Extravehicular spacesuit foot joint movement life testing device

Abstract

The invention discloses a foot joint movement life testing device for an extravehicular spacesuit. A lifting pressure applying assembly is arranged on a frame assembly; the torsion force application assembly is arranged on the frame assembly and located below the lifting pressure application assembly. The lower posture adjusting and reversing assembly is arranged on the torsion force applying assembly; the upper posture adjusting reversing assembly is arranged on the lifting pressure applying assembly and located above the lower posture adjusting reversing assembly. The spacesuit feet are arranged between the lower posture adjusting and reversing assembly and the upper posture adjusting and reversing assembly. The rigid binding assembly is arranged between the foot of the spacesuit and the lower posture adjusting and reversing assembly; the flexible binding assembly is arranged between the foot of the spacesuit and the rigid binding assembly. The extravehicular spacesuit foot motion trail simulation device can adapt to extravehicular spacesuit feet of different sizes and different models, simulation of spacesuit foot ankle joint motion trails can be achieved by matching external driving with binding belt fixing, downward pressure can be applied to the spacesuit feet during testing, the working pressure during spacesuit foot ankle joint motion is simulated, and the test efficiency is improved. The device has the characteristics of high test precision, good test safety and high test reliability.

Description

Technical Field

[0001] This invention belongs to the field of extravehicular spacesuit performance testing technology, and in particular relates to a device for testing the motion life of foot joints in extravehicular spacesuits. Background Technology

[0002] Extravehicular activity (EVA) suits are critical equipment for astronauts during spacewalks. They are complex systems that integrate protection, life support, and operational support. The design and performance of EVA suits are directly related to the safety of astronauts and the success or failure of missions.

[0003] Among them, the foot part of the spacesuit is a key component for astronauts to complete extravehicular activities. It needs to have features such as multi-layer protective structure and flexible joint design. In order to verify the performance characteristics such as the joint motion life of the spacesuit foot, it is necessary to design a device that can meet the joint motion life test of the spacesuit foot.

[0004] However, although there are many types of existing extravehicular spacesuit performance testing devices, they mainly focus on testing the entire extravehicular spacesuit, and a few testing devices are also designed for testing other parts of the spacesuit. There is a lack of testing devices for testing the joint motion life of the spacesuit's feet. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a device for testing the motion life of the foot joints of extravehicular spacesuits. It can be adapted to the feet of extravehicular spacesuits of different sizes and models. Driven externally and secured by restraint straps, it can simulate the motion trajectory of the ankle joints of the spacesuit feet. During testing, downward pressure can be applied to the feet of the spacesuit to simulate the working pressure of the ankle joints during movement. It features high testing accuracy, good testing safety, and high testing reliability.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a device for testing the motion life of the foot joints of an extravehicular spacesuit, comprising a frame assembly, a lifting and pressing assembly, a torsional force applying assembly, a downward attitude adjustment and reversing assembly, an upward attitude adjustment and reversing assembly, a rigid restraint assembly, and a flexible restraint assembly; the lifting and pressing assembly is disposed on the frame assembly; the torsional force applying assembly is disposed on the frame assembly and located below the lifting and pressing assembly; the downward attitude adjustment and reversing assembly is disposed on the torsional force applying assembly; the upward attitude adjustment and reversing assembly is disposed on the lifting and pressing assembly and located above the downward attitude adjustment and reversing assembly; the foot of the spacesuit is disposed between the downward attitude adjustment and reversing assembly and the upward attitude adjustment and reversing assembly; the rigid restraint assembly is disposed between the foot of the spacesuit and the downward attitude adjustment and reversing assembly; and the flexible restraint assembly is disposed between the foot of the spacesuit and the rigid restraint assembly.

[0007] The frame assembly includes a frame base plate, supporting guide columns, and a frame top plate; the frame base plate is horizontally arranged and fixedly connected to the bottom end of the supporting guide columns; the frame top plate is horizontally arranged and fixedly connected to the top end of the supporting guide columns; the supporting guide columns are vertically arranged and distributed at intervals along the edges of the frame base plate and the frame top plate.

