CN102980764B - Automatic testing system and testing method of harmonic drive mechanism in space environment - Google Patents

Abstract

The present invention designs an automatic testing system and testing method for a harmonic drive mechanism in a space environment, the system includes a control terminal (100) and an execution terminal (200), wherein the control terminal (100) includes: an instruction input unit (110) ), a decision-making unit (120), a first communication unit (130), a data processing unit (140) and a state monitoring unit (150); the execution terminal (200) includes: a condition judgment unit (210), an execution unit (220 ), a data collection unit (230) and a second communication unit (240); the decision-making unit (120) includes: an operation judgment unit (121), an information prompt unit (122), an environment processing unit (123), a working condition processing unit (124), temperature processing unit (125), rotational speed processing unit (126) and torque processing unit (127). The invention not only greatly improves the degree of automation and work efficiency of the test system, but also minimizes human operations and reduces the risk of introducing human errors.

Description

Automatic test system and test method for harmonic drive mechanism in space environment

technical field

The invention belongs to the field of spacecraft transmission mechanism testing, and in particular relates to an automatic testing system and testing method for a harmonic transmission mechanism under space environment conditions.

Background technique

In the 20th century, American scholar C.Walton.Musser invented the harmonic drive structure. Because of its simple structure, small size, light weight, and high load-bearing capacity, the harmonic drive mechanism is widely used in space technology, energy , machine tools and other fields.

Harmonic drives used in spacecraft are vastly different from conventional drives. First of all: the working environment of the transmission mechanism is different. The harmonic drive mechanism used for spacecraft works in a vacuum, cold and dark environment, the ambient pressure is between 10 ^-5 Pa and 10 ^-7 Pa, there is no light, and the temperature is between -100°C and -270°C. The harsh environment of space will lead to changes in product materials and structures in spacecraft components, such as material evaporation, decomposition, sublimation, etc. Second: the harmonic transmission efficiency requirements are high. The weight of the payload that the spacecraft can carry is limited, so the total weight of the peripheral auxiliary systems must be reduced to the greatest extent so that the spacecraft can carry enough instruments and equipment to complete the scheduled tasks. For the power system, this requires the transmission mechanism to have a high transmission efficiency to ensure the highest utilization of power. Therefore, in order to expose potential material and manufacturing quality defects in the transmission mechanism as soon as possible, eliminate early failures, verify its transmission efficiency, and improve product reliability, it is necessary to conduct simulation tests in a vacuum thermal environment on the ground to check product quality and conduct material screening. Provided for spacecraft design reference.

In recent years, with the rapid development of my country's aerospace industry, the number of spacecraft type test tasks has increased unprecedentedly, and the number of component-level test tasks such as harmonic transmission mechanisms has increased dramatically, which has also brought about an increase in the demand for the proficiency and number of test operators , The error rate of human-operated equipment has increased significantly. This requires that the measurement and control system of the spacecraft ground test equipment must also develop in the direction of high automation, high reliability, and high intelligence. Under such demands, it is necessary to develop an automatic test system and test method for harmonic drive mechanisms under space environment conditions.

The inventor found in the investigation that the existing harmonic transmission mechanism test system used in space environment conditions has at least the following disadvantages: first, the degree of automation is not high, the manual operation is cumbersome, the requirements for the quality of the operator are high, and it is easy to introduce Human error; secondly, the control accuracy is not high, and most of them are open-loop or manual control, so the error caused by the test result is not easy to eliminate.

Contents of the invention

The object of the present invention is to reinvent and design an automatic testing system and testing method for a harmonic transmission mechanism under space environment conditions, for testing the transmission efficiency of a harmonic transmission mechanism under a certain working condition.

