Foot-ground simulation platform

Abstract

The invention discloses a foot-ground simulation platform, and relates to the technical field of robot testing, the foot-ground simulation platform comprises a three-dimensional frame, the front side and the rear side of the top of the three-dimensional frame are respectively provided with two mechanical leg transverse movement driving mechanisms, and the two mechanical leg transverse movement driving mechanisms are respectively connected with the two ends of the bottom of a mechanical leg moving mechanism; the device further comprises a walking simulation mechanical leg, a soil box transverse moving driving mechanism and a ground simulation mechanism, the walking simulation mechanical leg comprises a mechanical leg driving assembly and a shank, the top of the mechanical leg driving assembly is connected with a mechanical leg moving mechanism, and the bottom of the mechanical leg driving assembly is connected with one end of the shank. A foot stress detection mechanism is mounted at the other end of the shank; according to the foot-ground simulation platform, the ground simulation mechanism is adopted to enable the foot stress detection mechanism to be in contact with different grounds, the stress conditions when the foot is in contact with the different grounds are detected, the simulated result is more real and accurate, meanwhile, an on-site walking experiment can be avoided, and the experiment cost can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robot testing, in particular to a foot-ground simulation platform. Background Art

[0002] The overall motion performance of a legged robot is affected by the control performance of each leg. In order to study the impact of different structures and control methods on the performance of a single leg of a legged robot, a large number of experiments are needed. Generally, there are two methods: physical testing, in which the legged robot conducts walking, running and other experiments on the ground with different structures. This method is affected by many factors and has a high cost; ground simulation, in which the load on the robot's single leg from the ground during movement is reproduced through ground simulation equipment. This method is highly reliable and economical.

[0003] In the prior art, there is a load simulation system for the foot end of a legged robot. The system can realize loading in the horizontal and vertical directions, and can be separated from the foot end of the legged robot for loading or fixed together for loading. Its active loading can simulate various uneven roads or conduct vibration experiments, and its passive loading can simulate ground environments with different stiffness and damping, such as sand, concrete, swamps, etc.; however, the simulation through loading is still different from the actual ground, and the simulation result is not accurate enough. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a foot-ground simulation platform. A ground simulation mechanism is used to allow a foot force detection mechanism to contact different ground surfaces, so as to detect the force conditions of the foot when in contact with different ground surfaces. The simulated results are more realistic and accurate, while avoiding actual walking experiments, which is beneficial to reducing experimental costs and can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a foot-ground simulation platform, comprising a three-dimensional frame, two mechanical leg lateral movement driving mechanisms are respectively installed on the top and front sides of the three-dimensional frame, and the two mechanical leg lateral movement driving mechanisms are respectively connected to the bottom ends of the mechanical leg moving mechanism, and further comprising: The walking simulation mechanical leg comprises a mechanical leg driving component and a calf, wherein the top of the mechanical leg driving component is connected to a mechanical leg moving mechanism, the bottom of the mechanical leg driving component is connected to one end of the calf, and the other end of the calf is equipped with a foot force detection mechanism; The soil trough box transverse movement driving mechanism includes a transverse movement plate and a soil trough box transverse movement control component. The bottom of the three-dimensional frame is connected to the transverse movement plate in a transverse sliding manner. The transverse movement plate is connected to the three-dimensional frame through the soil trough box transverse movement control component. The ground simulation mechanism includes a tilt control component, a water collecting component, a soil trough box and a soil trough box volume changing component. The tilt control component is installed in the middle of the upper side of the transverse plate, and the top of the tilt control component is connected to the bottom of the soil trough box through the water collecting component. Openings are provided on the right side and the top of the soil trough box, and the soil trough box volume changing component is installed in the soil trough box.

[0006] The mechanical leg lateral movement driving mechanism is used to drive the mechanical leg moving mechanism to move left and right, the mechanical leg moving mechanism is used to drive the walking simulation mechanical legs to move up and down, the walking simulation mechanical legs are used to simulate the walking movements of the robot's legs, the foot force detection mechanism contacts different ground surfaces in the soil trough box, and is used to detect the force conditions of the feet when contacting the ground, which is conducive to obtaining the impact of different structures and control methods on the performance of the robot leg resistance part, the soil trough box lateral movement driving mechanism is used to drive the ground simulation mechanism to move left and right, and the soil trough box can be extended from the three-dimensional frame to facilitate the arrangement of sand and soil in the soil trough box, adjust the sand and soil in the soil trough box, and simulate different road conditions. The soil trough box volume changing component can change the volume of the soil trough box and change the thickness of the sand while keeping the amount of sand in the soil trough box unchanged. The tilt control component is used to control the soil trough box in all directions to simulate roads with different slopes. When the sand in the soil trough box is sprinkled with water to simulate mud, excess water can be collected by the water collection component to keep the surrounding clean and tidy.

[0007] Further, the foot force detection mechanism includes a six-dimensional force sensor and a foot, one end of the lower leg away from the mechanical leg driving assembly is connected to one end of the six-dimensional force sensor, the other end of the six-dimensional force sensor is connected to one end of the foot mounting round seat, a rectangular slot is provided in the middle of the other end of the foot mounting round seat, locking bolts are respectively threadedly connected on both sides of the foot mounting round seat, the foot is fixedly connected to one end of the mounting rod, the other end of the mounting rod is engaged with the rectangular slot, and one end of the locking bolt located in the rectangular slot is pressed against the mounting rod, and a foot flange mounting assembly is installed on the side of the foot mounting round seat. By loosening the locking bolt, the mounting rod can be pulled out of the rectangular slot with the help of the foot, and different feet can be replaced, and then the locking bolt is re-tightened, and the locking bolt is pressed against the new mounting rod. With the help of the six-dimensional force sensor, the force conditions when different feet are used can be detected, which is conducive to obtaining the influence of different feet on the performance of the robot legs. If the foot does not have a mounting rod but is flange-mounted, the foot can be mounted on the foot mounting round seat with the help of the foot flange mounting assembly.