[0008] The lifting and pressurizing assembly includes a lifting guide sleeve, a lifting slide plate, a lifting and pressurizing adjustment handle, a lead screw, a lead screw nut, a first bearing seat, and a second bearing seat. The lifting guide sleeve is slidably connected to the supporting guide column. The lifting slide plate is horizontally set and fixedly connected to the lifting guide sleeve. The lead screw is vertically set and passes through the lifting slide plate. The bottom end of the lead screw is rotatably connected to the frame bottom plate through the first bearing seat, and the upper end of the lead screw is rotatably connected to the frame top plate through the second bearing seat. The top end of the lead screw extends above the frame top plate, and the lifting and pressurizing adjustment handle is fixedly installed on the top end of the lead screw.

[0009] The upper attitude adjustment and reversing assembly includes an upper reversing turntable, an upper turntable adapter bearing, a foot adapter flange, and an upper turntable stop pin. The upper reversing turntable is horizontally positioned above the lifting slide plate and is rotatably connected to the lifting slide plate via the upper turntable adapter bearing. The top end of the foot adapter flange is fixedly connected to the upper reversing turntable, and the bottom end of the foot adapter flange is located below the lifting slide plate. The upper turntable stop pin is vertically inserted between the upper reversing turntable and the lifting slide plate.

[0010] The torsional force application assembly includes a drive motor, a motor support, a coupling, a drive shaft, a third bearing housing, a fourth bearing housing, a bearing housing coupling base plate, a first movable limiter, a second movable limiter, a movable limiter stop pin, and a movable limiter stop block. The motor support is fixedly connected to the frame base plate. The drive motor is horizontally fixed inside the motor support. The bearing housing coupling base plate is horizontally fixed to the frame base plate, and the third and fourth bearing housings are arranged side by side on the bearing housing coupling base plate. One end of the drive shaft is rotatably connected to the bearing housing coupling base plate via the third bearing housing, and the other end of the drive shaft is rotatably connected to the bearing housing coupling base plate via the fourth bearing housing. The drive motor's power output shaft is coaxially fixed to the end of the drive shaft via a coupling; there are two moving limit pins, which are horizontally inserted into the seat of the third bearing housing, and the two moving limit pins are symmetrically distributed in a left-right mirror image relative to the drive shaft; the first moving limit pin is fixedly installed on the drive shaft and adjacent to the third bearing housing, and the first moving limit pin is located between the two moving limit pins; the second moving limit pin is fixedly installed on the drive shaft and adjacent to the fourth bearing housing; the moving limit block is fixedly installed on the seat of the fourth bearing housing, and the moving limit block is located between the second moving limit pins.

[0011] The lower attitude adjustment and reversing assembly includes a lower reversing turntable, a lower turntable adapter bearing, an adapter support, and a lower turntable stop pin; the adapter support is fixedly mounted on the drive shaft; the lower reversing turntable is horizontally positioned above the adapter support, and the lower reversing turntable is rotatably connected to the adapter support via the lower turntable adapter bearing; the lower turntable stop pin is vertically inserted between the lower reversing turntable and the adapter support.

[0012] The rigid restraint components are numerous and spaced around the upper surface of the lower reversing turntable. Each rigid restraint component includes a base, a slide body, a screw, a knob, a guide optical axis, and a restraint belt adapter. The base is fixedly mounted on the lower reversing turntable. The screw is horizontally mounted on the base and extends one end outside the base, having only rotational freedom relative to the base. The knob is fixedly mounted on the end of the screw located outside the base. The guide optical axis is horizontally mounted and fixedly connected to the base, and is parallel to the screw. The slide body is threaded into the screw through a threaded hole. The slide body slides into the guide optical axis through a light hole. The restraint belt adapter is fixedly mounted on the top of the slide body.

[0013] The flexible restraint assembly is in the form of a restraint strap, which is equipped with a buckle and a locking tongue for adjusting the locking length of the restraint strap. One end of the restraint strap is fixedly connected to the surface of the foot of the spacesuit, and the other end of the restraint strap is connected to the slide body through a restraint strap adapter.