Technical scheme of the present invention is as follows:

An automatic test system for a harmonic drive mechanism in a space environment, the system includes a control terminal and an execution terminal, wherein the control terminal includes:

Command input unit: used for the command input of automatic test system start and stop, and the setting of various test parameters;

Decision-making unit: comprehensively analyze user instructions, current test conditions and feedback data, and determine the operation of the next working condition;

Data processing unit: data filtering, calculation, classification and storage functions for automatic test system operation information and equipment status;

The first communication unit: used for the transmission of test data and control instructions between the control terminal and the execution terminal;

And status monitoring unit: used for graphical and tabular output of automatic test system operation information and equipment status;

The execution end includes:

The drive unit sends a drive signal to the underlying device of the execution unit according to the action command issued by the control terminal;

Execution unit, which receives the drive instruction from the drive unit and executes the test operation;

Data acquisition unit: collect system operation information and equipment status information through sensors;

And the second communication unit: used for the transmission of test data and control instructions between the control terminal and the execution terminal.

Wherein, the decision-making unit includes:

Operation judgment unit: used to judge whether the current whole system meets the conditions for entering the test state, including equipment failure judgment, alarm information, etc., and transfer the judgment results to the information prompt unit;

Information prompt unit: when the operation judgment unit judges that the system cannot enter the test state due to equipment failure or alarm, it will send a prompt message to the user and wait for the next operation;

Environmental processing unit: used to start background space environment simulation when the operation judgment unit judges that the test can be carried out, and the space environment parameters are input by the command input unit;

Working condition processing unit: used to calculate the test operation to be performed in the next command cycle according to the test cycle parameters input by the command input unit, combined with the current state of the specimen and the duration of this state;

Temperature processing unit: when the processing result of the working condition processing unit is that the temperature of the test piece needs to be changed, combined with the test parameters input by the input unit, it is used to send an instruction to set the temperature of the test piece to the execution end;

Rotational speed processing unit: used to issue an instruction to adjust the rotational speed of the specimen to the execution end in combination with the test parameters input by the input unit when the processing result of the working condition processing unit is that the rotational speed of the specimen needs to be changed;

Torque processing unit: used to issue an instruction to adjust the loading torque of the specimen to the execution end in combination with the test parameters input by the input unit when the processing result of the working condition processing unit is that the specimen torque needs to be changed.

Among them, the test parameters include: the vacuum degree of the test environment, the cold background temperature, the number of cycles of this test cycle, the number of working conditions included in each cycle, the target temperature of the specimen in each working condition, the target speed, the target Loading torque, test duration of each working condition, standby speed and standby torque after the end of a single working condition.

Wherein, the feedback data includes the temperature of the test piece, the rotating speed of the test piece and the loading moment of the test piece.

Wherein, the operation information includes vacuum degree, background temperature, circulating water flow rate, test piece temperature, test piece rotation speed, test piece loading torque and user operation records.

Wherein, the device status includes start/stop and fault alarm of the device.

Wherein, the bottom equipment includes a vacuum pump, a refrigeration system, a heating system, a test piece drive system and a test piece moment loading system.

Wherein, the sensors include pressure sensors, temperature sensors, rotational speed sensors and torque sensors.

Wherein, the space environment parameters include vacuum degree and background environment temperature.

Wherein, the test cycle parameters include the number of cycles of this test cycle, the number of working conditions included in each cycle, the target temperature of the specimen in each working condition, the target rotating speed and loading torque, and the test duration of each working condition And the standby speed and standby torque after the end of a single working condition.

An automatic testing method for a harmonic transmission mechanism in a space environment, comprising the following steps:

1) Test start: After inputting test parameters and test start instructions through the input device, the transmission mechanism automatic test test starts;

2) Temperature control of the test piece: after the space environment meets the test requirements input through the command input unit (110), start to control the temperature of the test piece;

3) Judgment of reaching the target temperature: After step 2) is executed, it starts to judge whether the test piece has reached the target temperature of the current working condition in a cycle;

4) Speed adjustment: After the temperature of the test piece reaches the target temperature, start to adjust the speed of the test piece;

5) Judgment of reaching the target speed: after the temperature control of the test piece in step 4) is performed, it is started to judge whether the test piece has reached the target speed of the current working condition input through the command input unit (110);

6) Moment loading: After the temperature of the test piece reaches the target speed, start to load the test piece with moment;

7) Judgment of reaching the target torque: After the torque loading in step 6) is performed, it starts to judge whether the test specimen has reached the target torque of the current working condition input through the command input unit (110);

8) Timing: start timing after the temperature, speed and torque of the test specimen meet the test requirements;

