A motion simulation test device suitable for leg-foot walking device

Abstract

The present invention discloses a motion simulation test device suitable for a leg-foot walking device, the test device comprises a base and a vertical adjustment device, a longitudinal adjustment device, a vehicle body simulation device, a leg-foot walking device, an obstacle simulation device and a ground simulation device. The vertical and longitudinal positions of the vehicle body simulation device are adjusted by the base and the vertical adjustment device and the longitudinal adjustment device. The obstacle simulation device simulates obstacles encountered by the leg-foot walking device. The ground simulation device simulates the terrain and simulates a complex working environment, so that the test leg-foot system can achieve continuous multi-cycle motion in a limited test space, thereby verifying the feasibility of the walking strategy and achieving the test of the body response and the stress condition of the leg-foot system.

Description

Technical Field

[0001] The invention relates to the technical field of leg-foot type robots, and in particular to a motion simulation test device suitable for leg-foot type walking devices. Background Art

[0002] Leg-foot walking devices are suitable for operating in rugged terrain and complex environments, and play an important role in disaster relief, mountain transportation, forest firefighting, military operations and other fields. Single leg-foot motion test is an effective method for testing walking performance in the field of leg-foot walking devices and leg-foot robots. The degree of perfection of the design of the test device directly affects the test level of the leg-foot system.

[0003] At present, the design of single-leg foot motion test device mainly has the following technical difficulties:

[0004] (1) How to achieve continuous multi-cycle leg and foot movements;

[0005] (2) How to simulate complex terrain conditions in the test, such as horizontal slopes, vertical slopes, steps, gullies, etc.;

[0006] (3) How to truly reflect the state response of the vehicle body or robot body during leg and foot movement;

[0007] (4) How to truly reflect the stress conditions of the leg and foot system. Summary of the invention

[0008] In order to solve the above problems, the present invention provides a motion simulation test device suitable for a leg-foot walking device, the test device includes a base and a vertical adjustment device, a longitudinal adjustment device, a leg-foot walking device, a vehicle body simulation device, an obstacle simulation device and a ground simulation device. The test device simulates a complex working environment, so that the leg-foot system under test can achieve continuous multi-cycle motion in a limited space, and verify the feasibility of the walking strategy, test the body response and the force of the leg-foot system.

[0009] The technical solution adopted by the present invention is as follows:

[0010] A motion simulation test device suitable for a leg-foot walking device, characterized in that it comprises a base, a vertical adjustment device, a longitudinal adjustment device, a vehicle body simulation device, a leg-foot walking device, an obstacle simulation device and a ground simulation device;

[0011] A vertical adjustment device and a ground simulation device are arranged on the base;

[0012] A longitudinal adjustment device is provided on the vertical adjustment device, and the vertical adjustment device adjusts the height of the longitudinal adjustment device;

[0013] A vehicle body simulation device is arranged on the longitudinal adjustment device, and the longitudinal adjustment device adjusts the position of the vehicle body simulation device on the longitudinal adjustment device;

[0014] The vehicle body simulation device is connected to a leg and foot walking device;

[0015] An obstacle simulation device is provided on the leg and foot walking device;

[0016] The ground simulation device simulates different terrains by adjusting the height and pitch angle on the base.

[0017] Furthermore: the vertical adjustment device includes a column and a vertical drive cylinder; the column is fixed on the base, and there are at least two columns; a vertical drive cylinder is arranged on the top of the column; the top of the vertical drive cylinder supports the longitudinal adjustment device.

[0018] Furthermore: the longitudinal adjustment device comprises: a rodless cylinder body and a rodless cylinder slider; both ends of the rodless cylinder body are fixed on the vertical adjustment device; and the rodless cylinder slider is slidably arranged on the rodless cylinder body.

[0019] Further: the vehicle body simulation device includes: a guide column, a limit block and a vehicle body connecting device; the guide column is connected to the rodless cylinder slider of the longitudinal adjustment device; the limit block is arranged on the top of the guide column; the vehicle body connecting device is sleeved on the guide column, and the vehicle body connecting device is connected to the leg and foot walking device.