[0014] The beneficial effects of this invention are: The extravehicular spacesuit foot joint motion life testing device of the present invention can be adapted to extravehicular spacesuit feet of different sizes and models. It can simulate the motion trajectory of the ankle joint of the spacesuit foot by external drive and restraint strap. During the test, downward pressure can be applied to the foot of the spacesuit to simulate the working pressure of the ankle joint of the spacesuit foot during movement. It has the characteristics of high test accuracy, good test safety and high test reliability. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a device for testing the motion life of the foot joints of an extravehicular spacesuit (with the foot of the spacesuit in a pitching and deflecting state). Figure 2 This is a schematic diagram of the structure of a device for testing the motion life of foot joints in an extravehicular spacesuit (with the foot of the spacesuit in a lateral swing deflection state). Figure 3 This is a schematic diagram of the combined structure of the frame component, the lifting and pressing component and the upper attitude adjustment and reversing component of the present invention (viewpoint 1). Figure 4This is a schematic diagram of the combined structure of the frame component, the lifting and pressing component and the upper attitude adjustment and reversing component of the present invention (viewpoint 2). Figure 5 This is a schematic diagram of the torsional force application component of the present invention (viewpoint 1). Figure 6 This is a schematic diagram of the torsional force application component of the present invention (view 2). Figure 7 This is a schematic diagram of the combined structure of the downward attitude switching component and the rigid restraint component of the present invention (viewpoint 1). Figure 8 This is a schematic diagram of the combined structure of the downward attitude switching component and the rigid restraint component of the present invention (viewpoint 2). Figure 9 This is a structural schematic diagram of the rigid restraint component of the present invention (viewpoint 1). Figure 10 This is a schematic diagram of the rigid restraint component of the present invention (view 2); In the diagram, I—frame assembly, II—lifting and pressurizing assembly, III—torsional force application assembly, IV—upper attitude adjustment and reversing assembly, V—lower attitude adjustment and reversing assembly, VI—rigid restraint assembly, VII—flexible restraint assembly, VIII—spacesuit feet, 1—frame base plate, 2—support guide column, 3—frame top plate, 4—lifting guide sleeve, 5—lifting slide plate, 6—lifting and pressurizing adjustment handle, 7—lead screw, 8—lead nut, 9—first bearing seat, 10—second bearing seat, 11—upper reversing turntable, 12—upper turntable adapter bearing, 13—foot adapter flange. 14—Upper turntable stop pin, 15—Drive motor, 16—Motor support, 17—Coupling, 18—Drive shaft, 19—Third bearing housing, 20—Fourth bearing housing, 21—Bearing housing coupling base plate, 22—First moving limit component, 23—Second moving limit component, 24—Moving limit component stop pin, 25—Moving limit component stop block, 26—Lower reversing turntable, 27—Lower turntable adapter bearing, 28—Adapter support, 29—Lower turntable stop pin, 30—Base body, 31—Slide body, 32—Screw, 33—Knob, 34—Guide optical shaft, 35—Restraint belt adapter seat. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] like Figures 1-10As shown, an extravehicular spacesuit foot joint motion life testing device includes a frame assembly I, a lifting and pressing assembly II, a torsional force applying assembly III, a downward attitude adjustment and reversing assembly IV, an upward attitude adjustment and reversing assembly V, a rigid restraint assembly VI, and a flexible restraint assembly VII. The lifting and pressing assembly II is disposed on the frame assembly I; the torsional force applying assembly III is disposed on the frame assembly I and located below the lifting and pressing assembly II; the downward attitude adjustment and reversing assembly IV is disposed on the torsional force applying assembly III; the upward attitude adjustment and reversing assembly V is disposed on the lifting and pressing assembly II and located above the downward attitude adjustment and reversing assembly IV; the spacesuit foot VIII is disposed between the downward attitude adjustment and reversing assembly IV and the upward attitude adjustment and reversing assembly V; the rigid restraint assembly VI is disposed between the spacesuit foot VIII and the downward attitude adjustment and reversing assembly IV; and the flexible restraint assembly VII is disposed between the spacesuit foot VIII and the rigid restraint assembly VI.

[0018] The frame component I includes a frame base plate 1, supporting guide columns 2, and a frame top plate 3; the frame base plate 1 is horizontally arranged and fixedly connected to the bottom end of the supporting guide columns 2; the frame top plate 3 is horizontally arranged and fixedly connected to the top end of the supporting guide columns 2; the supporting guide columns 2 are vertically arranged and distributed at intervals along the edges of the frame base plate 1 and the frame top plate 3.