9) Deviating from the target parameter judgment: Step 8) After the timing starts, start a loop to judge whether the test piece deviates from the target parameter during the timing;

10) Judgment on the end of the timing of this working condition: when the test specimen does not deviate from the target temperature, judge whether the timing time reaches the current working condition input through the command input unit (110);

11) Judgment of the end of this cycle: After the timing of this working condition is over, judge whether the cycle is over according to the current test parameters input by the command input unit (110);

12) Start the next working condition: When step 11) the judgment result of the end of this cycle is "not finished", start the next working condition of this cycle;

13) Judgment of the end of the test: after the end of the cycle, judge whether the test is over according to the current test parameters input by the command input unit (110);

14) Repeat this cycle: when step 13) the judgment result of the end of this test is "not ended", restart the cycle that just ended;

15) Shutdown: After all the test cycles are over, the shutdown operation will be performed.

Among them, the test parameters include: the vacuum degree of the test environment and the cold background temperature, the number of cycles of this test cycle, the number of working conditions included in each cycle, the target temperature of the specimen in each working condition, the target rotational speed, and the target temperature. Loading torque, test duration of each working condition, standby speed and standby torque after the end of a single working condition.

Wherein, the space environment includes vacuum degree and background environment temperature.

Wherein, there may be an error within the allowable range of the experiment when the target temperature is judged.

Wherein, there may be an error within the allowable range of the experiment when determining the target rotational speed.

Wherein, there may be an error within the allowable range of the experiment when judging the target loading moment.

Wherein, the deviation from the target parameter includes: the temperature of the test piece, the rotational speed of the test piece or the torque of the test piece deviates from the target value.

Wherein, before starting the next working condition or restarting the current cycle, the state of the test piece is set to the standby speed and standby torque after the single working condition input by the command input unit (110).

Wherein, the shutting down operation includes: unloading the specimen and shutting down the space environment simulation equipment.

Aiming at the shortcomings and deficiencies of the current transmission mechanism test system, the present invention optimizes the system structure, improves the automation level, improves the test accuracy, simplifies the operation process, and avoids the human factors to the greatest extent while saving manpower. The resulting errors provide a technical guarantee for the ground test of the transmission mechanism used in the space environment. The invention overcomes the key technical difficulties of the space transmission mechanism test system, and its automatic control system can realize functions such as one-button control, fault diagnosis, logic protection and other functions of the test system equipment, which not only improves the reliability and advancement of the test system operation, but also It also greatly alleviates the contradiction between the number and inexperience of the operators and the heavy test tasks. At present, the automatic test system has been put into use in a certain transmission mechanism test system project, and the operation is stable. While realizing high automation and high reliability of equipment operation, it effectively alleviates the problem of shortage of test personnel and reduces the need for equipment to operate professionally. Dependence on the level of knowledge, good use results have been achieved.

Description of drawings

Fig. 1 is a structural block diagram of an automatic test system for a harmonic drive mechanism under space environment conditions according to the present invention.

FIG. 2 is a structural block diagram of the decision processing unit in FIG. 1 .

Fig. 3 is a flow chart of the automatic testing method for the harmonic drive mechanism under space environment conditions according to the present invention.

Detailed ways

The following is a specific implementation manner of the content of the present invention, and the content of the present invention will be further clarified through the specific implementation mode below. Of course, the following specific embodiments are described only to illustrate different aspects of the present invention, and should not be construed as limiting the scope of the present invention.

Referring to Fig. 1 and Fig. 2, Fig. 1 shows a structural block diagram of the harmonic drive mechanism automatic test system used in space environment conditions of the present invention; Fig. 2 shows a structural block diagram of the decision-making unit in Fig. 1 . The harmonic transmission mechanism automatic test system for space environment conditions of the present invention includes a control terminal 100 and an execution terminal 200, wherein the control terminal 100 includes: an instruction input unit 110, a decision-making unit 120, a first communication unit 130, The data processing unit 140 and the state monitoring unit 150; the execution terminal 200 includes: a condition judgment unit 210, an execution unit 220, a data collection unit 230 and a second communication unit 240; the decision-making unit 120 includes: an operation judgment unit 121, information Prompt unit 122 , environment processing unit 123 , working condition processing unit 124 , temperature processing unit 125 , rotational speed processing unit 126 and torque processing unit 127 .