[0020] Furthermore: the vehicle body connecting device includes: a vehicle body frame, a guide hole, a mounting seat, a connecting pin, a counterweight mounting shaft, a counterweight block, and a counterweight fixed block; two fork arms are arranged on the vehicle body frame; the guide hole is arranged at the bottom position between the two fork arms, and the guide hole cooperates with the guide column; the mounting seat is arranged at the middle position between the two fork arms, and the mounting seat is connected to the side swing drive cylinder of the leg-foot walking device; a connecting pin is arranged at the top position between the two fork arms, and the connecting pin is connected to the hip joint of the leg-foot walking device; the side swing drive cylinder drives the connected hip joint; the counterweight mounting shaft is arranged on the outside of the two fork arms, and the counterweight block is installed on the counterweight mounting shaft; the counterweight fixed block is arranged on the outside of the counterweight block.

[0021] Further: the obstacle simulation device includes: a rotor and a stator; there are two rotors, one is arranged on the hinge axis of the thigh rod and the hip joint of the leg-foot walking device, and rotates with the thigh rod; the other is arranged on the hinge axis of the thigh rod and the calf rod, and rotates with the calf rod; there are two stators, one is arranged on the hip joint of the leg-foot walking device, and is located near the hinge point of the thigh rod and the hip joint; the other is arranged on the thigh rod of the leg-foot walking device, and is located near the hinge point of the thigh rod and the calf rod.

[0022] Further: the ground simulation device comprises: a ground simulation driving cylinder and a simulated ground;

[0023] The simulated floor comprises: a floor panel, an independent longitudinal guide rail, a transverse guide rail, a composite longitudinal guide rail, and a slider;

[0024] There are four ground simulation drive cylinders, which are arranged at the four corners of the bottom surface of the ground panel.

[0025] A movable end of the ground simulation driving cylinder is connected to a corner of one side of the ground panel through a connecting block ball joint;

[0026] Another movable end of the ground simulation driving cylinder is connected to a slider ball joint, the slider is installed on the independent longitudinal guide rail, and the independent longitudinal guide rail is installed on the other corner of one side of the ground panel;

[0027] The other two ground simulation drive cylinders have movable ends respectively connected to a slider ball joint. The two sliders are respectively installed on a transverse guide rail, and the transverse guide rail is installed on a composite longitudinal guide rail and slides along the composite longitudinal guide rail. The two composite longitudinal guide rails are respectively installed on the two corners on the other side of the ground panel.

[0028] Furthermore: a specific area is designated on the ground simulation device as a simulated obstacle area, and when the foot end of the leg-foot walking device touches the obstacle area, it simulates encountering an obstacle, and the obstacle simulation device applies resistance to the leg-foot walking device to simulate the effect of encountering an obstacle.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. The present invention provides a motion simulation test device suitable for a leg-foot walking device, which adjusts the vertical and longitudinal positions of a vehicle body simulation device by setting a vertical adjustment device and a longitudinal adjustment device, thereby realizing continuous multi-cycle walking motion of the leg-foot walking device.

[0031] 2. The present invention provides a motion simulation test device suitable for a leg-foot walking device. By setting a ground simulation device and an obstacle simulation device, it can simulate complex multi-working conditions, such as complex roads such as horizontal slopes, longitudinal slopes, steps, and gullies, and can enable the leg-foot system under test to simulate complex working condition motion within a limited test space.

[0032] 3. The present invention provides a motion simulation test device suitable for a leg-foot walking device, which has a simple structure and is easy to operate, and can truly measure the body response and the stress conditions of the leg-foot system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings are only for the purpose of illustrating specific embodiments and are not intended to limit the present invention.

[0034] Figure 1 It is a schematic diagram of the overall structure according to an embodiment of the present invention;

[0035] Figure 2 It is a schematic diagram of the structure of a base and a vertical adjustment device according to an embodiment of the present invention;

[0036] Figure 3 It is a schematic diagram of the structure of a longitudinal adjustment device according to an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram showing the connection relationship among the longitudinal adjustment device, the vehicle body simulation device, and the leg-foot walking device according to an embodiment of the present invention;

[0038] Figure 5 It is a schematic diagram of the connection structure of the leg and foot walking device and the obstacle simulation device according to an embodiment of the present invention;

[0039] Figure 6 It is a schematic structural diagram of a vehicle body simulation device according to an embodiment of the present invention;

[0040] Figure 7 It is a schematic structural diagram of a vehicle body connecting device according to an embodiment of the present invention;

