and the M4 stage of the test cycle in step S4, the motion control system of component drive mechanism 106 records and stores a time-series dataset containing multiple physical quantities in real time. For each reciprocating motion of arm bearing 78 and elbow 75, this dataset contains at least the driving torque. Joint angle Joint angular velocity and joint angular acceleration Among them, driving torque The joint angle is directly measured by the motor current feedback from the arm rotation axis and the elbow rotation axis. Joint angular velocity measured by motor encoder It is obtained by differentiating the joint angle over time, and is called joint angular acceleration. It is obtained by time differentiation of the joint angular velocity, and these data are precisely timestamped to form the basis for subsequent calculations.

[0109] Calculation and Separation of Joint Drag Torque: The core objective is to separate the drag torque caused by lunar dust contamination. This is achieved by applying a rigid body dynamics model. Taking the arm bearing 78 as an example, the driving torque during its movement is... It consists of multiple components:

[0110]

[0111] in: It is the inertial torque, and the rotational inertia of the joint. and angular acceleration related; It is the gravitational torque, which is the total weight of the forearm, elbow, and wrist. Center of gravity lever arm length and joint angle related; It is the damping torque, and the damping coefficient of the joint. and angular velocity related; It is the drag torque, which includes the friction of the joint itself and the additional friction caused by the intrusion of lunar dust.

[0112] Define the total dissipation torque. The sum of the damping torque and the drag torque:

[0113]

[0114] because , , , It is measured in real time, and , , The total dissipation torque at each sampling moment is calculated using known constants obtained through 3D models or calibration experiments. .

[0115] Performance calibration and polynomial fitting: Data measured in the clean environment of step S2 were used to establish a baseline performance model for the joint, at which point the drag torque... This only represents the inherent friction of the joint, calculated from the S2 data. With angular velocity By performing polynomial fitting on the relationship, a function can be obtained. This function precisely describes the damping and frictional characteristics of a joint in a clean state.

[0116] Quantification of performance degradation indicators: For the test data after the Nth pollution cycle in S4, the total dissipation torque is also calculated. Due to the intrusion of lunar dust, The value will be significantly higher than the baseline. To obtain a single indicator that represents the degree of degradation in this cycle, it is preferable to use the work done to overcome resistance. As a core performance indicator, this indicator is obtained by integrating the additional drag torque caused by lunar dust over the joint angle during this cycle:

[0117]

[0118] It represents the additional energy consumed to overcome the increased lunar dust resistance after the Nth pollution cycle, and it reflects performance degradation more comprehensively and robustly than a single peak or average torque.

[0119] S6-B: Analysis of Airtightness Performance Degradation:

[0120] In parallel with the torque analysis, the internal pressure data of the upper limb motion component 108, continuously monitored during the M4 phase of step S4, were analyzed. This analysis directly utilizes the change in pressure over time to characterize the degradation of airtightness.

[0121] The intrinsic physical relationship between the performance degradation rate of the upper limb motion component 108 and the cumulative lunar dust exposure was quantitatively characterized by two key parameters: joint drag torque and airtightness.

[0122] In a further embodiment of the present invention, in step S1, based on the physical and chemical properties data of real lunar soil, simulated lunar dust is selected from a variety of candidate simulated lunar dust, and the selected simulated lunar dust is subjected to vacuum baking pretreatment to remove adsorbed moisture and other volatile substances. The treated simulated lunar dust is then evenly spread into the lunar dust tank 107 and the spreading mechanism 103 for subsequent testing.

[0123] The above-mentioned reliability test method for the upper limb movement component of a spacesuit under vacuum lunar dust contamination includes step S2, in which the upper limb movement component 108 of the spacesuit is installed on the component drive mechanism 106 and pre-test tests are performed. The pre-test tests include: airtightness test and joint drive torque test. The airtightness test is used to ensure that the upper limb movement component 108 has no leakage under pressurization. The joint drive torque test is performed by driving the arm bearing 78 and the elbow 75 to move in a clean environment, and recording the initial, uncontaminated drive torque curve as a benchmark for subsequent comparison.

[0124] The above-mentioned reliability test method for the upper limb movement component of a spacesuit under vacuum lunar dust contamination includes the following steps: In step S3, the vacuum pump group of the vacuum test chamber 101 is started to evacuate the test chamber; the pressure of the upper limb movement component 108 is released through the pressure control circuit; during this process, the opening and closing of electric valve 83 and electric valve 86, as well as the opening degree of mass flow meter 82, are controlled by the program to ensure that the pressure inside the upper limb movement component 108 is higher than the pressure inside the vacuum test chamber 101.