[0019] In this embodiment, both the frame base plate 1 and the frame top plate 3 adopt a rectangular structure, and both the frame base plate 1 and the frame top plate 3 are provided with weight-reducing hollow holes in the middle; the number of supporting guide columns 2 is four, and the four supporting guide columns 2 are evenly distributed at the four corners of the frame base plate 1 and the frame top plate 3, and the cross-sectional shape of the supporting guide columns 2 is circular.

[0020] The lifting and pressurizing assembly II includes a lifting guide sleeve 4, a lifting slide plate 5, a lifting and pressurizing adjustment handle 6, a lead screw 7, a lead screw nut 8, a first bearing seat 9, and a second bearing seat 10. The lifting guide sleeve 4 is slidably connected to the supporting guide column 2. The lifting slide plate 5 is horizontally arranged and fixedly connected to the lifting guide sleeve 4. The lead screw 7 is vertically arranged and passes through the lifting slide plate 5. The bottom end of the lead screw 7 is rotatably connected to the frame base plate 1 through the first bearing seat 9, and the upper end of the lead screw 7 is rotatably connected to the frame top plate 3 through the second bearing seat 10. The top end of the lead screw 7 extends above the frame top plate 3, and the lifting and pressurizing adjustment handle 6 is fixedly installed on the top end of the lead screw 7.

[0021] In this embodiment, the lifting slide plate 5 adopts a rectangular structure, the lifting guide sleeve 4 adopts a linear bearing, the four lifting guide sleeves 4 are distributed at the four corners of the lifting slide plate 5, the lead screw 7 adopts a trapezoidal thread lead screw, the lead nut 8 adopts a trapezoidal thread lead nut, the first bearing seat 9 adopts a thrust bearing, the second bearing seat 10 adopts a roller bearing, and the lifting pressure adjustment handle 6 adopts a hand crank.

[0022] The upper attitude adjustment and reversing assembly V includes an upper reversing turntable 11, an upper turntable transition bearing 12, a foot transition flange 13, and an upper turntable stop pin 14. The upper reversing turntable 11 is horizontally arranged and located above the lifting slide plate 5. The upper reversing turntable 11 is rotatably connected to the lifting slide plate 5 through the upper turntable transition bearing 12. The top end of the foot transition flange 13 is fixedly connected to the upper reversing turntable 11, and the bottom end of the foot transition flange 13 is located below the lifting slide plate 5. The upper turntable stop pin 14 is vertically inserted between the upper reversing turntable 11 and the lifting slide plate 5.

[0023] In this embodiment, the upper reversing turntable 11 adopts a circular structure. Two pin holes are provided on the edge of the upper reversing turntable 11, and the phase angle of the two pin holes differs by 90°. A pin hole is provided on the lifting slide plate 5. The two pin holes on the edge of the upper reversing turntable 11 can be aligned with the pin holes on the lifting slide plate 5 by rotation. The aligned pin holes can satisfy the through insertion of the upper turntable stop pin 14, thereby achieving the stop limit of the upper reversing turntable 11. The upper turntable adapter bearing 12 adopts a crossed roller bearing. The foot adapter flange 13 adopts a cylindrical structure. The upper part of the cylinder is fixedly connected to the upper reversing turntable 11 through a flange structure, and the lower part of the cylinder is fixedly connected to the top of the spacesuit foot VIII through a flange structure.

[0024] The torsional force application component III includes a drive motor 15, a motor support 16, a coupling 17, a drive shaft 18, a third bearing housing 19, a fourth bearing housing 20, a bearing housing coupling base plate 21, a first movable limiting member 22, a second movable limiting member 23, a movable limiting member stop pin 24, and a movable limiting member stop block 25. The motor support 16 is fixedly connected to the frame base plate 1. The drive motor 15 is horizontally fixedly mounted inside the motor support 16. The bearing housing coupling base plate 21 is horizontally fixedly mounted on the frame base plate 1. The third bearing housing 19 and the fourth bearing housing 20 are arranged side by side on the bearing housing coupling base plate 21. One end of the drive shaft 18 is rotatably connected to the bearing housing coupling base plate 21 through the third bearing housing 19, and the other end of the drive shaft 18 is connected to the bearing housing through the fourth bearing housing 20. The base plate 21 is rotatably connected to the drive motor 15; the power output shaft of the drive motor 15 is coaxially fixed to the end of the drive shaft 18 through the coupling 17; there are two moving limit stop pins 24, which are horizontally inserted into the body of the third bearing seat 19, and the two moving limit stop pins 24 are symmetrically distributed in a mirror image with respect to the drive shaft 18; the first moving limit member 22 is fixedly installed on the drive shaft 18 and adjacent to the third bearing seat 19, and the first moving limit member 22 is located between the two moving limit stop pins 24; the second moving limit member 23 is fixedly installed on the drive shaft 18 and adjacent to the fourth bearing seat 20; the moving limit stop block 25 is fixedly installed on the body of the fourth bearing seat 20, and the moving limit stop block 25 is located between the second moving limit members 23.