[0041] Figure 8 It is a schematic diagram of the structure of a ground simulation device according to an embodiment of the present invention;

[0042] Figure 9a A schematic diagram of a simulated ground structure according to an embodiment of the present invention;

[0043] Figure 9b A schematic diagram of a local structure of a simulated ground according to an embodiment of the present invention;

[0044] Fig.10 A schematic diagram of step terrain simulation according to an embodiment of the present invention;

[0045] Fig.11 A schematic diagram of slope terrain simulation according to an embodiment of the present invention;

[0046] Fig.12a It is a schematic diagram of the starting state of the support phase during the flat road walking test of the leg-foot walking device according to an embodiment of the present invention;

[0047] Figure 12b It is a schematic diagram of the supporting phase process state of a flat road walking test process of a leg-foot walking device according to an embodiment of the present invention;

[0048] Fig.12cIt is a schematic diagram of the critical state at the end of the support phase and the beginning of the swing phase during the flat road walking test of the leg-foot walking device according to an embodiment of the present invention;

[0049] Fig.12d It is a schematic diagram of the swing phase state of a flat road walking test process of a leg-foot walking device according to an embodiment of the present invention.

[0050] In the figure:

[0051] 1-base and vertical adjustment device; 11-base; 12-column; 13-vertical drive cylinder; 14-fixed frame; 15-bracket.

[0052] 2-longitudinal adjustment device; 21-rodless cylinder body; 22-rodless cylinder slider; 23-reinforcement beam.

[0053] 3-leg and foot walking device; 31-hip joint; 32-thigh rod; 33-calf rod; 34-foot end; 35-side swing drive cylinder.

[0054] 4-vehicle body simulation device; 41-guide column; 42-limiting block; 43-vehicle body connecting device.

[0055] 431 - vehicle body frame; 432 - guide hole; 433 - mounting seat; 434 - connecting pin; 435 - counterweight mounting shaft; 436 - counterweight block; 437 - counterweight fixing block.

[0056] 5-obstacle simulation device; 51-rotor; 52-stator.

[0057] 6- ground simulation device; 61- ground simulation drive cylinder; 611-A drive cylinder; 612-B drive cylinder; 613-C drive cylinder; 614-D drive cylinder.

[0058] 62-simulated floor; 621-floor panel; 622-connecting block; 623-composite longitudinal guide rail; 624-independent longitudinal guide rail; 625-transverse guide rail; 626-slider. DETAILED DESCRIPTION

[0059] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0060] The present invention provides a motion simulation test device suitable for a leg-foot walking device, such as Figure 1As shown, the test device includes a base and a vertical adjustment device 1, a longitudinal adjustment device 2, a leg-foot walking device 3, a vehicle body simulation device 4, an obstacle simulation device 5 and a ground simulation device 6. The vertical adjustment device is installed on the base, the top of the vertical adjustment device is retractable, and the retractable end carries the longitudinal adjustment device 2. The vertical adjustment device is used to adjust the height of the longitudinal adjustment device 2 and the vehicle body simulation device 4; the longitudinal adjustment device 2 is connected to the vehicle body simulation device 4, and is used to adjust the longitudinal position of the vehicle body simulation device 4. The vehicle body simulation device 4 is connected to the leg-foot walking device 3, and the leg-foot walking device 3 is provided with an obstacle simulation device 5. The obstacle simulation device 5 is used to simulate the leg-foot walking device 3 encountering an obstacle; the ground simulation device 6 is installed on the base of the test device, and is used to simulate the terrain and provide support for the leg-foot walking device 3. The test device simulates a complex working environment, so that the leg-foot system under test can achieve continuous multi-cycle movement, thereby verifying the feasibility of the walking strategy, and realizing the test of the body response and the force of the leg-foot system.

[0061] The motion simulation test device for the leg-foot walking device provided by the present invention has power for each component taken from the location of the test system, and the power accessories and connection methods are not described in detail in the present invention.

[0062] like Figure 2 As shown, the base and vertical adjustment device 1 includes a base 11, a column 12, a vertical drive cylinder 13, a fixing frame 14, and a bracket 15, wherein the column 12, the vertical drive cylinder 13, the fixing frame 14, and the bracket 15 are components of the vertical adjustment device.