[0125] The pressure relief finally reached the target state: the pressure inside vacuum test chamber 101 was lower than [the target value]. The pressure within the upper limb motion component 108 is maintained at the working pressure. .

[0126] The above-mentioned reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination, wherein the component's charged lunar dust adhesion test in step S4 is to repeat steps M1 to M4 below, with the number of contamination cycles being N, until the cumulative lunar dust exposure of the upper limb movement components 108 meets the test requirements. Steps M1 to M4 are as follows:

[0127] M1: Upper limb movement component dust adhesion: Turn on the ultraviolet radiation source 102 to charge the simulated lunar dust in the lunar dust tank 107; after reaching the saturation potential, the component drive mechanism 106 drives the upper limb movement component 108 to make its surface contact the charged lunar dust in the lunar dust tank 107.

[0128] M2: Dust spraying on the front of the upper limb motion component: The component drive mechanism 106 adjusts the posture of the upper limb motion component 108 so that its front faces upward; the spraying mechanism 103 is activated to evenly spray uncharged simulated lunar dust onto the surface of the component to simulate the settling of suspended lunar dust; after the spraying is completed, the lunar dust sprayed on the surface of the component is charged in situ by the ultraviolet radiation source 102 to simulate its actual charged state on the lunar surface.

[0129] M3: Dust spraying on the back of the upper limb movement component: The component drive mechanism 106 flips the upper limb movement component 108 so that its back faces up; the spraying mechanism 103 is activated to evenly spray uncharged simulated lunar dust onto the surface of the component to simulate the settling of suspended lunar dust; after the spraying is completed, the lunar dust sprayed on the surface of the component is charged in situ by the ultraviolet radiation source 102 to simulate its actual charged state on the lunar surface.

[0130] M4: Upper limb motion component motion test: The arm rotation axis and elbow rotation axis of the program control component drive mechanism 106 drive the arm bearing 78 and elbow 75 of the upper limb motion component 108 to reciprocate according to the preset range of motion, speed and number of times; during this process, the torque data required by the drive motor and the internal pressure of the upper limb motion component 108 are monitored and recorded in real time and continuously.

[0131] The above-mentioned reliability test method for the upper limb movement component of a spacesuit under vacuum lunar dust contamination includes the following step S5: after the cumulative lunar dust exposure of the upper limb movement component 108 meets the test requirements, the vacuum test chamber 101 and the upper limb movement component 108 are subjected to segmented repressurization; by controlling the opening and closing of electric valve 13 and electric valve 35 through the program, atmospheric air is introduced into the inner cavity of the upper limb movement component 108, while the vacuum test chamber 101 is inflated; during this process, by controlling the opening of the mass flow meter 82, it is ensured that the pressure inside the upper limb movement component 108 is always higher than the pressure inside the chamber, until both are restored to a standard atmosphere.

[0132] The above-mentioned reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination includes, in step S6, post-test data processing and analysis, which includes: mechanical performance degradation analysis and airtightness performance degradation analysis.

[0133] The steps for mechanical property degradation analysis are as follows:

[0134] Raw data acquisition and synchronization: For the performance test in step S2 and the M4 stage of the test cycle in step S4, the motion control system of component drive mechanism 106 records and stores a time-series dataset containing multiple physical quantities in real time; for each reciprocating motion of arm bearing 78 and elbow 75, this dataset contains at least the driving torque. Joint angle Joint angular velocity and joint angular acceleration Among them, driving torque The joint angle is directly measured by the motor current feedback from the arm rotation axis and the elbow rotation axis. Joint angular velocity measured by motor encoder It is obtained by differentiating the joint angle over time, and is called joint angular acceleration. It is obtained by differentiating the joint angular velocity over time.