[0008] Furthermore, the volume changing assembly of the soil trough box includes a volume variable cylinder and a variable baffle. Two transverse slide rails are fixedly connected to the front and rear sides of the top of the soil trough box, respectively. A variable baffle is provided at the right end of the soil trough box. The variable baffle is laterally slidably connected to the two slide rails. The right side of the variable baffle is connected to the left end of the volume variable cylinder through universal joint 2, and the right end of the volume variable cylinder is connected to the top of the support frame through universal joint 1. The support frame is installed at the upper right end of the transverse plate. The slide rail limits and guides the variable baffle, allowing it to move stably left and right in the soil trough box. The variable volume cylinder extends, pushing the variable baffle to move continuously into the soil trough box, increasing the thickness of the sand in the soil trough box while keeping the amount of sand in the soil trough box unchanged. The variable volume cylinder shortens, pulling the variable baffle to move to the right, and then flattening the sand in the soil trough box, which can reduce the thickness of the sand in the soil trough box and simulate road conditions with different softness. The setting of universal joint one and universal joint two can ensure that the variable volume cylinder can act on the variable baffle when the soil trough box is in different tilt states.

[0009] Furthermore, the water collecting assembly includes a circular collecting box, which is provided at the lower middle part of the soil trough box, and a plurality of ear seats are provided in a circular array on the outer peripheral side of the top of the circular collecting box, and a positioning column fixedly connected to the bottom of the soil trough box and installed in cooperation with the ear seat, and water seepage holes are evenly provided at the bottom of the soil trough box corresponding to the position of the circular collecting box, and a water collecting groove is provided at the bottom of the right end of the soil trough box, and the bottom end of the water collecting groove is connected to the circular collecting box through a transfer pipe, and a discharge pipe is installed at the bottom of the side of the circular collecting box, and a discharge valve is installed on the discharge pipe. If the soil trough box needs to simulate the condition of a muddy ground, water needs to be added to the soil trough box. The excess water in the soil trough box will be collected into the circular collecting box through the seepage holes, and the water discharged from the gap between the soil trough box and the variable baffle will fall into the water collecting groove. The water in the water collecting groove will also be collected into the circular collecting box through the transfer pipe. When too much water is collected in the circular collecting box, open the discharge valve and discharge it from the discharge pipe. The soil trough box can be removed from the circular collecting box with the help of the ear seat and the positioning column. If the variable volume cylinder is shortened and the variable baffle is separated from the soil trough box, the soil trough box can be removed, which is convenient for completely replacing the sand and soil in the soil trough box.

[0010] Furthermore, the tilt control assembly includes a tilt control cylinder and an upper universal ball. The bottom center of the circular collection box is connected to the top of the pillar through a positioning universal ball. The bottom of the pillar is fixedly connected to a truncated plate, which is installed in the middle of the upper side of the transverse plate. The bottom of the circular collection box is connected to the tops of four tilt control cylinders through four upper universal balls distributed in a circular array. The bottom end of each tilt control cylinder is connected to the upper side of the transverse plate through a lower universal ball. The truncated plate, the pillar and the positioning universal ball position the middle of the lower side of the circular collection box, while allowing the circular collection box and the soil trough box to tilt freely. With the help of the lower universal ball, the tilt control cylinder and the upper universal ball, the soil trough box can be tilted or kept horizontal. The four tilt control cylinders work in coordination with each other, allowing the soil trough box to tilt in different directions and angles, and cooperate with the sand in the soil trough box to simulate different inclined ground.

[0011] Further, the ground simulation mechanism also includes a stone receiving drawer, a rectangular through groove is provided at the top left side of the soil trough box, a stone receiving drawer is interspersed in the rectangular through groove, the front and rear sides of the stone receiving drawer are respectively provided with guide bars slidably connected to the slide rail, and the top right end of the stone receiving drawer is threadedly connected with an anti-slip bolt. The provision of the anti-slip bolt can prevent the stone receiving drawer from being separated from the rectangular through groove when sliding to the left, and the stone receiving drawer cooperates with the slide rail with the help of the guide bar, so that the left and right sliding of the stone receiving drawer can be more stable, and the stone receiving drawer is used to hold stones or other different soils, so as to simulate stone pavement or other rare soil pavement. Since it is not convenient to replace sand in the soil trough box, a stone receiving drawer is added, and when in use, the stone receiving drawer is placed at the top of the soil trough box to quickly build a stone pavement. When not in use, the stone receiving drawer is pulled to the left, and the pavement simulated by the sand in the soil trough box can be quickly reused.

[0012] Furthermore, it also includes a soil spraying and humidifying mechanism, which includes a hard water pipe and a forward and reverse swinging assembly. Two curved frames are fixedly connected to the left and right ends of the front side of the soil trough box, and two mounting rings are fixedly connected to the tops of the two curved frames. The two mounting rings are rotatably connected to the two ends of the hard water pipe. Sprinkler heads are arranged at equal distances on one side of the hard water pipe close to the soil trough box. One end of the hard water pipe is closed and the other end is connected to one end of the hose through a soft and hard pipe joint. The end of the hard water pipe is connected to a forward and reverse swinging assembly. When water needs to be added to simulate mud in the soil trough box, the forward and reverse swinging assembly can drive the hard water pipe to rotate forward and backward at a certain angle. The water valve is opened, and the external water source enters the hose through the water valve, and then enters the hard water pipe through the soft and hard pipe joint. The spray head in the hard water pipe sprays water onto the sand in the soil trough box. The forward and reverse rotation of the hard water pipe is conducive to the spray head spraying water more evenly, which is conducive to making a mud with uniform humidity close to the actual mud.

[0013] Furthermore, the forward and reverse swinging assembly includes a driving cylinder, the end of the hard water pipe is fixedly sleeved with a gear, the bottom of the bent frame is fixedly connected with a bracket, the bracket is fixedly connected to the bottom of the driving cylinder, the top of the driving cylinder is fixedly connected to the bottom of the rack through a vertical guide rod, the rack is meshed with the gear, the guide rod is slidably sleeved with a guide sleeve, and the guide sleeve is fixedly connected to the middle of the corresponding bent frame through a connecting rod. The guide sleeve limits the guide rod so that the guide rod can only move up and down, the driving cylinder is extended, and the rack is driven to rise through the guide rod, and the transmission of the rack and the gear drives the hard water pipe to rotate, so that the sprinkler head on the hard water pipe tilts downward, the driving cylinder is shortened, and the rack is driven to descend through the guide rod, and the transmission of the rack and the gear drives the hard water pipe to rotate in the opposite direction, so that the sprinkler head on the hard water pipe tilts upward.