[0063] The base 11 is fixed on the ground and is used to support and install other devices. Three columns 12 are evenly installed near one side of the base 11. The cross-sectional area of ​​the bottom of the column 12 is larger than that of the upper part, so that the foundation is firm. A vertical drive cylinder 13 is installed on the top of each column 12. A fixing frame 14 is installed on the top of the vertical drive cylinder 13 located on the two end columns 12, and a bracket 15 is installed on the top of the vertical drive cylinder 13 located on the middle column. The fixing frame 14 and the bracket 15 are used to install and support the longitudinal adjustment device 2. The vertical drive cylinder 13 can be an electric cylinder or a hydraulic cylinder. The number of columns 12 can be increased or decreased according to the length of the base 11.

[0064] like Figure 3 As shown, the longitudinal adjustment device 2 includes: a rodless cylinder body 21 , a rodless cylinder slider 22 and a reinforcing beam 23 .

[0065] The rodless cylinder body 21 has two ends, and the two ends are fixed to the base and the fixing frames 14 on both sides of the vertical adjustment device 1. The rodless cylinder slider 22 is slidably installed on the rodless cylinder body 21. The rodless cylinder slider 22 can slide freely along the direction of the rodless cylinder body 21, and can also slide under control under the drive of the piston in the rodless cylinder body 21. In order to enhance the rigidity, a reinforcing beam 23 is further provided. The reinforcing beam 23 is composed of two channel steels and is provided between the two rodless cylinder bodies. The two ends of the reinforcing beam are respectively fixed to the fixing frames 14 on both sides of the vertical adjustment device to bear the load, such as Figure 4 As shown, the middle part of the reinforcing beam 23 is supported on the base and the bracket 15 of the vertical adjustment device 1 to improve the longitudinal rigidity of the longitudinal adjustment device 2.

[0066] The rodless cylinder body 21 is an existing product, comprising a cylinder body, a slider, and a piston.

[0067] like Figure 4 , 5 As shown, the leg-foot walking device 3 includes: a hip joint 31, a thigh rod 32, a calf rod 33, a foot end 34, and a side swing drive cylinder 35.

[0068] One end of the hip joint 31 is connected to the vehicle body simulation device 4, and the other end is hinged to one end of the thigh rod 32. The other end of the thigh rod 32 is hinged to the calf rod 33. The end of the calf rod 33 is hinged to the foot end 34, and a position sensor is installed on the foot end 34. The hip joint 31 and the side swing drive cylinder 35 are connected to the vehicle body simulation device 4, and the side swing drive cylinder 35 is used to drive the hip joint to swing.

[0069] like Figure 6 As shown, the vehicle body simulation device 4 includes: a guide column 41, a limit block 42 and a vehicle body connecting device 43.

[0070] The guide column 41 is connected to the rodless cylinder slider 22 on the longitudinal adjustment device 2 by bolts, and the groove at the bottom of the guide column matches the reinforcing beam 23. The guide column 41 can slide along the rodless cylinder body 21 with the rodless cylinder slider 22. The limit block 42 is fixed to the top of the guide column 41 by bolts to limit the slipping of the vehicle body connection device 43. The vehicle body connection device 43 is sleeved on the guide column 41, and the vehicle body connection device 43 can slide freely in the vertical direction along the guide column 41. The limit block 42 limits the vertical movement range of the vehicle body connection device 43.

[0071] like Figure 7 As shown, the vehicle body connecting device 43 includes: a vehicle body frame 431, a guide hole 432, a mounting seat 433, a connecting pin 434, a counterweight mounting shaft 435, a counterweight block 436, and a counterweight fixing block 437.

[0072] The vehicle body frame 431 has two fork arms, and the guide hole 432 is located between the bottoms of the two fork arms. The guide hole 432 cooperates with the guide column 41 and can slide freely in the vertical direction on the guide column 41. The mounting seat 433 is located in the middle between the two fork arms. The mounting seat 433 is used to install the side swing drive cylinder 35 of the leg-foot walking device 3. The ends of the two fork arms are installed with connecting pins 434. The connecting pins 434 are used to connect the hip joint 31 of the leg-foot walking device 3 so that the hip joint 31 can swing under the drive of the side swing drive cylinder 35.