[0135] Calculation and Separation of Joint Drag Torque: The core objective is to separate the drag torque caused by lunar dust contamination. This is achieved by applying a rigid body dynamics model. Taking the arm bearing 78 as an example, the driving torque during its movement is... It consists of multiple components:

[0136]

[0137] in: It is the inertial torque, and the rotational inertia of the joint. and angular acceleration related; It is the gravitational torque, which is the total weight of the forearm, elbow, and wrist. Center of gravity lever arm length and joint angle related; It is the damping torque, and the damping coefficient of the joint. and angular velocity related; It is the drag torque, which includes the frictional force of the joint itself and the additional frictional force caused by the intrusion of lunar dust;

[0138] Define the total dissipation torque. The sum of the damping torque and the drag torque:

[0139]

[0140] because , , , It is measured in real time, and , , The total dissipation torque at each sampling moment is calculated using known constants obtained through 3D models or calibration experiments. ;

[0141] Performance calibration and polynomial fitting: Data measured in the clean environment of step S2 were used to establish a baseline performance model for the joint, at which point the drag torque... This only represents the inherent friction of the joint, calculated from the S2 data. With angular velocity By performing polynomial fitting on the relationship, a function is obtained. This function is used to describe the damping and friction characteristics of a joint in a clean state;

[0142] Quantification of performance degradation indicators: For the test data after the Nth pollution cycle in S4, calculate its total dissipation torque. ;

[0143] Work done against resistance As a core performance indicator, this indicator is obtained by integrating the additional drag torque caused by lunar dust in this cycle over the joint angle:

[0144]

[0145] This represents the additional energy consumed to overcome the increased lunar dust resistance after the Nth pollution cycle;

[0146] The steps for analyzing the degradation of airtightness performance are as follows:

[0147] In parallel with the torque analysis, the internal pressure data of the upper limb motion component 108 continuously monitored in the M4 stage of step S4 were analyzed. This analysis directly uses the change of pressure over time to characterize the degradation of airtightness.

[0148] The intrinsic physical relationship between the performance degradation rate of the upper limb motion component 108 and the cumulative lunar dust exposure was quantitatively characterized by two key parameters: joint drag torque and airtightness.

[0149] The above-mentioned reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination is based on a vacuum test chamber 101. The vacuum test chamber 101 is equipped with a spraying mechanism 103 and a test fixture 104. The spraying mechanism 103 is located above the test fixture 104. The vacuum test chamber 101 is equipped with an ultraviolet radiation source 102 for irradiating the lunar dust tank 107 and the surface of the upper limb movement components 108 inside the chamber.

[0150] The test fixture 104 includes: a test base 105, a component drive mechanism 106, and a lunar dust trough 107. The component drive mechanism 106 is installed at the corner of the top surface of the test base 105; the lunar dust trough 107 is installed on the top surface of the test base 105; the upper limb movement component 108 is assembled on the component drive mechanism 106; and the test base 105 is slidably installed in the vacuum test chamber 101.

[0151] The aforementioned reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination includes a component drive mechanism 106 comprising: a lifting shaft, a pitch shaft, a shoulder rotation shaft, an arm rotation shaft, an elbow rotation shaft, a shoulder clamp, an arm clamp, and a wrist clamp. The upper limb movement component 108 is provided with a shoulder 72, an upper arm 73, a forearm 74, an elbow 75, a wrist 76, a shoulder flange 77, an arm bearing 78, and a wrist flange 79. The forearm 74, elbow 75, and wrist 76 are connected sequentially. The end of the forearm 74 and one end of the upper arm 73 are rotatably connected via the arm bearing 78. The other end of the upper arm 73 is connected to the shoulder clamp via the shoulder flange 77. The end of the wrist 76 is connected to the wrist clamp via the wrist flange 79. The arm clamp and forearm 74 are connected via the arm clamp.

[0152] The lower end of the lifting shaft is connected to the corner of the top surface of the test base 105. The pitch shaft is installed at the upper end of the lifting shaft, the shoulder rotation shaft is installed at the end of the pitch shaft, and the shoulder clamp is installed on the shoulder rotation shaft. The shoulder rotation shaft is provided with a pressure control air hole 4, which is used to inflate or deflate the upper limb movement component 108. The arm rotation shaft and the arm clamp are both connected to the shoulder clamp through a connecting rod one. The connecting rod two is rotatably connected to the connecting rod one through an elbow rotation shaft. The wrist clamp is installed at the end of the connecting rod two. The arm rotation shaft is used to realize the torsion of the forearm 74. The elbow rotation shaft is used to realize the bending of the elbow 75.

[0153] The above-mentioned reliability test method for the upper limb movement components of a spacesuit under vacuum lunar dust contamination includes a pressure-controlled perforation flange 80 installed on a vacuum test chamber 101, and an air compressor 87 used to test the vacuum test chamber 101 and the upper limb movement components 108. The vacuum test chamber 101, the upper limb movement components 108, the pressure-controlled perforation flange 80, the pressure gauge 81, the mass flow meter 82, and the air compressor 87 are connected by an air circuit. Electric valves 83, 84, 85, and 86 are installed on the air circuit to open and close the air circuit.