[0025] In this embodiment, the drive motor 15 is a servo motor. The seat body of the third bearing housing 19 and the fourth bearing housing 20 and the bearing housing coupling base plate 21 are integrated into one structure. Roller bearings are used in both the third bearing housing 19 and the fourth bearing housing 20. The cross-sectional shape of the middle section of the drive shaft 18 is rectangular. The overall shape of the first moving limit member 22 and the second moving limit member 23 is annular. There is one outward protruding stop on the annular body of the first moving limit member 22 and two outward protruding stops on the annular body of the second moving limit member 23. The outward protruding stop on the first moving limit member 22 can only swing within a small range between the two moving limit member stop pins 24. The moving limit member stop block 25 is located between the two outward protruding stops on the second moving limit member 23. The swing range of the second moving limit member 23 is equal to the phase angle between the two outward protruding stops, which can satisfy a large range of swing.

[0026] The lower attitude adjustment reversing assembly IV includes a lower reversing turntable 26, a lower turntable transition bearing 27, a transition support 28, and a lower turntable stop pin 29; the transition support 28 is fixedly mounted on the drive shaft 18; the lower reversing turntable 26 is horizontally arranged and located above the transition support 28, and the lower reversing turntable 26 is rotatably connected to the transition support 28 through the lower turntable transition bearing 27; the lower turntable stop pin 29 is vertically inserted between the lower reversing turntable 26 and the transition support 28.

[0027] In this embodiment, the lower turntable transition bearing 27 is a crossed roller bearing; the lower reversing turntable 26 adopts a chamfered circular structure, with four pin holes on its edge; the transition support 28 also has four pin holes, with two pin holes forming a group, one group adjacent to the third bearing seat 19 and the other group adjacent to the fourth bearing seat 20; as the lower reversing turntable 26 rotates 90 degrees in both directions, it ensures that there are always two pairs of pin holes overlapping between the lower reversing turntable 26 and the transition support 28. Two pairs of overlapping pin holes allow for the through insertion of the lower turntable stop pin 29, thus achieving the stop limit of the lower reversing turntable 26. The adapter support 28 is provided with a rectangular groove that matches the rectangular cross-section of the middle section of the drive shaft 18. The rectangular groove of the adapter support 28 can be precisely locked in the position of the rectangular cross-section of the middle section of the drive shaft 18, and then tightened by bolts to ensure reliable fixation between the adapter support 28 and the drive shaft 18. The upper surface of the lower reversing turntable 26 serves as the stepping surface of the spacesuit foot section VIII.

[0028] The rigid restraint components VI are numerous and spaced around the upper surface of the lower reversing turntable 26. Each rigid restraint component VI includes a base body 30, a slide body 31, a screw 32, a knob 33, a guide optical axis 34, and a restraint belt adapter 35. The base body 30 is fixedly mounted on the lower reversing turntable 26. The screw 32 is horizontally mounted on the base body 30 and extends one end outside the base body 30, having only a rotational degree of freedom relative to the base body 30. The knob 33 is fixedly mounted on the end of the screw 32 located outside the base body 30. The guide optical axis 34 is horizontally mounted and fixedly connected to the base body 30, and is parallel to the screw 32. The slide body 31 is threaded into the screw 32 through its threaded hole. The slide body 31 is slidably guided into the guide optical axis 34 through its optical hole. The restraint belt adapter 35 is fixedly mounted on the top of the slide body 31.