[0073] The counterweight installation shaft 435 is located outside the two fork arms of the vehicle body frame 431. The counterweight installation shaft 435 is designed with threads. The counterweight block 436 is sleeved on the counterweight installation shaft 435 to simulate the vehicle weight load. The counterweight fixed stopper 437 has a threaded hole at its center, which is sleeved on the counterweight installation shaft 435 and is installed on the outside of the counterweight block 436 in cooperation with the counterweight installation shaft 435 to prevent the counterweight block 436 from sliding.

[0074] The vehicle body connecting device 43 slides up and down along the guide column 41 as the leg-foot walking device 3 moves, and drives the vehicle body simulation device 4 to slide along the rodless cylinder body 21 .

[0075] like Figure 5 As shown, the obstacle simulation device 5 includes a rotor 51 and a stator 52 .

[0076] There are two rotors 51, one rotor is fixed on the hinge shaft connecting the hip joint 31 and the thigh rod 32 of the leg-foot walking device 3, and rotates with the thigh rod 32, and the other rotor is fixed on the hinge shaft connecting the thigh rod 32 and the calf rod 33, and rotates with the calf rod 33.

[0077] There are two stators 52, one of which is fixed on the hip joint 31 of the leg-foot walking device 3 and is located near the hinge point between the hip joint 31 and the thigh rod 32, and can apply resistance to the rotor 51 fixed on the thigh rod 32 by clamping, thereby limiting the movement of the thigh rod 32. The other stator is fixed on the thigh rod 32 and is located near the hinge point between the thigh rod 32 and the shank rod 33, and can apply resistance to the rotor fixed on the shank rod 33 by clamping, thereby limiting the movement of the shank rod 33, and finally achieving the role of a virtual obstacle.

[0078] like Figure 8 As shown, the ground simulation device 6 includes a ground simulation driving cylinder 61 and a simulated ground 62 .

[0079] The bottom of the ground simulation driving cylinder 61 is fixed on the base 11, and the top is connected to the bottom surface of the simulated ground 62, supporting the simulated ground 62. By adjusting the extension length of the four ground simulation driving cylinders 61, the height and inclination angle of the simulated ground 62 can be adjusted, so that the ground simulation device 6 can simulate different terrains, such as flat terrain, slope terrain, etc.

[0080] like Figure 9a , 9b As shown, further, there are four ground simulation drive cylinders 61 , namely A drive cylinder 611 , B drive cylinder 612 , C drive cylinder 613 , and D drive cylinder 614 , which are supported at the four bottom corners of the simulated ground 62 .

[0081] The simulated floor 62 includes: a floor panel 621 , a connecting block 622 , a composite longitudinal guide rail 623 , an independent longitudinal guide rail 624 , a transverse guide rail 625 , and a slider 626 .

[0082] The floor panel 621 is used to support the leg and foot walking device 3. A connection block 622 is fixed to one corner of one side of the bottom surface of the floor panel 621, and the connection block 622 is connected to the A drive cylinder 611 through a ball joint. A composite longitudinal guide rail 623 is fixed to the other corner corresponding to the same side of the bottom surface of the floor panel 621. The composite longitudinal guide rail 623 has two longitudinal guide rails, and a transverse guide rail 625 is installed between the two longitudinal guide rails. The transverse guide rail 625 can slide longitudinally on the composite longitudinal guide rail 623, and a slider 626 is installed on the transverse guide rail 625. The slider 626 is connected to the B drive cylinder 612 through a ball joint.

[0083] An independent longitudinal guide rail 624 is fixed to one corner of the other side of the bottom surface of the floor panel 621. A slider 626 is installed on the independent longitudinal guide rail 624. The slider 626 is connected to the C drive cylinder 613 through a ball joint. A composite longitudinal guide rail 623 is fixed to the other corner corresponding to the same side of the bottom surface of the floor panel 621. Similarly, a transverse guide rail 625 is installed on the composite longitudinal guide rail 623. A slider 626 is installed on the transverse guide rail 625. The slider 626 is connected to the D drive cylinder 614 through a ball joint.

[0084] Through the ball joints of the four drive cylinders and the restrictions of the guide rails, the ground panel 621 can achieve three degrees of freedom, including a vertical lifting movement and two-way rotational movement. The three degrees of freedom can be achieved by three drive cylinders. In order to increase the rigidity of the ground panel 621, four drive cylinders are used. On the base, multiple ground simulation devices 6 can be set to simulate different terrains.