[0014] Furthermore, it also includes a loosening mechanism, which includes a loosening motor, two vertical grooves are provided on the top of the variable baffle, and side grooves connected to the middle of the vertical grooves are provided on the side of the variable baffle, each vertical groove is slidably connected with a vertical sliding plate, and the vertical sliding plate is rotatably connected to one end of the loosening shaft through a bearing, the loosening shaft is located in the soil trough box, and a loosening rod is fixedly connected to the side of the loosening shaft, the loosening motor is installed on the outer side of the vertical sliding plate through a motor seat, and the output shaft of the loosening motor is fixedly connected to the end of the loosening shaft. When the sand in the soil trough box is trampled on many times, the sand will become compacted and have a large deviation from the outdoor road surface. At this time, the loosening motor will work to drive the loosening shaft to rotate. The loosening shaft can turn the sand through the loosening rod to loosen the sand again. The vertical sliding plate moves up and down in the vertical trough, and can turn over a larger range of sand. After turning, the vertical sliding plate is at the bottom of the vertical trough. The loosening shaft and the loosening rod are close to the lower layer of the sand, which will not affect the simulation of the foot stepping on the sand ground. The vertical sliding plate always blocks the side slot when it moves up and down, and the sand will not leak through the side slot.

[0015] Furthermore, the loosening mechanism further includes a cylinder seat and a lifting cylinder, the top of the variable baffle is mounted on the top of the lifting cylinder through the cylinder seat, and the bottom of the lifting cylinder is fixedly connected to the motor seat. The lifting cylinder can drive the vertical sliding plate to move up and down in the vertical slot through the motor seat.

[0016] Compared with the existing technology, the beneficial effects of this foot-to-ground simulation platform are: 1. The mechanical leg lateral driving mechanism is used to drive the mechanical leg moving mechanism to move left and right. The mechanical leg moving mechanism is used to drive the walking simulation mechanical leg to move up and down. The walking simulation mechanical leg is used to simulate the walking action of the robot's legs. The foot force detection mechanism contacts different ground surfaces in the soil trough box to detect the force conditions of the foot when it contacts the ground, which is conducive to obtaining the impact of different structures and control methods on the performance of the robot leg resistance; 2. The lateral movement drive mechanism of the soil trough box is used to drive the ground simulation mechanism to move left and right, so that the soil trough box can be extended from the three-dimensional frame, which is convenient for arranging sand and soil in the soil trough box and adjusting the sand and soil in the soil trough box to simulate different road conditions. The soil trough box volume change component can change the volume of the soil trough box and change the thickness of the sand and soil without changing the amount of sand and soil in the soil trough box. The tilt control component is used to control the soil trough box in various directions to simulate roads with different slopes. 3. When water is sprinkled on the sand in the soil trough box to simulate the mud, the forward and reverse swing components can drive the hard water pipe to rotate forward and reverse at a certain angle. The water valve is opened, and the external water source enters the hose through the water valve, and then enters the hard water pipe through the soft and hard pipe joints. The sprinkler head in the hard water pipe sprays water onto the sand in the soil trough box. The forward and reverse rotation of the hard water pipe is conducive to the sprinkler head to spray water more evenly, which is conducive to making the humidity uniform and close to the actual mud. Excess water can be collected by the water collection component to keep the surrounding clean and tidy; 4. Use a ground simulation mechanism to allow the foot force detection mechanism to contact different ground surfaces, and detect the force conditions when the foot contacts different ground surfaces. The simulated results are more realistic and accurate, while avoiding actual walking experiments, which helps reduce experimental costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the foot-ground simulation platform of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the foot-ground simulation platform of the present invention; Figure 3 It is a schematic diagram of the side view structure of the foot-ground simulation platform of the present invention; Figure 4 The present invention is a foot-ground simulation platform Figure 3 A schematic diagram of the partially enlarged structure at center A; Figure 5 It is a structural schematic diagram of the walking simulation mechanical legs and the foot force detection mechanism in the foot-ground simulation platform of the present invention; Figure 6 It is a schematic diagram of the local structure of the foot-ground simulation platform of the present invention; Figure 7 The present invention is a foot-ground simulation platform Figure 6 A schematic diagram of the partially enlarged structure at B in the middle; Figure 8 The present invention is a foot-ground simulation platform Figure 6 Side view of the structure; Fig. 9 The present invention is a foot-ground simulation platform Figure 8 A schematic diagram of the partially enlarged structure at C in the middle; Fig.10 It is a structural schematic diagram of the soil loosening mechanism in the ground simulation platform of the present invention; Fig.11 The present invention is a foot-ground simulation platform Figure 6 Schematic diagram of the structure viewed from above; In the figure: 1 stereo frame, 2 mechanical leg transverse driving mechanism, 21 transverse bracket, 22 transverse rail, 23 transverse lead screw 1, 24 transverse slide, 25 slide seat, 26 screw, 27 lead screw nut 1, 28 driving motor, 3 mechanical leg moving mechanism, 31 disassembly table, 32 vertical plate, 33 vertical linear motor guide, 34 vertical linear motor, 35 longitudinal linear motor guide, 36 longitudinal linear motor, 4 walking simulation mechanical leg, 41 arm seat, 42 transverse axis, 43 longitudinal swing movable seat, 44 swing motor 1, 45 hip bone, 46 longitudinal movable cylinder 1, 47 longitudinal axis 1, 48 lateral swing seat 1, 49 swing motor 2, 410 thigh, 411 longitudinal movable cylinder 2, 412 longitudinal axis 2, 413 lateral swing seat 2, 414 swing motor 3, 415 calf, 5 foot force detection mechanism, 51 six-dimensional force sensor, 52 foot mounting round seat, 53 rectangular slot, 54 locking bolt, 55 arc groove, 56 mounting hole, 57 mounting rod, 58 foot, 6 soil trough box transverse movement drive mechanism, 61 transverse movement plate, 62 transverse movement slide bar, 63 support, 64 transverse screw 2, 65 Screw nut 2, 66 crank, 7 ground simulation mechanism, 71 round table, 72 pillar, 73 positioning universal ball, 74 round collection box, 75 ear seat, 76 positioning column, 77 lower universal ball, 78 tilt control cylinder, 79 upper universal ball, 710 soil trough box, 711 seepage hole, 712 water collection groove, 713 support frame, 714 universal joint 1, 715 volume variable cylinder, 716 universal joint 2, 717 slide rail, 718 variable baffle, 719 transfer pipe, 720 discharge pipe, 721 discharge valve, 722 rectangle Through groove, 723 stone accommodating drawer, 724 guide strip, 725 handle, 726 anti-drop bolt, 8 soil spraying and humidifying mechanism, 81 bent frame, 82 mounting ring, 83 hard water pipe, 84 soft and hard pipe joint, 85 hose, 86 gear, 87 rack, 88 guide rod, 89 guide sleeve, 810 bracket, 811 driving cylinder, 9 loosening mechanism, 91 vertical groove, 92 side through groove, 93 vertical sliding plate, 94 loosening shaft, 95 loosening rod, 96 loosening motor, 97 motor seat, 98 cylinder seat, 99 lifting cylinder, 10 universal wheel. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] For example, see Figures 1 to 11The present embodiment provides a technical solution: a foot-ground simulation platform, comprising a three-dimensional frame 1, four universal wheels 10 are respectively installed at the four corners of the bottom of the three-dimensional frame 1, and each universal wheel 10 is respectively installed with a wheel brake, so that the three-dimensional frame 1 can be easily moved with the help of the universal wheels 10, and two mechanical leg transverse driving mechanisms 2 are respectively installed on the front and rear sides of the top of the three-dimensional frame 1, and the two mechanical leg transverse driving mechanisms 2 are respectively connected to the two ends of the bottom of the mechanical leg moving mechanism 3; The mechanical leg transverse driving mechanism 2 includes a transverse moving bracket 21, a transverse rail 22, a transverse lead screw 23, a transverse sliding table 24, a slide 25, a screw 26, a lead screw nut 27, and a driving motor 28. The top front and rear sides of the three-dimensional frame 1 are respectively fixedly connected to two transverse moving brackets 21 by screws 26, and the top front and rear sides of each transverse moving bracket 21 are respectively fixedly connected to two transverse rails 22, and each transverse moving bracket 21 is rotatably connected to the two ends of the transverse lead screw 23, and the left end of the transverse lead screw 23 is fixedly connected to the output shaft of the driving motor 28. The driving motor 28 is installed at the left end of the transverse moving bracket 21, and the transverse lead screw 23 is installed in coordination with the drive motor 28. There is a lead screw nut 27, the top of which is fixedly connected to a transverse slide 24, and the bottom of the transverse slide 24 is provided with two slides 25 slidably connected to the transverse track 22. The driving motor 28 drives the transverse lead screw 23 to rotate clockwise, and the threaded action of the transverse lead screw 23 and the lead screw nut 27 drives the slide 25 and the slide 25 to slide to the left along the transverse track 22. The driving motor 28 drives the transverse lead screw 23 to rotate counterclockwise, and the threaded action of the transverse lead screw 23 and the lead screw nut 27 drives the slide 25 and the slide 25 to slide to the right along the transverse track 22, thereby driving the mechanical leg moving mechanism 3 to move left and right.