[0029] In this embodiment, there are eight rigid restraint components VI, two in each of the left and right directions and one in each of the front and back directions. The eight rigid restraint components VI, via their sliding bodies 31, horizontally clamp and restrain the upper part of the spacesuit's foot section VIII from all sides. The base body 30 has a U-shaped structure, with the screw 32 and guide optical shaft 34 vertically distributed on the two U-shaped arms of the base body 30. The two ends of the screw 32 are rotatably connected to the two U-shaped arms of the base body 30 via sliding bearings, and the two ends of the guide optical shaft 34 are fastened to the two U-shaped arms of the base body 30 with screws. There are two guide optical shafts 34, symmetrically distributed on both sides of the screw 32. The sliding body 31 also has a U-shaped structure and is installed in an inverted manner. One arm of the sliding body 31 is located inside the base body 30 and is used to provide threaded holes and optical holes. The other arm of the sliding body 31 is located outside the base body 30 and is directly used to restrain the spacesuit's foot section VIII. The shoe upper is clamped and restrained; the restraint strap adapter 35 is directly fastened to the top surface of the slide body 31 by screws.

[0030] The flexible restraint component VII is in the form of a restraint strap, which is equipped with a buckle and a locking tongue for adjusting the locking length of the restraint strap. One end of the restraint strap is fixedly connected to the surface of the foot part VIII of the spacesuit, and the other end of the restraint strap is connected to the slide body 31 through the restraint strap adapter 35.

[0031] In this embodiment, the flexible restraint assembly VII consists of a ring-shaped restraint strap and eight linear restraint straps. The ring-shaped restraint strap is directly fastened to the ankle joint of the spacesuit foot part VIII. One end of each of the eight linear restraint straps is directly connected to the ring-shaped restraint strap, and the other end of each of the eight linear restraint straps is connected to eight restraint strap adapters 35. The eight linear restraint straps provide vertical restraint to the upper part of the spacesuit foot part VIII.

[0032] The following describes a single use of the present invention with reference to the accompanying drawings: First, the joint motion life test of the spacesuit foot VIII under pitch and yaw conditions was conducted. Before the test, the lower reversing turntable 26 was manually rotated so that when the spacesuit foot VIII stepped on the upper surface of the lower reversing turntable 26, the length direction of the spacesuit foot VIII was perpendicular to the axis of the drive shaft 18. Then, the lower turntable stop pin 29 was inserted between the lower reversing turntable 26 and the adapter support 28 to lock the rotational degree of freedom of the lower reversing turntable 26.

[0033] After the lower reversing turntable 26 has completed its steering adjustment, first connect the flexible restraint component VII to the spacesuit foot VIII, then place the spacesuit foot VIII connected to the flexible restraint component VII on the upper surface of the lower reversing turntable 26 in a stepping posture, and then manually adjust the stepping position of the spacesuit foot VIII so that the spacesuit foot VIII is directly below the foot adapter flange 13 of the upper attitude adjustment reversing component V.

[0034] After the VIII foot section of the spacesuit is placed, the lifting and pressure adjustment handle 6 is manually turned to drive the lead screw 7 to rotate. The rotation of the lead screw 7 is synchronously converted into the downward movement of the lifting slide plate 5, which in turn drives the upper attitude adjustment and reversing component V to descend synchronously until the foot adapter flange 13 is docked with the top of the VIII foot section of the spacesuit. Then, the foot adapter flange 13 is fixedly connected to the VIII foot section of the spacesuit with bolts.

[0035] After the foot section VIII of the spacesuit is connected to the foot adapter flange 13, the rigid restraint components VI around the foot section VIII of the spacesuit are adjusted. By manually turning the knob 33, the screw 32 is driven to rotate. The rotation of the screw 32 is synchronously converted into the linear motion of the slide body 31 until all the slide bodies 31 are against the side surface of the foot section VIII of the spacesuit, thereby forming a rigid restraint in the horizontal direction of the foot section VIII of the spacesuit.

[0036] After the spacesuit foot VIII completes the rigid restraint in the horizontal direction through the rigid restraint component VI, the flexible restraint component VII pre-installed on the spacesuit foot VIII is connected to the slide body 31. Then, the length of the restraint strap is adjusted by the buckle and locking tongue on the restraint strap until a vertical restraint is formed on the shoe upper part of the spacesuit foot VIII. At this time, the degree of freedom between the spacesuit foot VIII and the lower reversing turntable 26 is completely locked.

[0037] After the spacesuit foot section VIII is fully fixed to the lower reversing turntable 26, continue to turn the lifting and pressure adjustment handle 6 to apply downward pressure to the spacesuit foot section VIII through the lifting slide plate 5, in order to simulate the working pressure of the ankle joint of the spacesuit foot section VIII during movement.