[0085] By simulating different supporting conditions of the driving cylinder 61 on the simulated ground 62, various terrain conditions can be simulated. The following are several embodiments:

[0086] 1. Simulate step terrain

[0087] like Fig.10 As shown, two ground simulation devices 6 are arranged on the base 11. By adjusting the ground simulation driving cylinders 61 of the two ground simulation devices 6, the ground panels 621 of the two ground simulation devices 6 are placed at different heights to form a stepped terrain, thereby simulating the walking condition of the leg-foot walking device 3 on the stepped terrain.

[0088] 2. Simulate slope terrain

[0089] like Fig.11 As shown, two ground simulation devices 6 are also arranged on the base 11. By adjusting the ground simulation driving cylinders 61 of the two ground simulation devices 6, the ground panels 621 of the two ground simulation devices 6 are at the same inclination angle, and the heights of the ground panels 621 of the two ground simulation devices 6 are adjusted so that the two ground panels 621 are on the same plane to form a slope terrain, thereby simulating the walking condition of the leg-foot walking device 3 on the slope terrain.

[0090] 3. Simulate flat road terrain

[0091] like Fig.12a As shown, two ground simulation devices 6 are also arranged on the base 11. By adjusting the ground simulation driving cylinder 61 of the ground simulation device 6, the ground panels 621 of the two ground simulation devices 6 are both in a horizontal state and at the same height, thereby simulating the walking condition of the leg-foot walking device 3 on a flat terrain.

[0092] Taking a flat road as an example, the complete motion simulation process of the leg-foot walking device 3 is introduced below. Figures 12a-12d As shown:

[0093] like Fig.12a As shown, first, by adjusting the extension length of the base and the vertical adjustment device 1 and the driving cylinder in the ground simulation device 6, the foot end 34 of the leg-foot walking device 3 is made to contact the ground panel 621 of the ground simulation device 6, so that the leg-foot walking device 3 is in the supporting phase. At this time, the rodless cylinder slider 22 of the longitudinal adjustment device 2 and the vehicle body simulation device 4 are in a free sliding state, and the foot end 34 of the leg-foot walking device 3 is stepped on the ground panel 621. During the supporting phase movement, the vertical load of the leg-foot walking device 3 and the vehicle body connecting device 43 acts on the ground panel 621.

[0094] like Figure 12b As shown, the leg-foot walking device 3 moves along a preset trajectory, and the vehicle body connecting device 43 slides along the guide column 41 with the movement of the leg-foot walking device 3. At the same time, the rodless cylinder slider 22 of the longitudinal adjustment device 2 and the vehicle body simulation device 4 slide along the rodless cylinder body 21 with the movement of the leg-foot walking device 3.

[0095] like Fig.12c As shown, the illustrated position is the critical state when the support phase of the leg-foot walking device 3 ends and the swing phase begins (that is, the state where the leg-foot walking device 3 is about to lift the leg and take a step). At this time, the rodless cylinder slider 22 and the vehicle body simulation device 4 are driven by the piston in the rodless cylinder body 21 to move.

[0096] like Fig.12d As shown, when the illustrated position is the swing phase state of the leg-foot walking device 3, the leg-foot walking device 3 moves according to the preset swing phase trajectory, and the foot end 34 of the leg-foot walking device 3 leaves the ground panel 621. The vertical load of the leg-foot walking device 3 and the vehicle body connecting device 43 acts on the reinforcing beam 23. At the same time, driven by the piston in the rodless cylinder body 21, the rodless cylinder slider 22 drives the vehicle body simulation device 4 to slide along the rodless cylinder body 21 to the initial position, and the legs and feet walk until the foot end 34 of the leg-foot walking device 3 lands on the ground panel 621 again, and a step cycle ends.

[0097] By repetition Figures 12a-12d The process shown can realize continuous multi-cycle movement of the leg and foot walking device 3.

[0098] During the movement, a specific area is designated on the ground simulation device 6 as an obstacle area, and a position sensor is installed on the foot end 34 of the leg-foot walking device 3. When the foot end 34 with the position sensor touches the obstacle area, it means that the foot end 34 encounters an obstacle. The movement of the leg-foot walking device 3 is restricted by the obstacle simulation device 5, thereby realizing the effect of a virtual obstacle.