[0020] The mechanical leg moving mechanism 3 includes a disassembly table 31, a vertical plate 32, a vertical linear motor guide 33, a vertical linear motor 34, a longitudinal linear motor guide 35, and a longitudinal linear motor 36. The tops of the two transverse slides 24 are respectively fixedly connected to the two disassembly table 31 by slide screws, and the tops of the two disassembly table 31 are respectively fixedly connected to the two vertical plates 32. The sides of the two vertical plates 32 close to each other are respectively fixedly connected to two vertical linear motor guides 33. The two vertical linear motor guides 33 are respectively installed in cooperation with the two vertical linear motors 34. The longitudinal linear motor guide 35 is fixedly connected between the two vertical linear motors 34. The longitudinal linear motor 36 is installed on the longitudinal linear motor guide 35. The two vertical linear motors 34 move up and down synchronously along the two vertical linear motor guides 33, and the heights of the longitudinal linear motor guides 35 and the longitudinal linear motor 36 can be changed. The longitudinal linear motor 36 can move along the longitudinal linear motor guide 35.

[0021] It also includes walking simulation mechanical legs 4, soil trough box transverse movement driving mechanism 6 and ground simulation mechanism 7; The walking simulation mechanical leg 4 includes a mechanical leg driving component and a shank 415, the top of the mechanical leg driving component is connected to the mechanical leg moving mechanism 3, the bottom of the mechanical leg driving component is connected to one end of the shank 415, and the other end of the shank 415 is installed with a foot force detection mechanism 5; The mechanical leg driving assembly includes a hip joint, a hip bone 45, a thigh joint, a thigh 410 and a knee joint. The bottom of the longitudinal linear motor 36 is connected to the top of the hip bone 45 through the hip joint, the bottom of the hip bone 45 is connected to the top of the thigh 410 through the thigh joint, and the bottom of the thigh 410 is connected to the end of the calf 415 through the knee joint. Specifically, the hip joint includes an arm seat 41, a transverse axis 42, a longitudinal swing movable seat 43, and a swing motor 44. The bottom of the longitudinal linear motor 36 is connected to the top of the arm seat 41 through a short rod. The left and right sides of the bottom of the arm seat 41 are rotatably connected to the two transverse axes 42 respectively. The two transverse axes 42 are fixedly connected to the two sides of the longitudinal swing movable seat 43 respectively. The bottom of the longitudinal swing movable seat 43 is fixedly connected to the top of the hip bone 45. A swing motor 44 is installed in the mounting groove at the bottom of the arm seat 41. The output shaft of the swing motor 44 is fixedly connected to the end of one of the transverse axes 42. The swing motor 44 drives the transverse axis 42 and the longitudinal swing movable seat 43 to rotate relative to the bottom of the arm seat 41, thereby driving the hip bone 45 to swing back and forth. The thigh joint includes a longitudinal movable cylinder 46, a longitudinal axis 47, a transverse swing movable seat 48, and a swing motor 49. The bottom end of the hip bone 45 is fixedly connected to the longitudinal movable cylinder 46. The front and rear ends of the longitudinal movable cylinder 46 are rotatably connected to two longitudinal axes 47 respectively. The two longitudinal axes 47 are fixedly connected to the front and rear ends of the transverse swing movable seat 48 respectively. The bottom of the transverse swing movable seat 48 is fixedly connected to the top of the thigh 410. A swing motor 49 is installed in the longitudinal movable cylinder 46. The output shaft of the swing motor 49 is fixedly connected to one of the longitudinal axes 47. The swing motor 49 drives the longitudinal axis 47 and the transverse swing movable seat 48 to move relative to the longitudinal movable cylinder 46, thereby driving the thigh 410 to swing left and right.