[0038] After the VIII foot section of the spacesuit completes the downward pressure application, the drive motor 15 of the torsional force application component III is started. According to the preset program, the drive shaft 18 is controlled to reciprocate in both forward and reverse directions, causing the first moving limit member 22 to swing back and forth between the two moving limit member stop pins 24. The two moving limit member stop pins 24 mechanically limit the rotation range of the drive shaft 18 to ensure the safety of the VIII foot section of the spacesuit during the test.

[0039] As the drive shaft 18 moves, it can drive the lower attitude adjustment and reversing component IV to rotate synchronously around the center of the drive shaft 18, which in turn drives the spacesuit foot VIII to simulate the ankle joint movement trajectory. At this time, the movement range of the spacesuit foot VIII ankle joint is in a small swing angle mode until the spacesuit foot VIII joint movement life test is completed.

[0040] When the VIII ankle joint of the spacesuit foot needs to be tested in a large swing angle mode, before starting the drive motor 15, the two moving limit stop pins 24 are removed, and then the drive motor 15 is started. The drive shaft 18 is controlled to rotate forward and backward according to the preset program. At this time, the rotation angle of the drive shaft 18 is set according to the phase angle between the two protruding blocks on the second moving limit 23. The moving limit stop block 25 cooperates with the second moving limit 23 to mechanically limit the rotation angle range of the drive shaft 18, ensuring the safety of the VIII ankle joint of the spacesuit in the large swing angle mode until the joint life test of the VIII ankle joint of the spacesuit is completed.

[0041] When it is necessary to continue the joint motion life test of the VIII foot of the spacesuit under lateral swing and deflection, first remove the upper turntable stop pin 14 and the lower turntable stop pin 29 respectively to restore the rotational degrees of freedom of the upper reversing turntable 11 and the lower reversing turntable 26. Then, manually rotate the upper reversing turntable 11 and the lower reversing turntable 26 horizontally by 90° so that the foot length direction of the VIII foot of the spacesuit is consistent with the axis direction of the drive shaft 18. After that, insert the upper turntable stop pin 14 and the lower turntable stop pin 29 back in to lock the rotational degrees of freedom of the upper reversing turntable 11 and the lower reversing turntable 26 again.

[0042] After the VIII foot joint of the spacesuit completes the reversal, the test process in the lateral deflection state is exactly the same as the test process in the pitch deflection state, until the spacesuit foot VIII joint motion life test in the small swing angle mode and the large swing angle mode is completed in the lateral deflection state.

[0043] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A device for testing the lifespan of foot joints in an extravehicular spacesuit, characterized in that: The device includes a frame assembly, a lifting and pressurizing assembly, a torsional force-applying assembly, a downward attitude adjustment and reversing assembly, an upward attitude adjustment and reversing assembly, a rigid restraint assembly, and a flexible restraint assembly. The lifting and pressurizing assembly is mounted on the frame assembly. The torsional force-applying assembly is mounted on the frame assembly and located below the lifting and pressurizing assembly. The downward attitude adjustment and reversing assembly is mounted on the torsional force-applying assembly. The upward attitude adjustment and reversing assembly is mounted on the lifting and pressurizing assembly and located above the downward attitude adjustment and reversing assembly. The spacesuit foot area is located between the downward attitude adjustment and reversing assembly and the upward attitude adjustment and reversing assembly. The rigid restraint assembly is located between the spacesuit foot area and the downward attitude adjustment and reversing assembly. The flexible restraint assembly is located between the spacesuit foot area and the rigid restraint assembly.

2. The extravehicular spacesuit foot joint motion life testing device according to claim 1, characterized in that: The frame assembly includes a frame base plate, supporting guide columns, and a frame top plate; the frame base plate is horizontally arranged and fixedly connected to the bottom end of the supporting guide columns; the frame top plate is horizontally arranged and fixedly connected to the top end of the supporting guide columns; the supporting guide columns are vertically arranged and distributed at intervals along the edges of the frame base plate and the frame top plate.