[0154] This embodiment details how to achieve quantitative dissection of lunar dust-induced damage through dynamic modeling, the core of which is based on the joint dynamic equilibrium equation:

[0155]

[0156] in, To measure the total driving torque, For inertial torque, For gravitational torque, It is a viscous damping torque. This represents the drag torque component that includes the effect of lunar dust friction.

[0157] 1. Data Acquisition and Preprocessing

[0158] The upper limb motor components are monitored in real time by a control system. The data acquisition process is as follows:

[0159] (1) The system synchronously acquires the current of the drive motor at a frequency of not less than 1kHz. and motor encoder angle ;

[0160] (2) Through the motor torque constant Convert current into measured torque ;

[0161] (3) Perform time difference on the angle sequence to obtain the angular velocity. and angular acceleration ;

[0162] (4) A low-pass filter with a cutoff frequency of 20Hz is used to smooth the original data in order to eliminate the interference of high-frequency mechanical noise on torque analysis.

[0163] 2. System parameter identification under cleanroom conditions (step S2)

[0164] Before formal contamination testing, the inherent physical parameters of the components must be determined in a clean environment. This embodiment employs a step-by-step identification method to eliminate coupling interference between components:

[0165] Step 1, Gravity constant ( ) and inherent friction reference ( Identification of )

[0166] (1) The drive components operate at extremely low speeds ( The angular acceleration reciprocates during this process. Viscous damping Record the same angle positive operating torque and reverse running torque ;

[0167] (2) Utilizing positive running torque and reverse running torque The mean value cancels out the friction term, and the gravitational torque is calculated. The least squares method was used for fitting. and The linear relationship was used to identify the gravitational torque constant. ;

[0168] (3) Calculate the forward running torque and reverse running torque Half of the difference is used to extract the inherent friction in the clean state. Record this value as a function of angle. The corresponding relationship of the changes serves as the initial resistance torque reference for subsequent differential calculations.

[0169] Step 2, Viscous damping coefficient ( Identification of )

[0170] (1) The drive component operates under multiple constant velocity gradients, in which state ;

[0171] (2) The total dissipation moment at this point includes viscous damping and inherent friction, using the already determined... Calculate the total dissipation moment at each speed. ;

[0172] (3) with Perform linear regression on the independent variable ;

[0173] (4) The slope of the fitted line is the viscous damping coefficient. .

[0174] Step 3, Moment of Inertia ( Identification of )

[0175] (1) The control component performs high acceleration The movement;

[0176] (2) Using the information determined in the first two steps , and Subtracting the known terms from the total torque yields the residual inertial torque. ;

[0177] (3) with The slope of a least-squares regression with respect to the independent variable is the equivalent moment of inertia. .

[0178] 3. Additional drag torque under polluted conditions Real-time separation (steps S4 / S6)

[0179] First, we need to calculate the total drag torque under polluted conditions. During the movement in step S4, real-time recording is performed. , , , Since gravity, inertia, and damping are inherent properties that do not change with the state of pollution, they can be directly subtracted using physical equations:

[0180]

[0181] The measured value obtained at this time This includes the original mechanical friction of the components and the additional drag torque generated by lunar dust intrusion. Furthermore, the additional drag torque caused by stripping lunar dust... The above measured resistance torque same angle Cleanliness standards recorded below Perform difference operations:

[0182]

[0183] This subtraction logic completely eliminates the inherent frictional interference from the seals and bearings, ensuring the obtained... It is caused purely by lunar dust particles.

[0184] 4. Quantitative Calculation of Performance Degradation Indicators

[0185] To objectively assess the cumulative performance degradation of components caused by pollution cycles, the monthly dust-induced power consumption was calculated. ,right Perform angle integration over the entire travel distance:

[0186]

[0187] Calculated This refers to the additional energy consumed by the components due to lunar dust contamination during a single cycle. This is determined by comparing different test phases. The slope of the change can be used to quantitatively determine the degree of reliability degradation and service life of a component.

