A single-leg performance test experimental platform and test method for a legged robot

Abstract

The present invention discloses a single-leg performance test experimental platform and a test method for a legged robot, which relates to the technical field of robot equipment and includes a base, a moving guide rail, a test platform, a vibration component, a detection device, a camera device, and a PLC controller; the base is located at the bottom, and the moving guide rail is installed inside the second gantry frame in the base; a plurality of vibration components are installed on the moving guide rail, the test platform is slidably installed on the moving guide rail, and both the detection device and the camera device are installed on the base; the legged robot to be tested is connected to the detection device. The present invention is provided with a vibration component capable of simulating various working environments; adopts a measurement method in which the whole robot is fixed while the target wall surface is in a floating state, which is convenient for observation and adjustment; is provided with a camera device and a detection device to comprehensively detect experimental data and motion images, which is convenient for subsequent data sorting and evaluation; and can reduce external interference through the cooperation of the guide rail and the slider.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to an experimental platform and a testing method for testing the performance of a single leg of a footed robot. Background Art

[0002] Nowadays, with the advancement of science and technology, robots are appearing in more and more occasions, from traditional industrial fields to all aspects of modern society such as biomedicine, educational services, and disaster relief. Therefore, the requirements for the working environment of robots are becoming more stringent. For legged robots, the working environment is even more demanding. Whether they can cope with more diverse and complex working environments is an extremely important indicator for measuring the motion performance of legged robots.

[0003] However, for the testing and application of existing legged robots in actual environments, it is crucial to correctly simulate the required actual working conditions, because this determines whether the robot can be truly applied to the target environment. A single static working environment is far from meeting the testing requirements of existing legged robots in multiple operating environments.

[0004] Therefore, how to provide an experimental platform and test method for single-leg performance testing of legged robots that can simulate a variety of operating environments and obtain more comprehensive measurement results has become a technical problem that needs to be urgently solved by people in this field. Summary of the invention

[0005] The purpose of the present invention is to provide an experimental platform and a testing method for testing the single-leg performance of a legged robot, so as to solve the problem of a single simulation environment.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] The present invention discloses an experimental platform for testing the single-leg performance of a legged robot, comprising a base, a movable guide rail, a test platform, a vibration component, a detection device, a camera device and a PLC controller; the base is located at the bottom, and the movable guide rail is installed inside a second door frame in the base; a plurality of vibration components are installed on the movable guide rail, the test platform is slidably installed on the movable guide rail, the detection device and the camera device are both installed on the base, and the vibration component and the detection device are both electrically connected to the PLC controller; the legged robot to be tested is connected to the detection device, and the working end of the camera device faces a test area of ​​the legged robot to be tested.

[0008] Preferably, the base is provided with a rectangular frame. Inside the rectangular frame, a first connecting rod and a second connecting rod are vertically arranged. A third connecting rod is horizontally arranged between the first connecting rod and the second connecting rod. At the tops of the first connecting rod and the third connecting rod, a first portal frame is provided. At the top of the rectangular frame, a second portal frame is provided. The detection device is installed on the outer side wall of the first portal frame.

[0009] Preferably, the moving guide rail includes a horizontal guide rail, a vertical guide rail, a first slider, a second slider and a guide rail connecting block. The two vertical guide rails are fixedly arranged on the opposite faces of the second portal frame. The first slider is slidably connected to the vertical guide rail. The guide rail connecting block is arranged on the first slider. The two ends of the horizontal guide rail are connected to the first slider through the guide rail connecting block. The second slider is slidably connected to the horizontal guide rail. The top end of the second slider is connected to the bottom end of the test platform.

[0010] Preferably, the vibration assembly includes a servo motor, a mounting seat, rollers and nylon ropes. Mounting seats are arranged at both ends of the vertical guide rail and the horizontal guide rail. The servo motor or a rotating shaft is mounted on the mounting seat. A plurality of rollers are positioned and connected to the working end of the servo motor or / and the rotating shaft. The servo motor is mounted on at least one end of the vertical guide rail through the mounting seat. The servo motors are mounted on both ends of the horizontal guide rail through the mounting seats. A group of rollers on the same side are connected by the nylon ropes. The middle parts of the vertical nylon ropes cross and pass through the small holes on the guide rail connecting block. The middle parts of the horizontal nylon ropes cross and pass through the small holes on the acrylic plate connecting piece in the test platform. The nylon ropes are kept in a taut state. The servo motor is electrically connected to the PLC controller.