The instruction input unit 110 is used for the operation and stop control of the whole set of automatic test system and the input of various test parameters (test vacuum degree, background temperature, test piece temperature, test piece speed, loading torque, test cycle parameters, etc.);

The decision-making unit 120 is used to calculate the next step to be performed by the system according to the current equipment operating state, background environment state, test piece temperature, test piece speed, test piece moment loading situation, and user command input and parameter settings of the command input unit 110. Operation is the core unit of this system;

The first communication unit 130 exchanges data with the second communication unit 240, sends control commands to the execution terminal 200, and receives equipment operation data, operation status and test data from the execution terminal 200;

The data processing unit 140 is used for centrally processing test process data and making records. Collect test data, filter digitally, and screen valid data, package and store the screened valid data together with equipment operating status data and user operation records, and send them to the status monitoring unit 150 for human-computer interaction;

The state monitoring unit 150 is used to process the test data processed by the data processing unit 140 (the speed of the test piece, the moment loading, the transmission efficiency, the temperature of the test piece, etc.) , device alarm information, etc.) graphically displayed to the user.

The drive unit 210 sends a drive signal to the underlying device of the execution unit 220 according to the action instruction issued by the control terminal 100;

The executing unit 220 receives the driving instruction sent by the driving unit 210 and executes the test operation.

The data acquisition unit 230 is used for sensor information (speed, temperature, torque, vacuum degree, etc.), and sends the sensor information to the second communication unit 240;

The second communication unit 240 exchanges data with the first communication unit 130, sends equipment operation data, operation status and test data to the control terminal 100, and receives control commands from the control terminal 100;

The decision-making units described include:

Operation judging unit 121: used to judge whether the current whole system meets the conditions for entering the test state, including equipment failure judgment, alarm information, etc., and transfer the judgment result to the information prompt unit 122;

Information prompting unit 122: when the operation judging unit 121 judges that the system cannot enter the test state due to equipment failure or alarm, it will send a prompt message to the user and wait for the next step of operation;

Environmental processing unit 123: used to start the background space environment simulation when the operation judgment unit 121 judges that the test can be carried out, and the space environment parameters (vacuum degree, background temperature) are input by the command input unit 110;

Working condition processing unit 124: used to calculate the test cycle parameters for the next command cycle according to the test cycle parameters input by the command input unit 110, combined with the state of the current test piece (specimen temperature, speed, torque) and the duration of this state. the test operations carried out;

Temperature processing unit 125: used to send an instruction to set the temperature of the test piece to the execution end 200 in combination with the test parameters input by the input unit 110 when the processing result of the working condition processing unit 124 is that the temperature of the test piece needs to be changed;

Rotational speed processing unit 126: when the processing result of the working condition processing unit 124 is that the rotational speed of the specimen needs to be changed, in combination with the test parameters input by the input unit 110, send an instruction to adjust the rotational speed of the specimen to the execution end 200;

Torque processing unit 127: used to issue an instruction to adjust the loading torque of the specimen to the execution end 200 in combination with the test parameters input by the input unit 110 when the processing result of the working condition processing unit 124 is that the specimen torque needs to be changed.

Fig. 3 shows the flow chart of the automatic testing method for the harmonic drive mechanism under the space environment condition of the present invention. Specific steps are as follows:

Step 410 Test start: After inputting the test parameters and the test start command through the keyboard and mouse, the automatic test test of the transmission mechanism starts to start;

The test parameters and start instructions are input through the instruction input unit 110, including the test environment (vacuum degree, cold background temperature), the number of cycles of this test cycle, the number of working conditions included in each cycle, and the target state of the test piece in each working condition (specimen temperature, rotational speed, moment loading), test duration of each working condition, standby speed and standby torque after a single working condition ends. Under the condition that the operation judging unit 121 has no failure and reports an alarm, when the test is started, the current background environment is first judged by the environmental processing unit 123. If the background environment (vacuum degree, temperature) has reached the test requirement, the following test operation is directly carried out; otherwise , the environment processing unit 123 performs space environment simulation first, and then performs the following operations;