[0022] The knee joint includes a longitudinal movable cylinder 2 411, a longitudinal axis 2 412, a transverse movable seat 2 413, and a swing motor 3 414. The bottom end of the thigh 410 is fixedly connected to the top of the longitudinal movable cylinder 2 411. The front and rear ends of the longitudinal movable cylinder 2 411 are rotatably connected to two longitudinal axis 2s 412 respectively. The two longitudinal axis 2s 412 are fixedly connected to the front and rear ends of the transverse movable seat 2 413 respectively. The side of the transverse movable seat 2 413 is fixedly connected to the end of the calf 415. A swing motor 3 414 is installed in the longitudinal movable cylinder 2 411. The output shaft of the swing motor 3 414 is fixedly connected to one of the longitudinal axes 2 412. The swing motor 3 414 drives the longitudinal axis 2 412 and the transverse movable seat 2 413 to move relative to the longitudinal movable cylinder 2 411, thereby driving the calf 415 to swing left and right.

[0023] In summary, the walking simulation mechanical leg 4, as a complete robot leg structure, can walk normally.

[0024] The foot force detection mechanism 5 includes a six-dimensional force sensor 51, a foot mounting round seat 52, a rectangular slot 53, a locking bolt 54, a foot flange mounting assembly, a mounting rod 57 and a foot 58. One end of the calf 415 away from the mechanical leg driving assembly is connected to one end of the six-dimensional force sensor 51, and the other end of the six-dimensional force sensor 51 is connected to one end of the foot mounting round seat 52. A rectangular slot 53 is provided in the middle of the other end of the foot mounting round seat 52. The two sides of the foot mounting round seat 52 are respectively threadedly connected with locking bolts 54. The foot 58 is fixedly connected to one end of the mounting rod 57. The other end of the mounting rod 57 is clamped with the rectangular slot 53, and one end of the locking bolt 54 located in the rectangular slot 53 is pressed against the mounting rod 57. The side of the foot mounting round seat 52 is installed with a foot flange mounting assembly.

[0025] By loosening the locking bolt 54, the mounting rod 57 can be pulled out from the rectangular slot 53 with the help of the foot 58. A different foot 58 can be replaced, and then the locking bolt 54 can be re-tightened. The locking bolt 54 presses against the new mounting rod 57. The six-dimensional force sensor 51 can be used to detect the force conditions when using different feet, which is helpful for finding out the impact of different feet on the performance of the robot legs. If the foot 58 does not have a mounting rod 57 but is flange-mounted, the foot 58 can be installed on the foot mounting round seat 52 with the help of the foot flange mounting assembly.

[0026] The foot flange mounting assembly includes an arc groove 55 and a mounting hole 56. Two arc grooves 55 are provided on the side of the foot mounting round seat 52, and two mounting holes 56 connected to the middle of the arc groove 55 are provided at the end of the foot mounting round seat 52 away from the six-dimensional force sensor 51. Mounting bolts are inserted in the mounting holes 56, and the foot 58 can be fixed with the help of the mounting bolts, which is suitable for fixing the foot 58 installed by flange.

[0027] The soil trough box transverse movement driving mechanism 6 includes a transverse movement plate 61 and a soil trough box transverse movement control component. The transverse movement plate 61 is connected to the three-dimensional frame 1 in a transverse sliding manner at the bottom. The transverse movement plate 61 is connected to the three-dimensional frame 1 through the soil trough box transverse movement control component.

[0028] The soil trough box transverse driving mechanism 6 also includes a transverse slide 62. The bottom of the transverse plate 61 is fixedly connected with two transverse slides 62. Two transverse guide grooves are provided at the bottom of the three-dimensional frame 1. The two transverse guide grooves are slidably connected with the two transverse slides 62 respectively.

[0029] The soil trough box transverse movement control assembly includes a support 63, a transverse screw 64, a screw nut 65, and a crank 66. A hollow transverse groove is opened at the bottom of the three-dimensional frame 1. Two supports 63 are fixedly connected at the left and right ends of the hollow transverse groove at the bottom of the three-dimensional frame 1. A transverse screw 64 is rotatably connected between the two supports 63. A crank 66 is installed at one end of the transverse screw 64. The transverse screw 64 and the screw nut 65 are installed in cooperation. The top of the screw nut 65 passes through the hollow transverse groove and is fixedly connected to the bottom of the transverse plate 61. The transverse screw 64 is rotated clockwise by the crank 66, and the threaded action of the transverse screw 64 and the screw nut 65 drives the transverse plate 61 to move to the left along the transverse guide groove through the transverse slide 62. The transverse screw 64 is rotated counterclockwise by the crank 66, and the threaded action of the transverse screw 64 and the screw nut 65 drives the transverse plate 61 to move to the right along the transverse guide groove through the transverse slide 62.

[0030] The ground simulation mechanism 7 includes a tilt control component, a water collection component, a soil trough box 710 and a soil trough box volume change component. The tilt control component is installed in the middle of the upper side of the transverse plate 61. The top of the tilt control component is connected to the bottom of the soil trough box 710 through the water collection component. The right side and the top of the soil trough box 710 are both provided with openings, and the soil trough box 710 is installed with a soil trough box volume change component. The soil trough box volume changing assembly includes a support frame 713, a universal joint 714, a volume variable cylinder 715, a universal joint 716, a slide rail 717 and a variable baffle 718. Two transverse slide rails 717 are fixedly connected to the front and rear sides of the top of the soil trough box 710, and a variable baffle 718 is arranged at the right end of the soil trough box 710. The variable baffle 718 is laterally slidably connected to the two slide rails 717. The right side of the variable baffle 718 is connected to the left end of the volume variable cylinder 715 through the universal joint 716, and the right end of the volume variable cylinder 715 is connected to the top of the support frame 713 through the universal joint 714. The support frame 713 is installed at the upper right end of the transverse plate 61. The slide rail 717 limits and guides the variable baffle 718 so that the variable baffle 718 can move stably left and right in the soil trough box 710. The variable volume cylinder 715 extends to push the variable baffle 718 to move continuously toward the soil trough box 710, thereby increasing the thickness of the sand in the soil trough box 710 while keeping the amount of sand in the soil trough box 710 unchanged. The variable volume cylinder 715 shortens to pull the variable baffle 718 to move rightward, and then flattens the sand in the soil trough box 710, thereby reducing the thickness of the sand in the soil trough box 710 and simulating road conditions of different softness. The setting of the universal joint 1 714 and the universal joint 2 716 can ensure that the variable volume cylinder 715 can act on the variable baffle 718 when the soil trough box 710 is in different tilted states.