[0099] By observing the motion state of the vehicle body connection device 43 and the structural state of the leg-foot walking device 3 during the support phase movement, the body response and the force condition of the leg-foot system can be obtained.

Claims

1. A motion simulation test device suitable for a leg-foot walking device, characterized in that: It includes a base, a vertical adjustment device, a longitudinal adjustment device, a vehicle body simulation device, a leg and foot walking device, an obstacle simulation device and a ground simulation device; A vertical adjustment device and a ground simulation device are arranged on the base; A longitudinal adjustment device is provided on the vertical adjustment device, and the vertical adjustment device adjusts the height of the longitudinal adjustment device; A vehicle body simulation device is arranged on the longitudinal adjustment device, and the longitudinal adjustment device adjusts the position of the vehicle body simulation device on the longitudinal adjustment device; The vehicle body simulation device is connected to a leg and foot walking device; An obstacle simulation device is provided on the leg and foot walking device; The ground simulation device simulates different terrains by adjusting the height and pitch angle on the base; The vertical adjustment device includes a column and a vertical drive cylinder; The columns are fixed on the base, and there are at least two columns; A vertical driving cylinder is arranged on the top of the column; The top of the vertical drive cylinder supports the longitudinal adjustment device; The ground simulation device comprises: a ground simulation driving cylinder and a simulated ground; The simulated floor comprises: a floor panel, an independent longitudinal guide rail, a transverse guide rail, and a composite longitudinal guide rail; There are four ground simulation drive cylinders, which are arranged at the four corners of the bottom surface of the ground panel, wherein the movable end of one ground simulation drive cylinder is connected to a corner of one side of the ground panel through a connecting block ball joint; Another movable end of the ground simulation driving cylinder is connected to a slider ball joint, the slider is installed on the independent longitudinal guide rail, and the independent longitudinal guide rail is installed on the other corner of one side of the ground panel; The movable ends of the other two ground simulation drive cylinders are respectively connected to a slider ball joint, and the two sliders are respectively installed on a transverse guide rail, and the transverse guide rail is installed on the composite longitudinal guide rail and slides along the composite longitudinal guide rail. The two composite longitudinal guide rails are respectively installed on the two corners on the other side of the ground panel; By demarcating a specific area on the ground simulation device as a simulated obstacle area, when the foot end of the leg-foot walking device touches the obstacle area, it simulates encountering an obstacle; The obstacle simulation device comprises: a rotor and a stator; the rotor has two rotors, one is arranged on the hinge shaft between the thigh rod and the hip joint of the leg-foot walking device, and rotates with the thigh rod; the other is arranged on the hinge shaft between the thigh rod and the shank rod, and rotates with the shank rod; the stator has two stators, one is arranged on the hip joint of the leg-foot walking device, and is located near the hinge point between the thigh rod and the hip joint; the other is arranged on the thigh rod of the leg-foot walking device, and is located near the hinge point between the thigh rod and the shank rod; The longitudinal adjustment device comprises: a rodless cylinder body and a rodless cylinder slider, both ends of the rodless cylinder body are fixed on the vertical adjustment device, and the rodless cylinder slider is slidably arranged on the rodless cylinder body; The vehicle body simulation device comprises: a guide column, a limit block and a vehicle body connecting device; The guide column is connected to the rodless cylinder slider of the longitudinal adjustment device; The limit block is arranged on the top of the guide column; The vehicle body connecting device is sleeved on the guide column, and the vehicle body connecting device is connected to the leg and foot walking device; The vehicle body connecting device comprises: a vehicle body frame, a guide hole, a mounting seat, a connecting pin, a counterweight mounting shaft, a counterweight block, and a counterweight fixing block; Two fork arms are arranged on the vehicle body frame; The guide hole is arranged at the bottom position between the two fork arms, and the guide hole cooperates with the guide column; The mounting seat is arranged at the middle position between the two fork arms, and the mounting seat is connected to the side swing drive cylinder of the leg-foot walking device; A connecting pin is arranged at the top position between the two fork arms, and the connecting pin is connected to the hip joint of the leg-foot walking device; the side swing driving cylinder drives and connects the hip joint; The counterweight installation shaft is arranged outside the two fork arms, and the counterweight block is installed on the counterweight installation shaft; The counterweight fixing stopper is arranged outside the counterweight block.

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