Step 420 Temperature control of the test piece: After the space environment reaches the test requirements input through the command input unit 110, start to control the temperature of the test piece;

When the following situations occur so that the current test piece temperature does not meet the current test requirements, the test piece temperature control operation is performed:

1. There is a new test condition: the result processed by the condition processing unit 124 is to carry out the next test condition or restart the current cycle;

2. After setting the target temperature of the test piece, the test piece has not yet reached the target temperature; the temperature processing unit 125 has carried out the temperature control operation of the test piece, but the processing result by the working condition processing unit 124 is that the test piece has not yet reached the target temperature;

3. The temperature of the test piece deviates from the target temperature: after the test piece is stabilized at the target temperature, before the completion of this working condition, the processing result of the working condition processing unit 124 is that a temperature deviation has occurred;

Step 430 Judgment of reaching the target temperature: After performing the temperature control of the test piece in step 420, start a loop to judge whether the test piece has reached the target temperature of the current working condition;

The target temperature is input by the command input unit 110, and the working condition processing unit 124 compares the current test piece temperature with the target temperature until the test piece temperature reaches the current working condition target temperature input through the command input unit 110;

Step 440 Speed adjustment: after the temperature of the test piece reaches the target temperature, start to adjust the speed of the test piece;

After the temperature of the test piece reaches the target temperature, the working condition processing unit 124 calculates the difference between the current speed and the target speed, and sends out a speed adjustment command issued by the speed processing unit 126;

Step 450 Judgment of reaching the target rotational speed: After performing the rotational speed adjustment in step 440, start a loop to judge whether the test specimen has reached the target rotational speed of the current working condition input through the command input unit 110;

The target rotational speed is input by the command input unit 110, and the operating condition processing unit 124 compares the current rotational speed of the specimen with the target rotational speed until the rotational speed of the specimen reaches the target rotational speed of this working condition input through the command input unit 110;

Step 460 Moment loading: after the temperature of the specimen reaches the target rotational speed, start to perform torque loading on the test specimen;

After the rotational speed of the specimen reaches the target rotational speed, the operating condition processing unit 124 calculates the difference between the current torque and the target torque, and issues a torque loading command issued by the torque processing unit 127;

Step 470 Judgment of reaching the target torque: After the torque loading in step 460 is performed, start a loop to judge whether the test specimen has reached the target torque of the current working condition input through the command input unit 110;

The target torque is input by the command input unit 110, and the working condition processing unit 124 compares the current test piece torque with the target torque until the test piece torque reaches the current working condition target torque input through the command input unit 110;

Step 480 Timing: start timing after the temperature, rotational speed and torque of the test piece meet the test requirements;

When the temperature, rotational speed, and torque of the test piece all reach the target value, the working condition processing unit 124 will start timing, and the timing time is the duration of the current working condition input by the instruction input unit 110;

Step 490 Deviating from the target parameter judgment: after the timing of step 480 starts, start a cycle of judging whether the test piece deviates from the target parameter during the timing period;

During the timing period, the operating condition processing unit 124 loops to determine whether the temperature of the test piece exceeds the temperature range required by the test during this period. When the temperature, speed, and torque of the specimen exceed the target value, the timing will be terminated and the setting of the target parameter will be restarted;

Step 4a0 Judging the end of the working condition timing: if the test specimen does not deviate from the target temperature, judge whether the timing time reaches the current working condition requirement input through the command input unit 110;

Step 4b0 Judging the end of this cycle: After the timing of this working condition ends, judge whether the current cycle is over according to the current test parameters input by the command input unit 110;

After the timing of this working condition ends, the working condition processing unit 124 judges whether there are still unexecuted working conditions in this period according to the number of working conditions included in this cycle input by the instruction input unit 110 and the number of completed working conditions;

Step 4c0 Start the next working condition: When the judgment result of step 4b0 is "not finished", start the next working condition of this cycle;