[0031] The water collection assembly includes a circular collecting box 74, an ear seat 75, a positioning column 76, a seepage hole 711, a water collecting groove 712, a transfer pipe 719, a discharge pipe 720 and a discharge valve 721. A circular collecting box 74 is provided at the lower middle part of the soil trough box 710, and a plurality of ear seats 75 are provided in a circular array on the outer peripheral side of the top of the circular collecting box 74. The bottom of the soil trough box 710 is fixedly connected with a positioning column 76 installed in cooperation with the ear seat 75. Seepage holes 711 are evenly provided at the bottom of the soil trough box 710 corresponding to the position of the circular collecting box 74. A water collecting groove 712 is provided at the bottom of the right end of the soil trough box 710. The bottom end of the water collecting groove 712 is connected to the circular collecting box 74 through a transfer pipe 719. A discharge pipe 720 is installed at the bottom of the side of the circular collecting box 74, and a discharge valve 721 is installed on the discharge pipe 720. If the soil trough box 710 needs to simulate the situation of mud, water needs to be added to the soil trough box 710. The excess water in the soil trough box 710 is collected into the circular collecting box 74 through the seepage hole 711, and the water discharged from the gap between the soil trough box 710 and the variable baffle 718 will fall into the water collecting groove 712. The water in the water collecting groove 712 is also collected into the circular collecting box 74 through the transfer pipe 719. When too much water is collected in the circular collecting box 74, the discharge valve 721 is opened and the water can be discharged from the discharge pipe 720. The soil trough box 710 can be removed from the circular collecting box 74 with the help of the ear seat 75 and the positioning column 76. If the variable volume cylinder 715 is shortened and the variable baffle 718 is separated from the soil trough box 710, the soil trough box 710 can be removed, which is convenient for completely replacing the sand and soil in the soil trough box 710.

[0032] The tilt control assembly includes a truncated cone plate 71, a pillar 72, a positioning universal ball 73, a lower universal ball 77, a tilt control cylinder 78 and an upper universal ball 79. The bottom center of the circular collecting box 74 is connected to the top of the pillar 72 through the positioning universal ball 73. The bottom of the pillar 72 is fixedly connected to the truncated cone plate 71. The truncated cone plate 71 is installed in the middle of the upper side of the transverse plate 61. The bottom of the circular collecting box 74 is connected to the top of four tilt control cylinders 78 through four upper universal balls 79 distributed in a circular array. The bottom end of each tilt control cylinder 78 is connected to the upper side of the transverse plate 61 through a lower universal ball 77. The truncated table plate 71, the support column 72 and the positioning universal ball 73 position the lower middle part of the circular collecting box 74, and at the same time allow the circular collecting box 74 and the soil trough box 710 to tilt freely. With the help of the lower universal ball 77, the tilt control cylinder 78 and the upper universal ball 79, the soil trough box 710 can be tilted or kept horizontal. The four tilt control cylinders 78 work in coordination with each other, allowing the soil trough box 710 to tilt in different directions and angles, and cooperate with the sand in the soil trough box 710 to simulate different inclined ground.

[0033] The ground simulation mechanism 7 also includes a rectangular through groove 722, a stone receiving drawer 723, a guide bar 724, and an anti-slip bolt 726. A rectangular through groove 722 is provided on the left top of the soil trough box 710, and a stone receiving drawer 723 is inserted in the rectangular through groove 722. The front and rear sides of the stone receiving drawer 723 are respectively provided with guide bars 724 slidably connected to the slide rail 717, and the top of the right end of the stone receiving drawer 723 is threadedly connected with an anti-slip bolt 726. The provision of anti-detachment bolts 726 can prevent the gravel receiving drawer 723 from detaching from the rectangular through groove 722 when sliding to the left. The gravel receiving drawer 723 cooperates with the slide rail 717 with the help of the guide bar 724, so that the left and right sliding of the gravel receiving drawer 723 can be more stable. The gravel receiving drawer 723 is used to hold gravel or other different soil types, which is convenient for simulating gravel pavement or other rare soil pavement. Since it is not convenient to replace sand in the soil trough box 710, a gravel receiving drawer 723 is added. When in use, the gravel receiving drawer 723 is placed at the top of the soil trough box 710 to quickly build a gravel pavement. When not in use, pull the gravel receiving drawer 723 to the left to quickly reuse the pavement simulated by the sand in the soil trough box 710.

[0034] The ground simulation mechanism 7 further includes a handle 725, and the left end of the stone receiving drawer 723 is fixedly connected with the handle 725, so that the stone receiving drawer 723 can be pushed and pulled to move left and right conveniently with the help of the handle 725.

[0035] When in use, the mechanical leg transverse driving mechanism 2 is used to drive the mechanical leg moving mechanism 3 to move left and right, and the mechanical leg moving mechanism 3 is used to drive the walking simulation mechanical leg 4 to move up and down. The walking simulation mechanical leg 4 is used to simulate the walking action of the robot's legs, and the foot force detection mechanism 5 contacts different ground surfaces in the soil trough box 710, and is used to detect the force conditions of the feet when contacting the ground, which is conducive to obtaining the impact of different structures and control methods on the performance of the robot leg resistance. The soil trough box transverse driving mechanism 6 is used to drive the ground simulation mechanism 7 to move left and right, so that the soil trough box 710 can be extended from the three-dimensional frame 1, which is convenient for arranging sand and soil in the soil trough box 710, adjusting the sand and soil contained in the soil trough box 710, and simulating different road conditions. The soil trough box volume change component can change the internal volume of the soil trough box 710, and change the thickness of the sand and soil when the amount of sand and soil in the soil trough box 710 remains unchanged. The tilt control component is used to control the soil trough box 710 in various directions to simulate roads with different slopes. When the sand in the soil trough box 710 is sprinkled with water to simulate mud, excess water can be collected by the water collection component to keep the surroundings clean and tidy.