[0011] Preferably, the test platform includes an acrylic plate and an acrylic plate connecting piece. The bottom surface of the acrylic plate connecting piece is fixedly connected to the top end of the second slider. The acrylic plate connecting piece is fixedly connected to the bottom end of the acrylic plate.

[0012] Preferably, an LED light strip is further included. The LED light strip is positioned and connected around the acrylic plate. The LED light strip is electrically connected to the PLC controller.

[0013] Preferably, the detection device includes a six-axis force sensor, a first fixing plate and a second fixing plate. One end of the six-axis force sensor is fixedly connected to the outside of the first portal frame through the first fixing plate. The other end of the six-axis force sensor is fixedly connected to the top end of the third connecting rod through the second fixing plate. The six-axis force sensor is electrically connected to the PLC controller.

[0014] Preferably, the imaging device includes a fixed high-speed camera and a follow-up high-speed camera; the fixed high-speed camera is connected to the base through a connecting member, the follow-up high-speed camera is fixedly arranged on the mounting plate, the mounting plate is mounted on the top end of the acrylic plate, and both the fixed high-speed camera and the follow-up high-speed camera are electrically connected to the PLC controller.

[0015] A test method for a single-leg performance test experimental platform of a legged robot, the specific steps are as follows:

[0016] Step 1, preparation work, fixedly connect the single-leg assembly of the robot to be detected to the second fixing plate, and abut the end of the single-leg of the robot to be detected against the acrylic plate;

[0017] Step 2, simulate the working environment, and simulate different working environments by adjusting the working state of the servo motor in the vibration assembly;

[0018] Step 3, data collation, obtain the disturbances of the single-leg of the robot in the horizontal and vertical directions on the acrylic plate through the detection device, and obtain the data of force, displacement, speed and acceleration during the adhesion and detachment process; obtain the adhesion and detachment situation of the single-leg of the robot on the acrylic plate or the swing posture and deformation size of the robot leg rod through the imaging device; transmit the information into the PLC controller for processing, and correct and evaluate the performance of key components according to the results.

[0019] Preferably, the working environments in Step 2 mainly include a static working environment, a microgravity working environment and a dynamic working environment;

[0020] Simulate the static working environment, do not start the servo motor. At this time, the legged robot is in a state of only being affected by gravity;

[0021] Simulate the microgravity working environment, only start the servo motor located on the vertical guide rail to drive the corresponding nylon rope to rotate, and at the same time adjust the rotation speed of the servo motor to adjust the vibration frequency. At this time, the legged robot is in a microgravity state in the vertical direction;

[0022] Simulate the dynamic working environment, start all servo motors to drive the nylon ropes to rotate, and at the same time adjust the rotation speed of the servo motors to adjust the vibration frequency, so that the target wall surface is in a vibrating state. At this time, the legged robot is in a state of the dynamic working environment.

[0023] Compared with the prior art, the beneficial technical effects of the present invention:

[0024] An experimental platform and testing method for single-leg performance testing of a legged robot according to the present invention include a base, a moving guide rail, a testing platform, a vibration component, a detection device, a camera device, and a PLC controller; the base includes a rectangular frame, a first connecting rod, a second connecting rod, a third connecting rod, a first portal frame, and a second portal frame; the moving guide rail includes a horizontal guide rail, a vertical guide rail, a first slider, a second slider, and a guide rail connecting block; the testing platform includes an acrylic board and an acrylic mounting board; the vibration component includes a servo motor, a mounting seat, a roller, and a nylon rope; the camera device includes a fixed high-speed camera and a follow-up high-speed camera; the detection device includes a six-axis force sensor, a first fixing plate, and a second fixing plate; an LED light strip and a mounting board are also provided;

[0025] 1) A vibration component is provided. By adjusting the working state of the servo motor, various working environments of the legged robot can be simulated, providing a more comprehensive and systematic measurement environment for the legged robot;