[0188] In a further embodiment of the present invention, a reliability testing method for upper limb movement components of a spacesuit under vacuum lunar dust contamination is disclosed. In a vacuum test chamber, the contamination of the upper limb movement components of the spacesuit with lunar dust is reproduced: First, simulated lunar dust is pre-charged using an ultraviolet radiation source, and then the component is driven to contact the charged lunar dust to achieve contact-based dust adhesion; second, uncharged simulated lunar dust is sprinkled onto the component surface, followed by in-situ ultraviolet charging. After the lunar dust contamination is reproduced, the upper limb movement components are driven in a vacuum environment to perform reciprocating motion, and the driving torque and internal pressure are continuously monitored. By repeatedly executing the test cycle, this method can obtain driving torque data and internal pressure data related to the cumulative lunar dust exposure, and calculate the joint drag torque based on this, while analyzing the changes in internal pressure. This invention quantitatively characterizes the intrinsic physical correlation between the component performance degradation rate and the lunar dust exposure amount through these two key parameters: joint drag torque and internal pressure changes. This invention simulates the complex dust environment of the lunar surface with high fidelity, achieving accurate quantitative evaluation of the performance degradation law of key components, and providing crucial experimental basis for the reliability design and life prediction of spacesuits.

[0189] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A reliability testing method for upper limb movement components of a spacesuit under vacuum lunar dust contamination, characterized in that, Includes the following steps: S1: Selection and pretreatment of simulated lunar dust: Select simulated lunar dust and perform vacuum baking pretreatment to remove adsorbed water and volatiles, and then lay it in the lunar dust tank (107) and the spraying mechanism (103); S2: Component installation and initial calibration: Install the upper limb motion component (108) of the spacesuit onto the component drive mechanism (106), test and record its initial airtightness and joint drive torque reference curve in a clean environment; S3: Collaborative segmented pressure relief: During the vacuum test chamber (101) vacuuming process, the pressure inside the upper limb movement component (108) is synchronously adjusted through the pressure control circuit to ensure that the pressure inside the component is always higher than the pressure inside the chamber until the preset test vacuum degree and working pressure state are reached; S4: Charged lunar dust composite pollution test: The simulated lunar dust was charged in situ using an ultraviolet radiation source (102), which drove the upper limb motion component (108) to alternately perform contact with sticky dust and multi-posture dust spraying operations, and performed joint reciprocating motion under the lunar dust coverage state, and collected motion torque and internal pressure data in real time. S5: Synergistic segmented repressurization: Simultaneously repressurize the vacuum test chamber (101) and the upper limb movement component (108), maintaining the internal pressure of the component higher than the internal pressure of the chamber until it returns to normal pressure; S6: Data processing and reliability characterization: Based on the rigid body dynamics model, the additional drag torque and dissipated work caused by lunar dust intrusion are separated, and combined with the airtightness degradation data, the reliability of the components is quantitatively characterized.

2. The reliability testing method according to claim 1, characterized in that, The combined pollution test in step S4 is a cyclic test, and the procedure for a single test includes: M1: Contact with Adhesive Dust: After the ultraviolet radiation source (102) is turned on so that the lunar dust in the lunar dust tank (107) reaches the saturation potential, the surface of the upper limb motion component (108) is driven to come into contact with the lunar dust. M2: Frontal dusting: Adjust the upper limb motion component (108) to face upwards, use the spraying mechanism (103) to spray lunar dust and charge it in situ through the ultraviolet radiation source (102); M3: Backside dusting: Flip the upper limb movement component (108) so that the back is facing up, use the spraying mechanism (103) to spray lunar dust and charge it in situ through the ultraviolet radiation source (102); M4: Dynamic monitoring: The arm bearing (78) and elbow (75) of the upper limb motion component (108) reciprocate, real-time torque is obtained through motor current feedback, and air tightness data is monitored through mass flow meter (82).