[0036] For example 2, please refer to Figures 1 to 11 This embodiment provides a technical solution: a foot-ground simulation platform. The structure of this embodiment is roughly the same as that of the first embodiment, except that: It also includes a soil spraying and humidifying mechanism 8, which includes a bent frame 81, a mounting ring 82, a hard water pipe 83, a soft and hard pipe joint 84, a hose 85 and a forward and reverse swinging component. Two bent frames 81 are fixedly connected to the left and right ends of the front side of the soil trough box 710, and two mounting rings 82 are fixedly connected to the tops of the two bent frames 81. The two mounting rings 82 are rotatably connected to the two ends of the hard water pipe 83, and spray heads are equidistantly arranged on one side of the hard water pipe 83 close to the soil trough box 710. One end of the hard water pipe 83 is closed and the other end is connected to one end of the hose 85 through the soft and hard pipe joint 84. The other end of the hose 85 is connected to an external water source through a water valve, and the end of the hard water pipe 83 is connected to a forward and reverse swinging component. When simulating mud in the soil trough box 710, water needs to be added. The forward and reverse swinging assembly can drive the hard water pipe 83 to rotate forward and backward at a certain angle. The water valve is opened, and the external water source enters the hose 85 through the water valve, and then enters the hard water pipe 83 through the soft and hard pipe joint 84. The sprinkler head in the hard water pipe 83 sprays water onto the sand in the soil trough box 710. The forward and reverse rotation of the hard water pipe 83 is conducive to the sprinkler head to spray water more evenly, which is conducive to making the humidity of the mud evenly close to the actual.

[0037] The forward and reverse swinging components include a gear 86, a rack 87, a guide rod 88, a guide sleeve 89, a bracket 810, and a driving cylinder 811. The end of the hard water pipe 83 is fixedly sleeved with the gear 86, the bottom of the curved frame 81 is fixedly connected with the bracket 810, the bracket 810 is fixedly connected to the bottom end of the driving cylinder 811, the top of the driving cylinder 811 is fixedly connected to the bottom of the rack 87 through the vertical guide rod 88, the rack 87 is meshed with the gear 86, the guide rod 88 is slidably sleeved with a guide sleeve 89, and the guide sleeve 89 is fixedly connected to the corresponding middle part of the curved frame 81 through a connecting rod. The guide sleeve 89 limits the guide rod 88 so that the guide rod 88 can only move up and down, driving the cylinder 811 to extend, and driving the rack 87 to rise through the guide rod 88. The transmission of the rack 87 and the gear 86 drives the hard water pipe 83 to rotate, allowing the sprinkler head on the hard water pipe 83 to tilt downward. The driving cylinder 811 is shortened, and driving the rack 87 to descend through the guide rod 88. The transmission of the rack 87 and the gear 86 drives the hard water pipe 83 to rotate in the opposite direction, allowing the sprinkler head on the hard water pipe 83 to tilt upward.

[0038] For example 3, please refer to Figures 1 to 11 This embodiment provides a technical solution: a foot-ground simulation platform. The structure of this embodiment is roughly the same as that of the second embodiment, except that: It also includes a loosening mechanism 9, which includes a vertical slot 91, a side through slot 92, a vertical sliding plate 93, a loosening shaft 94, a loosening rod 95, a loosening motor 96 and a motor base 97. Two vertical slots 91 are provided on the top of the variable baffle 718, and a side through slot 92 connected to the middle of the vertical slot 91 is provided on the side of the variable baffle 718. A vertical sliding plate 93 is slidably connected in each vertical slot 91, and one end of the vertical sliding plate 93 is rotatably connected to the loosening shaft 94 through a bearing. The loosening shaft 94 is located in the soil trough box 710, and the side of the loosening shaft 94 is fixedly connected to the loosening rod 95. A loosening motor 96 is installed on the outer side of the vertical sliding plate 93 through the motor base 97, and the output shaft of the loosening motor 96 is fixedly connected to the end of the loosening shaft 94. When the sand in the soil trough box 710 is trampled on many times, the sand will become compacted and have a large deviation from the outdoor road surface. At this time, the loosening motor 96 starts to drive the loosening shaft 94 to rotate. The loosening shaft 94 can turn the sand through the loosening rod 95 to make the sand loose again. The vertical sliding plate 93 moves up and down in the vertical groove 91, and a larger range of sand can be turned over. After turning, the vertical sliding plate 93 is at the bottom of the vertical groove 91. The loosening shaft 94 and the loosening rod 95 are close to the lower layer of the sand, which will not affect the simulation of the foot stepping on the sandy ground. The vertical sliding plate 93 always blocks the side groove 92 when moving up and down, and the sand will not leak through the side groove 92.

[0039] The loosening mechanism 9 also includes a cylinder seat 98 and a lifting cylinder 99. The top of the variable baffle 718 is installed with the top of the lifting cylinder 99 through the cylinder seat 98, and the bottom of the lifting cylinder 99 is fixedly connected to the motor seat 97. The lifting cylinder 99 can drive the vertical sliding plate 93 to move up and down in the vertical slot 91 through the motor seat 97.

[0040] It is worth noting that the drive motor 28, vertical linear motor 34, longitudinal linear motor 36, swing motor 1 44, swing motor 2 49, swing motor 3 414, six-dimensional force sensor 51, variable volume cylinder 715, tilt control cylinder 78, drive cylinder 811, loosening motor 96 and lifting cylinder 99 disclosed in the above embodiments are all controlled by an external PLC controller, and the control method thereof adopts the method commonly used in the prior art. The drive motor 28, swing motor 1 44, swing motor 2 49 and swing motor 3 414 all adopt servo motors, and their specific models and powers can be selected according to actual conditions.

[0041] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A foot-ground simulation platform, comprising a three-dimensional frame (1), wherein two mechanical leg transverse driving mechanisms (2) are respectively installed on the front and rear sides of the top of the three-dimensional frame (1), and the two mechanical leg transverse driving mechanisms (2) are respectively connected to the bottom ends of a mechanical leg moving mechanism (3), characterized in that: Also includes: A walking simulation mechanical leg (4) comprises a mechanical leg driving component and a calf (415), wherein the top of the mechanical leg driving component is connected to a mechanical leg moving mechanism (3), the bottom of the mechanical leg driving component is connected to one end of the calf (415), and the other end of the calf (415) is equipped with a foot force detection mechanism (5); The soil trough box transverse movement driving mechanism (6) comprises a transverse movement plate (61) and a soil trough box transverse movement control assembly, the transverse movement plate (61) is connected to the bottom of the three-dimensional frame (1) in a transverse sliding manner, and the transverse movement plate (61) is connected to the three-dimensional frame (1) via the soil trough box transverse movement control assembly; The ground simulation mechanism (7) comprises a tilt control component, a water collection component, a soil trough box (710) and a soil trough box volume changing component. The tilt control component is installed in the middle of the upper side of the transverse plate (61). The top of the tilt control component is connected to the bottom of the soil trough box (710) via the water collection component. The right side and the top of the soil trough box (710) are both provided with openings. The soil trough box (710) is installed with the soil trough box volume changing component.