[0026] 2) Different from the conventional measurement method where the whole robot is floating and the target surface is fixed, in this experimental platform, the whole robot is fixed and the target wall surface is in a floating state, which is convenient for observation and adjustment;

[0027] 3) A camera device is provided. The follow-up high-speed camera remains relatively stationary with the acrylic board, and can more clearly capture the contact and movement states between the end effector and the acrylic board; the fixed high-speed camera can be installed at different positions according to requirements. When installed on a fixed bracket perpendicular to the center of the acrylic board, it can cooperate with the LED light strip to more clearly capture the movement image of the end effector; when installed on the base and coplanar with the acrylic board, the fixed high-speed camera can record the deformation sizes of components such as the thigh connecting rod and the calf connecting rod when the robot is moving;

[0028] 4) A detection device is provided. The body of the robot is fixed, and the six-axis force sensor is connected to the body of the robot, which can detect experimental data such as the normal contact force, tangential contact force, displacement, velocity, and acceleration when the robot is moving;

[0029] 5) A moving guide rail is provided. The guide rail has a high load-bearing capacity and can achieve high-precision linear motion. During the experiment, the frequency and amplitude of vibration are controlled by the servo motor, and the frictional resistance between the guide rail and the slider is small, so the interference from the outside to the experiment is reduced;

[0030] The present invention is provided with a vibration assembly capable of simulating various working environments; it adopts a measurement method in which the whole robot is fixed while the target wall surface is in a floating state, facilitating observation and adjustment; it is provided with a camera device and a detection device, capable of comprehensively detecting experimental data and motion images, facilitating subsequent data collation and result evaluation; it is provided with a moving guide rail, and during the experiment, the vibration frequency and amplitude are controlled by a servo motor, and the frictional resistance of the moving guide rail is small, reducing external interference. Description of the Drawings

[0031] The present invention will be further described below in conjunction with the description of the drawings.

[0032] Figure 1 Schematic diagram of the experimental platform for single-leg performance testing of the legged robot of the present invention;

[0033] Figure 2 Schematic diagram of the base structure of the present invention;

[0034] Figure 3 Schematic diagram of the moving guide rail of the present invention;

[0035] Figure 4 Schematic diagram of the LED light strip of the present invention;

[0036] Figure 5 Schematic diagram of the detection device of the present invention;

[0037] Figure 6 Schematic diagram of Embodiment 1 of the present invention;

[0038] Figure 7 Schematic diagram of the structure of the legged wall-climbing robot in Embodiment 1 of the present invention;

[0039] Figure 8 Side view of Embodiment 1 of the present invention.

[0040] Description of the reference numerals in the drawings: 1. Base; 2. Moving guide rail; 3. Test platform; 4. Vibration assembly; 5. Detection device; 6. Camera device; 7. Servo motor; 8. Mounting seat; 9. Roller; 10. Nylon rope; 11. Acrylic plate; 12. LED light strip; 13. Mounting plate; 14. Acrylic plate connecting piece; 15. Horizontal guide rail; 16. Vertical guide rail; 17. First slider; 18. Second slider; 19. Guide rail connecting block;

[0041] 101. Rectangular frame; 102. First connecting rod; 103. Second connecting rod; 104. Third connecting rod; 105. First portal frame; 106. Second portal frame;

[0042] 501. Six-axis force sensor; 502. First fixing plate; 503. Second fixing plate;

[0043] 601, Fixed high-speed camera; 602, Follow-up high-speed camera;

[0044] 41, Robot single-leg assembly; 42, Frame; 43, Shoulder joint; 44, Thigh connecting rod; 46, Calf connecting rod; 47, Ankle joint; 48, End attachment actuator; 49, Frame bottom plate; 50, Mounting frame; 51, Double servo; 52, Bevel gear set; 53, Servo; 54, Spring; 55, Mounting seat disc; 56, Ball hinge; 57, Chuck; 58, Foot connecting block; 59, Adhesive sheet foot. Detailed implementation manner

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] As Figure 1-8 shown, it includes a base 1, a moving guide rail 2, a test platform 3, a vibration assembly 4, a detection device 5, a camera device 6 and a PLC controller; the base 1 is located at the bottom, and the moving guide rail 2 is installed inside the second gantry frame 106 in the base 1; a plurality of the vibration assemblies 4 are installed on the moving guide rail 2, the test platform 3 is slidably installed on the moving guide rail 2, the detection device 5 and the camera device 6 are both installed on the base 1, and the vibration assembly 4 and the detection device 5 are both electrically connected to the PLC controller; the legged robot to be tested is connected to the detection device 5, and the working end of the camera device 6 faces the test area of the legged robot to be tested.