3. The reliability testing method according to claim 1, characterized in that, In step S6, the method for extracting the additional drag torque is as follows: N1: Establishing a joint dynamics model: Establishing the joint dynamics equations for the upper limb motion components as follows: in, To measure the total driving torque, For inertial torque, For gravitational torque, It is a viscous damping torque. This is the resistance torque; N2: Physical Parameter Identification: In the clean environment of step S2, the inherent physical parameters in the model are determined using the controlled variable method; the control component performs extremely low-speed reciprocating motion, and the gravity torque term constant is identified by least-squares fitting of the mean forward and reverse torques under the same posture, after removing friction interference. The control components operate at multiple constant velocity gradients, with angular velocity... Perform a linear regression fit on the independent variable, and the regression slope is the viscous damping coefficient. The control components execute high-acceleration motion, using known gravity and damping terms to subtract the inertial residual from the total torque, through acceleration. The moment of inertia was obtained by linear regression identification. ; N3: Cleanliness reference resistance torque Acquisition: In clean environment testing, using identified... , , The inherent drag torque at each sampling point's pose is calculated based on the dynamic equations and used as baseline data for the health status. N4: In the charged lunar dust contamination test in step S4, the measured drag torque including lunar dust interference is calculated using the same identification parameters. ; By measuring the values Reference value at the same pose Perform differential calculations to extract the additional drag torque caused by lunar dust intrusion. ; N5: Reliability Index Quantification: Calculating the additional work caused by lunar dust in a single contamination cycle. ; Will As a core indicator for quantitatively characterizing the reliability and performance degradation of upper limb motor components.

4. A reliability testing device for upper limb movement components of a spacesuit under vacuum lunar dust contamination, applicable to the reliability testing method described in any one of claims 1 to 3, characterized in that, include: The vacuum test chamber (101), ultraviolet radiation source (102), spraying mechanism (103), and test fixture (104) are installed inside the vacuum test chamber (101). The vacuum test chamber (101) includes a lunar dust chamber (1) with an openable and closable door (2). The test fixture (104) can be moved into or out of the lunar dust chamber (1) through the door (2). The lunar dust chamber (1) is equipped with a guide rail (3). The test fixture (104) includes: a test base (105), a component drive mechanism (106), and a lunar dust tank (107). The bottom of the test base (105) is detachably slidably mounted on the guide rail (3). The component drive mechanism (106) and the lunar dust tank (107) are both mounted on the upper surface of the test base (105). The upper limb movement component (108) is detachably mounted on the component drive mechanism (106). The ultraviolet radiation source (102) and the spraying mechanism (103) are both located above the upper limb movement component (108). It also includes a pressure control circuit for regulating the internal pressure of the vacuum test chamber (101) and the upper limb movement assembly (108).

5. The reliability testing apparatus according to claim 4, characterized in that, The test base (105) includes: a dustproof shell (12), a fixing mechanism (13), a guide rail movement mechanism (14), and a flat ground movement mechanism (15). The lifting freedom device interface (11) is located on the top of the dustproof shell (12). Each corner of the bottom of the dustproof shell (12) is equipped with a fixing mechanism (13), a guide rail movement mechanism (14), and a flat ground movement mechanism (15). The two fixing mechanisms (13) on the left side are slidably installed on a guide rail (3). The two guide rail movement mechanisms (14) on the left side are matched with the guide rail (3) and used to achieve walking on the guide rail (3). The two fixing mechanisms (13) on the right side are slidably installed on another guide rail (3). The two guide rail movement mechanisms (14) on the right side are matched with the guide rail (3) and used to achieve walking on the guide rail (3). The four flat ground movement mechanisms (15) are used to achieve walking on the ground. Each fixing mechanism (13) includes: a fixing seat (16), a pull rod (17), a nut, and a locking block (18). The fixing seat (16) is installed at one corner of the bottom of the dust cover (12). The fixing seat (16) is provided with an assembly through hole. The upper end of the pull rod (17) is provided with a thread. The pull rod (17) passes through the assembly through hole from bottom to top. The nut is installed at the upper end of the pull rod (17) and is located above the assembly through hole. The installation depth of the pull rod (17) in the assembly through hole is adjusted by adjusting the nut. The lower end of the pull rod (17) is connected to the locking block (18). The locking block (18) is provided with a C-shaped groove that matches the guide rail (3).

6. The reliability testing apparatus according to claim 5, characterized in that, The component drive mechanism (106) includes: a lifting degree-of-freedom device (6), an extension degree-of-freedom device (7), a swing degree-of-freedom device (8), a rotation degree-of-freedom device (9), and a pitch degree-of-freedom device (10). The lifting degree-of-freedom device (6) is mounted on the lifting degree-of-freedom device interface (11), the pitch degree-of-freedom device (10) is mounted on the lifting degree-of-freedom device (6), the rotation degree-of-freedom device (9) is mounted on the pitch degree-of-freedom device (10), the swing degree-of-freedom device (8) is mounted on the rotation degree-of-freedom device (9), and the extension degree-of-freedom device (7) is mounted on the swing degree-of-freedom device (8).