2. The foot-ground simulation platform according to claim 1, characterized in that: The foot force detection mechanism (5) comprises a six-dimensional force sensor (51) and a foot (58); one end of the calf (415) away from the mechanical leg driving assembly is connected to one end of the six-dimensional force sensor (51); the other end of the six-dimensional force sensor (51) is connected to one end of a foot mounting round seat (52); a rectangular slot (53) is provided in the middle of the other end of the foot mounting round seat (52); locking bolts (54) are respectively threadedly connected to the two sides of the foot mounting round seat (52); the foot (58) is fixedly connected to one end of a mounting rod (57); the other end of the mounting rod (57) is clamped with the rectangular slot (53); one end of the locking bolt (54) located in the rectangular slot (53) is pressed against the mounting rod (57); and a foot flange mounting assembly is installed on the side of the foot mounting round seat (52).

3. The foot-ground simulation platform according to claim 1, characterized in that: The soil trough box volume changing assembly comprises a volume variable cylinder (715) and a variable baffle (718); two transverse slide rails (717) are fixedly connected to the front and rear sides of the top of the soil trough box (710), respectively; a variable baffle (718) is provided at the right end of the soil trough box (710); the variable baffle (718) is transversely slidably connected to the two slide rails (717); the right side of the variable baffle (718) is connected to the left end of the volume variable cylinder (715) via a universal joint 2 (716); the right end of the volume variable cylinder (715) is connected to the top of a support frame (713) via a universal joint 1 (714); and the support frame (713) is installed at the upper right end of the transverse plate (61).

4. The foot-ground simulation platform according to claim 1, characterized in that: The water collection assembly comprises a circular collection box (74). The circular collection box (74) is provided at the lower middle part of the soil trough box (710). A plurality of ear seats (75) are provided in a circular array on the outer peripheral side of the top of the circular collection box (74). The bottom of the soil trough box (710) is fixedly connected with a positioning column (76) which is installed in cooperation with the ear seat (75). The bottom of the soil trough box (710) is evenly provided with water seepage holes (711) at positions corresponding to the circular collection box (74). The bottom of the right end of the soil trough box (710) is provided with a water collection groove (712). The bottom end of the water collection groove (712) is connected to the circular collection box (74) via a transfer pipe (719). A discharge pipe (720) is installed at the bottom of the side of the circular collection box (74). A discharge valve (721) is installed on the discharge pipe (720).

5. The foot-ground simulation platform according to claim 4, characterized in that: The tilt control assembly comprises a tilt control cylinder (78) and an upper universal ball (79); the bottom center of the circular collection box (74) is connected to the top of the pillar (72) via a positioning universal ball (73); the bottom of the pillar (72) is fixedly connected to a truncated plate (71); the truncated plate (71) is installed in the middle of the upper side of the transverse plate (61); the bottom of the circular collection box (74) is respectively connected to the tops of four tilt control cylinders (78) via four upper universal balls (79) distributed in a circular array; the bottom end of each tilt control cylinder (78) is respectively connected to the upper side of the transverse plate (61) via a lower universal ball (77).

6. The foot-ground simulation platform according to claim 3, characterized in that: The ground simulation mechanism (7) further comprises a stone receiving drawer (723); a rectangular through slot (722) is provided at the top left side of the soil trough box (710); the stone receiving drawer (723) is inserted into the rectangular through slot (722); guide bars (724) slidably connected to the slide rail (717) are respectively provided at the front and rear sides of the stone receiving drawer (723); and an anti-drop bolt (726) is threadedly connected to the top right end of the stone receiving drawer (723).

7. The foot-ground simulation platform according to claim 4, characterized in that: It also comprises a soil spraying and humidifying mechanism (8), the soil spraying and humidifying mechanism (8) comprising a hard water pipe (83) and a forward and reverse swinging assembly, two curved frames (81) are respectively fixedly connected to the left and right ends of the front side of the soil trough box (710), two mounting rings (82) are respectively fixedly connected to the tops of the two curved frames (81), the two mounting rings (82) are respectively rotatably connected to the two ends of the hard water pipe (83), a side of the hard water pipe (83) close to the soil trough box (710) is provided with spray heads at equal distances, one end of the hard water pipe (83) is closed and the other end is connected to one end of a hose (85) via a soft and hard pipe joint (84), and the end of the hard water pipe (83) is connected to the forward and reverse swinging assembly.

8. The foot-ground simulation platform according to claim 7, characterized in that: The forward and reverse swinging assembly comprises a driving cylinder (811), the end of the hard water pipe (83) is fixedly sleeved with a gear (86), the bottom of the bent frame (81) is fixedly connected with a bracket (810), the bracket (810) is fixedly connected to the bottom end of the driving cylinder (811), the top of the driving cylinder (811) is fixedly connected to the bottom of a rack (87) through a vertical guide rod (88), the rack (87) is meshedly connected with the gear (86), a guide sleeve (89) is slidably sleeved on the guide rod (88), and the guide sleeve (89) is fixedly connected to the middle of the corresponding bent frame (81) through a connecting rod.

9. The foot-ground simulation platform according to claim 3, characterized in that: The invention also comprises a loosening mechanism (9), wherein the loosening mechanism (9) comprises a loosening motor (96), two vertical slots (91) are provided on the top of the variable baffle (718), a side slot (92) connected to the middle of the vertical slot (91) is provided on the side of the variable baffle (718), a vertical sliding plate (93) is slidably connected in each vertical slot (91), one end of a loosening shaft (94) is rotatably connected to the vertical sliding plate (93) via a bearing, the loosening shaft (94) is located in the soil trough box (710), and a loosening rod (95) is fixedly connected to the side of the loosening shaft (94), a loosening motor (96) is installed on the outer side of the vertical sliding plate (93) via a motor seat (97), and the output shaft of the loosening motor (96) is fixedly connected to the end of the loosening shaft (94).

10. The foot-ground simulation platform according to claim 9, characterized in that: The loosening mechanism (9) further comprises a cylinder seat (98) and a lifting cylinder (99); the top of the variable baffle (718) is mounted on the top of the lifting cylinder (99) via the cylinder seat (98); and the bottom of the lifting cylinder (99) is fixedly connected to the motor seat (97).

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