[0047] Specifically, as Figure 2 shown, the base 1 is provided with a rectangular frame 101, a first connecting rod 102 and a second connecting rod 103 are vertically arranged inside the rectangular frame 101, a third connecting rod 104 is horizontally arranged between the first connecting rod 102 and the second connecting rod 103, a first gantry frame 105 is arranged at the tops of the first connecting rod 102 and the third connecting rod 104, and a second gantry frame 106 is arranged at the top of the rectangular frame 101; the detection device 5 is installed on the outer side wall of the first gantry frame 105; the base 1 is made of aluminum profile material, which has high strength, light weight and is convenient for processing and recycling.

[0048] Specifically, as Figure 3As shown, the moving guide rail 2 includes a horizontal guide rail 15, a vertical guide rail 16, a first slider 17 and a second slider 18. The two vertical guide rails 16 are fixedly arranged on the opposite surfaces of the second portal frame 106. The first slider 17 is slidably connected to the vertical guide rail 16. A guide rail connecting block 19 is arranged on the first slider 17. The two ends of the horizontal guide rail 15 are connected to the first slider 17 through the guide rail connecting block 19. The second slider 18 is slidably connected to the horizontal guide rail 15. The top end of the second slider 18 is connected to the bottom end of the test platform 3. The friction between the guide rail and the slider is small, reducing the interference of the friction on the experimental process.

[0049] Specifically, the vibration assembly 4 includes a servo motor 7, a mounting seat 8, rollers 9 and a nylon rope 10. Mounting seats 8 are arranged at both ends of the vertical guide rail 16 and the horizontal guide rail 15. The servo motor 7 or a rotating shaft is mounted on the mounting seat 8. A plurality of the rollers 9 are positioned and connected to the working end of the servo motor 7 or / and the rotating shaft. The servo motor 7 is mounted on at least one end of the vertical guide rail 16 through the mounting seat 8. The servo motor 7 is mounted on both ends of the horizontal guide rail 15 through the mounting seat 8. A group of the rollers 9 on the same side are connected through the nylon rope 10. The middle parts of the vertical nylon ropes 10 cross and pass through the small holes on the guide rail connecting block 19. The middle parts of the horizontal nylon ropes 10 cross and pass through the small holes on the acrylic plate connecting piece 14 in the test platform 3. The nylon rope 10 is kept in a taut state. The servo motor 7 is electrically connected to the PLC controller. The supporting horizontal guide rail 15 defines the moving direction of the test platform 3. The taut nylon rope 10 is combined with the small holes of the acrylic plate connecting piece 14 through the crossing part to support the horizontal guide rail. The nylon rope 10 can be a Dyneema line according to requirements.

[0050] Specifically, the servo motor 7 in the vibration assembly 4 drives the rollers 9 to rotate. The rollers 9 drive the nylon rope 10 to rotate. When the taut nylon rope 10 is disturbed, vibrations will be generated, and finally the test platform 3 will be driven to vibrate. The vibration frequency can be adjusted by adjusting the output power of the servo motor 7 through the PLC controller.

[0051] Specifically, the test platform 3 includes an acrylic plate 11 and an acrylic plate connecting piece 14. The bottom surface of the acrylic plate connecting piece 14 is fixedly connected to the top end of the second slider 18. The acrylic plate connecting piece 14 is fixedly connected to the bottom end of the acrylic plate 11. The acrylic plate connecting piece 14 is integrally formed by 3D printing technology, which is convenient for processing. The acrylic plate 11 can reach a certain inclination angle through the structure of the acrylic plate connecting piece 14 processed into different shapes. The acrylic plate 11 has high transparency, which can ensure the clarity during shooting by the fixed high-speed camera 601.