When the working condition processing unit 124 judges that the number of working conditions included in the current period input by the instruction input unit 110 is greater than the number of completed working conditions, then there are still unexecuted working conditions in this period, according to the single input of the instruction input unit 110 The standby speed and standby torque after the working condition ends, the specimen is unloaded through the rotational speed processing unit 126 and the torque processing unit 127, and the operation of the next working condition is started by the working condition processing unit 124, or directly processed by the working condition processing unit 124 Start to process the operation of the next working condition;

Step 4d0 Judging the end of the test: after the end of the cycle, judge whether the test is over according to the current test parameters input by the command input unit 110;

After all the working conditions of this cycle are over, the working condition processing unit 124 judges whether the working conditions of this cycle need to be executed again in this test according to the cycle number of this cycle input by the instruction input unit 110 and the completed cycle number;

Step 4e0 repeats this cycle: when 4d0 the end of the test is judged as "not over", restart the cycle that just ended;

When the working condition processing unit 124 judges that the cycle number input by the instruction input unit 110 is greater than the completed cycle number, then this cycle needs to be repeated in this test, and the test piece is unloaded by the speed processing unit 126 and the torque processing unit 127 , and the working condition processing unit 124 starts to process the operation of the next working condition;

Step 4f0 Shutdown: After all the test cycles are finished, the shutdown operation is performed.

Although the specific embodiments of the present invention have been described and illustrated in detail above, it should be pointed out that we can make various changes and modifications to the above embodiments, but these do not depart from the spirit of the present invention and the appended rights. Request the range described.

Claims (18)

1. a harmonic drive mechanism Auto-Test System under space environment, described system comprises control end (100) and actuating station (200), and wherein said control end (100) comprising:

Instruction input unit (110): the instruction input starting for Auto-Test System and stop, and each test parameters is arranged;

Decision package (120): comprehensively analyze user instruction, current test operating mode and feedback data, determine the operation of next step operating mode;

Data processing unit (140): for the data filtering of Auto-Test System operation information and equipment state, calculating, classification and memory function;

First communication unit (130): for control end (100) and the test figure of actuating station (200), the transmission of steering order;

With state monitoring unit (150): graphical, tabular for Auto-Test System operation information and equipment state export;

Described actuating station (200) comprising:

Driver element (210), according to the action command that control end (100) sends, the underlying device to performance element (220) sends drive singal;

Performance element (220), receives the driving instruction that driver element (210) sends, and performs test operation;

Data acquisition unit (230): by sensor acquisition system operation information and status information of equipment;

With second communication unit (240): for control end (100) and the test figure of actuating station (200), the transmission of steering order, wherein said operation information comprises vacuum tightness, ambient temperature, circulating water flow, test specimen temperature, test specimen rotating speed, test specimen loading moment and user operation records.

2. gear train Auto-Test System as claimed in claim 1, wherein, described decision package (120) comprising:

Run judging unit (121): for judging whether current whole system meets the condition entering trystate, comprises equipment failure judgement, warning message, and by judged result afferent message Tip element (122);

Information Tip element (122): when running judging unit (121) and judging that now system can not enter trystate because of equipment failure, warning, send information to user, and wait for that next step operates;

Environmental treatment unit (123): for when running judging unit (121) judged result for testing, start spatial context environmental simulation, space environment parameter is inputted by instruction input unit (110);

Operating mode processing unit (124): for the test cycle parameter inputted according to instruction input unit (110), and in conjunction with the state of current test specimen and the duration of this state, calculate the test operation that the next instruction cycle will carry out;

Temperature treating units (125): for when operating mode processing unit (124) result changes test specimen temperature for needs, the test parameters that combined command input block (110) inputs, sends to actuating station (200) and arranges the instruction of test specimen temperature;

Rotating speed processing unit (127): for when operating mode processing unit (124) result changes test specimen rotating speed for needs, the test parameters that combined command input block (110) inputs, sends adjustment test specimen rotary speed instruction to actuating station (200);

Moment processing unit (126): for when operating mode processing unit (124) result changes test specimen moment for needs, the test parameters that combined command input block (110) inputs, sends the instruction of adjustment test specimen loading moment to actuating station (200).

3. as right wants the gear train Auto-Test System as described in 1, wherein, described test parameters comprises: the vacuum tightness of experimental enviroment, cold ambient temperature, the standby rotating speed after the test specimen target temperature of the periodicity of this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.