7. The reliability testing apparatus according to claim 6, characterized in that, The lifting freedom device (6) includes: a first lifting frame, a planetary reducer (19), a coupling (20), a lower limit block (21), a fixed seat (22), a trigger block (23), an upper limit block (24), a lifting seat (25), a ball screw (26), a linear guide rail (27), and a servo motor (28). The lifting seat (25) is slidably mounted on the front side of the first lifting frame via two linear guide rails (27). A trigger block (23) is mounted on the side of the lifting seat (25), and an upper limit block (24) and a lower limit block (21) are mounted on the side of the first lifting frame. When the lifting seat (25) moves up along the linear guide rail (27) to the point where the trigger block (23) and the upper limit block (24) are aligned, the lifting seat (25) is slidably mounted on the front side of the first lifting frame. 4) When the lifting seat 1 (25) is in contact, it moves to the upper limit position; when the lifting seat 1 (25) moves down along the linear guide rail 1 (27) to contact the trigger block 1 (23) and the lower limit block 1 (21), the lifting seat 1 (25) moves to the lower limit position; the servo motor 1 (28) is installed at the bottom of the first lifting frame, the planetary reducer 1 (19) is installed at the output end of the servo motor 1 (28), the output end of the planetary reducer 1 (19) and the lower end of the screw of the ball screw 1 (26) are connected by the coupling 1 (20), the servo motor 1 (28) is used to drive the screw to rotate, the sliding nut of the ball screw 1 (26) is connected to the lifting seat 1 (25), and the lifting seat 1 (25) can slide in the vertical direction by rotating the screw; The pitch freedom device (10) includes: a second servo motor (29), a second planetary reducer (30), a second cross roller bearing (31), a second worm gear shaft (32), a second worm gear (33), a three-way connector (34), a third variable lead worm (35), a third angular contact ball bearing (36), and a third worm gear box (37). The third worm gear box (37) is mounted on the first lifting seat (25). The third variable lead worm (35) is rotatably mounted in the third worm gear box (37) via the third angular contact ball bearing (36). The second worm gear shaft (32) is rotatably mounted in the third worm gear box (37) via the second cross roller bearing (31). The second worm gear (33) is sleeved on the worm gear. The second shaft (32) is connected to the second worm gear shaft (32) by a key; the second worm gear (33) and the third variable lead worm gear (35) mesh and drive each other; the second planetary reducer (30) is mounted on the third worm gear box (37), the output end of the second planetary reducer (30) is connected to the end of the third variable lead worm gear (35), the output end of the second servo motor (29) is connected to the input end of the second planetary reducer (30); the three-way component (34) is provided with a middle port and left and right side ports; the middle port of the three-way component (34) is connected to the end of the second worm gear shaft (32), and the second servo motor (29) is used to drive the three-way component (34) to rotate around the axis of the middle port.

8. The reliability testing apparatus according to claim 7, characterized in that, The rotational degree-of-freedom device (9) includes: a servo motor (39), a planetary reducer (40), an angular contact ball bearing (41), a variable lead worm gear (42), a worm wheel (43), a worm gear box (44), a worm wheel shaft (47), and a crossed roller bearing (48). The worm gear box (44) is installed on the left or right port of the three-way connector (34). The worm wheel shaft (47) is rotatably installed in the worm gear box (44) via the crossed roller bearing (48). The worm wheel (43) is located in the worm gear box (44) and sleeved on the worm wheel shaft (47). 43) The variable lead worm gear four (42) is keyed to the outer wall of the worm shaft four (47). The variable lead worm gear four (42) is rotatably installed in the worm gear box four (44) through the angular contact ball bearing four (41). The variable lead worm gear four (42) meshes with the worm gear four (43) for transmission. The planetary reducer four (40) is installed on the worm gear box four (44). The output end of the planetary reducer four (40) is connected to the end of the variable lead worm gear four (42). The input end of the planetary reducer four (40) is connected to the output end of the servo motor four (39). The servo motor four (39) is used to drive the worm shaft four (47) to rotate around its own axis. The rotational degree of freedom device (9) further includes: a sealing flange four (46) and a support arm four (45). One end of the sealing flange four (46) is installed at the end of the worm gear shaft four (47), and the two support arms four (45) are symmetrically installed on the outer wall of the sealing flange four (46). The sealing flange four (46) is used to install the air tube. The upper limb movement component (108) is sleeved on the air tube. The rotational degree of freedom device (9) further includes: a compression ring (49) which surrounds the air tube and is mounted on the other end of the sealing flange four (46) by a plurality of screws. The compression ring (49) and the sealing flange four (46) are used to clamp the shoulder (72) of the upper limb motion assembly (108).