3. The extravehicular spacesuit foot joint motion life testing device according to claim 2, characterized in that: The lifting and pressurizing assembly includes a lifting guide sleeve, a lifting slide plate, a lifting and pressurizing adjustment handle, a lead screw, a lead screw nut, a first bearing seat, and a second bearing seat. The lifting guide sleeve is slidably connected to the supporting guide column. The lifting slide plate is horizontally set and fixedly connected to the lifting guide sleeve. The lead screw is vertically set and passes through the lifting slide plate. The bottom end of the lead screw is rotatably connected to the frame bottom plate through the first bearing seat, and the upper end of the lead screw is rotatably connected to the frame top plate through the second bearing seat. The top end of the lead screw extends above the frame top plate, and the lifting and pressurizing adjustment handle is fixedly installed on the top end of the lead screw.

4. The extravehicular spacesuit foot joint motion life testing device according to claim 3, characterized in that: The upper attitude adjustment and reversing assembly includes an upper reversing turntable, an upper turntable adapter bearing, a foot adapter flange, and an upper turntable stop pin. The upper reversing turntable is horizontally positioned above the lifting slide plate and is rotatably connected to the lifting slide plate via the upper turntable adapter bearing. The top end of the foot adapter flange is fixedly connected to the upper reversing turntable, and the bottom end of the foot adapter flange is located below the lifting slide plate. The upper turntable stop pin is vertically inserted between the upper reversing turntable and the lifting slide plate.

5. The extravehicular spacesuit foot joint motion life testing device according to claim 2, characterized in that: The torsional force application assembly includes a drive motor, a motor support, a coupling, a drive shaft, a third bearing housing, a fourth bearing housing, a bearing housing coupling base plate, a first movable limiter, a second movable limiter, a movable limiter stop pin, and a movable limiter stop block. The motor support is fixedly connected to the frame base plate. The drive motor is horizontally fixed inside the motor support. The bearing housing coupling base plate is horizontally fixed to the frame base plate, and the third and fourth bearing housings are arranged side by side on the bearing housing coupling base plate. One end of the drive shaft is rotatably connected to the bearing housing coupling base plate via the third bearing housing, and the other end of the drive shaft is rotatably connected to the bearing housing coupling base plate via the fourth bearing housing. The drive motor's power output shaft is coaxially fixed to the end of the drive shaft via a coupling; there are two moving limit pins, which are horizontally inserted into the seat of the third bearing housing, and the two moving limit pins are symmetrically distributed in a left-right mirror image relative to the drive shaft; the first moving limit pin is fixedly installed on the drive shaft and adjacent to the third bearing housing, and the first moving limit pin is located between the two moving limit pins; the second moving limit pin is fixedly installed on the drive shaft and adjacent to the fourth bearing housing; the moving limit block is fixedly installed on the seat of the fourth bearing housing, and the moving limit block is located between the second moving limit pins.

6. The extravehicular spacesuit foot joint motion life testing device according to claim 5, characterized in that: The lower attitude adjustment reversing assembly includes a lower reversing turntable, a lower turntable transition bearing, a transition support, and a lower turntable stop pin; the transition support is fixedly mounted on the drive shaft; The lower reversing turntable is horizontally arranged and located above the transfer support. The lower reversing turntable is rotatably connected to the transfer support through the lower turntable transfer bearing. The lower turntable stop pin is vertically inserted between the lower reversing turntable and the transfer support.

7. The extravehicular spacesuit foot joint motion life testing device according to claim 6, characterized in that: The rigid restraint components are numerous and spaced around the upper surface of the lower reversing turntable. Each rigid restraint component includes a base, a slide body, a screw, a knob, a guide optical axis, and a restraint belt adapter. The base is fixedly mounted on the lower reversing turntable. The screw is horizontally mounted on the base and extends one end outside the base, having only rotational freedom relative to the base. The knob is fixedly mounted on the end of the screw located outside the base. The guide optical axis is horizontally mounted and fixedly connected to the base, and is parallel to the screw. The slide body is threaded into the screw through a threaded hole. The slide body slides into the guide optical axis through a light hole. The restraint belt adapter is fixedly mounted on the top of the slide body.

8. The extravehicular spacesuit foot joint motion life testing device according to claim 7, characterized in that: The flexible restraint assembly is in the form of a restraint strap, which is equipped with a buckle and a locking tongue for adjusting the locking length of the restraint strap. One end of the restraint strap is fixedly connected to the surface of the foot of the spacesuit, and the other end of the restraint strap is connected to the slide body through a restraint strap adapter.

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