4., as right wants the gear train Auto-Test System as described in 1, wherein said feedback data comprises the loading moment of test specimen temperature, test specimen rotating speed and test specimen.

5., as right wants gear train Auto-Test System as described in 1, wherein said equipment state comprises opening/stopping of equipment and fault alarm.

6., as right wants the gear train Auto-Test System as described in 1, wherein said underlying device comprises vacuum pump, refrigeration system, heating system, test specimen drive system and test specimen moment loading system.

7., as right wants the gear train Auto-Test System as described in 1, wherein said sensor comprises pressure transducer, temperature sensor, speed probe and torque sensor.

8., as right wants the gear train Auto-Test System as described in 2, wherein said space environment parameter comprises vacuum tightness and background ambient temperature.

9. as right wants the gear train Auto-Test System as described in 2, wherein said test cycle parameter comprise the periodicity of this test cycle, operating mode number that each periodic packets contains, the test specimen target temperature of each operating mode, rotating speed of target and loading moment, the duration of test runs of each operating mode, single operating mode terminate after standby rotating speed and standby moment.

10. a harmonic drive mechanism automatic test approach under space environment, comprises the steps:

1) test starts: after input equipment input test parameters and test enabled instruction, the automatic testing experiment of this gear train starts to start;

2) test specimen temperature control: after space environment is reached through the testing requirements that instruction input unit (110) inputs, starts to carry out temperature control to test test specimen;

3) reach target temperature to judge: performing step 2) after, what start circulation judges whether test test specimen reaches current working target temperature;

4) adjustment of rotational speed: after test specimen temperature reaches target temperature, starts to carry out adjustment of rotational speed to test test specimen;

5) reach rotating speed of target judge: performing step 4) adjustment of rotational speed after, start circulate judge test test specimen whether reach the current working rotating speed of target inputted by instruction input unit (110);

6) moment loads: after test specimen temperature reaches rotating speed of target, starts to carry out moment loading to test test specimen;

7) reach target moment judge: performing step 6) moment load after, start circulate judge test test specimen whether reach the current working target moment inputted by instruction input unit (110);

8) timing: after test test specimen temperature, rotating speed, moment all meet testing requirements, start timing;

9) departing from target component to judge: step 8) after timing starts, what start to circulate judges whether test test specimen deviate from target component during timing;

10) this operating mode timing terminates to judge: when testing test specimen and not departing from target temperature, judges the current working requirement whether timing time is reached through instruction input unit (110) and inputs;

11) this end cycle judges: after this operating mode timing terminates, judge whether this cycle terminates according to the current test parameter that instruction input unit (110) inputs;

12) start next operating mode: when step 11) this end cycle judged result for " end " time, start the next operating mode in this cycle;

13) this off-test judges: after this cycle period terminates, judge whether this test terminates according to the current test parameter that instruction input unit (110) inputs;

14) repeat this cycle: when step 13) this off-test judged result for " end " time, restart the loop cycle just terminated;

15) shut down: after this test cycle all terminates, carry out shutdown operation.

11. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said test parameters comprises: the standby rotating speed after the test specimen target temperature of the periodicity of the vacuum tightness of experimental enviroment and cold ambient temperature, this test cycle, operating mode number that each periodic packets contains, each operating mode, rotating speed of target, target loading moment, the duration of test runs of each operating mode, single operating mode terminate and standby moment.

12. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said space environment comprises vacuum tightness and background ambient temperature.

13. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said target temperature judges.

14. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said rotating speed of target judges.

15. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, there is the error in test allowed band when wherein said target loading moment judges.

16. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and the wherein said target component that departs from comprises: test specimen temperature, test specimen rotating speed or test specimen moment offset target value.

17. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, next operating mode of wherein said beginning or before restarting this cycle period, the standby rotating speed after single operating mode test specimen state being set to inputted by instruction input unit (110) terminates and standby moment.

18. want harmonic drive mechanism automatic test approach under the space environment as described in 11 as right, and wherein said shutdown operation comprises: test specimen unloading and space environment simulation equipment downtime.