9. The reliability testing apparatus according to claim 8, characterized in that, The swing freedom device (8) includes: a servo motor (51), a planetary reducer (52), a gear (53), a rotating bracket (54), a spacesuit elbow fixing structure (55), a fixed bracket (56), a toothed V-shaped guide rail (57), and V-shaped wheels (58). The rear end of the fixed bracket (56) is mounted on two support arms (45), and multiple V-shaped wheels (58) are mounted along the front end of the fixed bracket (56). The toothed V-shaped guide rail (57) is rotatably mounted on the multiple V-shaped wheels (58). The rotating bracket (54) and the front end of the toothed V-shaped guide rail (57) are connected. The toothed V-shaped guide rail (57) and the fixed bracket (58) are connected. 6) The toothed V-shaped guide rail (57) is coaxially arranged with the rotating bracket (54); the inner circumferential guide rail of the toothed V-shaped guide rail (57) is matched with multiple V-shaped wheels (58), and the outer circumference of the toothed V-shaped guide rail (57) is provided with a toothed structure; the servo motor (51) is mounted on the fixed bracket (56), the output end of the servo motor (51) is connected to the input end of the planetary reducer (52), the output end of the planetary reducer (52) is equipped with the gear (53), the gear (53) and the toothed structure of the toothed V-shaped guide rail (57) mesh and drive each other, and the servo motor (51) is used to drive the toothed V-shaped guide rail (57) to rotate and thus drive the rotating bracket (54) to rotate; The elbow fixing structure five (55) of the spacesuit is installed on the inner circumference of the fixing bracket five (56). The elbow fixing structure five (55) includes: a fixing ring six (59), an angle adjustment ring six (60), an upper retaining ring six (61), a lower retaining ring six (62), and a connecting arm six (63). The fixing ring six (59) is installed on the inner circumference of the fixing bracket five (56) through two connecting arms six (63). The fixing ring six (59) is provided with a first arc-shaped elongated hole. The angle adjustment ring six (60) is installed by multiple adjusting bolts. Inside the first arc-shaped elongated hole, the first arc-shaped elongated hole is used to realize the rotation and locking of the angle adjustment ring six (60) around its own axis; the upper retaining ring six (61) is detachably installed on the angle adjustment ring six (60), and the lower retaining ring six (62) is detachably installed on the upper retaining ring six (61). The upper retaining ring six (61) and the lower retaining ring six (62) together form a ring structure. The upper retaining ring six (61) and the lower retaining ring six (62) are used to clamp the elbow (75) of the upper limb motion component (108).

10. The reliability testing apparatus according to claim 9, characterized in that, The extension degree-of-freedom device (7) includes: a primary arm seven (64), a worm gear box seven (65), a servo motor seven (66), a secondary arm seven (67), a fixing ring seven (68), an angle adjustment ring seven (69), an upper retaining ring seven (70), and a lower retaining ring seven (71). The two primary arms seven (64) are symmetrically arranged, and the rear ends of the two primary arms seven (64) are connected to the rotating bracket five (54). The front end of each primary arm seven (64) is rotatably connected to the rear end of a secondary arm seven (67). The worm gear box seven (65) is installed at the front end of any one of the primary arms seven (64). The output end of the servo motor seven (66) is connected to the input end of the worm gear box seven (65). The servo motor seven (66) is used to drive the two secondary arms seven (67) to rotate synchronously. The two ends of the fixing ring seven (68) are rotatably connected to the front ends of the two secondary arms seven (67) respectively. The fixed ring 7 (68) is provided with a second arc-shaped elongated hole; the angle adjustment ring 7 (69) is installed in the second arc-shaped elongated hole by multiple adjusting bolts. The second arc-shaped elongated hole is used to realize the rotation and locking of the angle adjustment ring 7 (69) around its own axis; the upper retaining ring 7 (70) is detachably installed on the angle adjustment ring 7 (69), and the lower retaining ring 7 (71) is detachably installed on the upper retaining ring 7 (70). The upper retaining ring 7 (70) and the lower retaining ring 7 (71) together form a ring structure. The upper retaining ring 7 (70) and the lower retaining ring 7 (71) are used to clamp the wrist (76) of the upper limb motion component (108).

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