[0052] Specifically, as Figure 4 shown, it further includes an LED light strip 12, which is positioned and connected around the acrylic board 11, and the LED light strip 12 is electrically connected to the PLC controller; the LED light strip 12 provides illumination to make the photos taken by the imaging device 6 clearer.

[0053] Specifically, as Figure 5 shown, the detection device 5 includes a six-axis force sensor 501, a first fixing plate 502, and a second fixing plate 503; one end of the six-axis force sensor 501 is fixedly connected to the outside of the first gantry frame 105 through the first fixing plate 502, and the other end of the six-axis force sensor 501 is fixedly connected to the top of the third connecting rod 104 through the second fixing plate 503, and the six-axis force sensor 501 is electrically connected to the PLC controller; the first fixing plate 502 fixes the six-axis force sensor 501; the second fixing plate 503 connects the single leg of the robot to be detected, and the six-axis force sensor 501 detects data such as pressure, displacement, speed, and acceleration at the end of the single leg of the robot where the actuator 48 is attached, and transmits the data to the PLC controller.

[0054] Specifically, the imaging device 6 includes a fixed high-speed camera 601 and a follow-up high-speed camera 602; the fixed high-speed camera 601 is connected to the base 1 through a connecting member, the follow-up high-speed camera 602 is fixedly arranged on the mounting plate 13, the mounting plate 13 is mounted on the top of the acrylic board 11, and both the fixed high-speed camera 601 and the follow-up high-speed camera 602 are electrically connected to the PLC controller; the follow-up high-speed camera 602 is mounted on the acrylic mounting plate 13 and remains relatively stationary with the acrylic board 11 during testing, and can clearly capture the contact and movement states between the end-attached actuator 48 and the acrylic board 11 and transmit them to the PLC controller. The fixed high-speed camera 601 is connected to the base 1 through a connecting member, and the specific installation position is selected according to requirements. Since it does not contact the vibration assembly 4, it can remain stationary during testing.

[0055] Specifically, as Figure 5 , Figure 6 and Figure 8As shown in the figure, the fixed high-speed camera 601 is located on the back of the acrylic plate 11 and perpendicular to the plane of the acrylic plate 11. At this time, it can cooperate with the LED light strip 12 to clearly capture the motion image of the end effector 48. The contact area can be calculated according to the size of the bright spot obtained later, and the data is transmitted into the PLC controller. The PLC controller performs operations according to the obtained program to judge the motion performance of the robot leg structure and the actuator; the fixed high-speed camera 601 is approximately coplanar with the acrylic plate. At this time, the fixed high-speed camera can record the deformation sizes of components such as the thigh connecting rod 44 and the calf connecting rod 46 when the robot is moving, and transmit them into the PLC controller. The PLC controller performs operations according to the obtained program to correct and evaluate the performance of key components.

[0056] In addition, the present invention also provides a test method for a single-leg performance test experimental platform of a legged robot, and the specific steps are as follows:

[0057] Step 1, preparation work. Fix and connect the single-leg assembly of the robot to be detected to the second fixing plate 503, and make the end of the single-leg of the robot to be detected abut against the acrylic plate 11.

[0058] Step 2, simulate the working environment. Adjust the working state of the servo motor 7 in the vibration assembly 4 to simulate different working environments.

[0059] Step 3, data sorting. Obtain the disturbances of the single-leg of the robot in the horizontal and vertical directions on the acrylic plate 11 through the detection device 5, and obtain the data of force, displacement, speed and acceleration during the adhesion and detachment process; obtain the adhesion and detachment situation of the single-leg of the robot on the acrylic plate or the swinging posture and deformation size of the robot leg rod through the imaging device 6; transmit the information into the PLC controller for processing, and correct and evaluate the performance of key components according to the results.

[0060] Specifically, the working environments in Step 2 mainly include a static working environment, a microgravity working environment and a dynamic working environment;

[0061] Simulate the static working environment. Do not start the servo motor 7. At this time, the legged robot is in a state of only being affected by gravity.

[0062] Simulate the microgravity working environment. Only start the servo motor 7 located on the vertical guide rail 16 to drive the corresponding nylon rope 10 to rotate, and at the same time adjust the rotation speed of the servo motor 7 to adjust the vibration frequency. At this time, the legged robot is in a microgravity state in the vertical direction.

[0063] Simulate the dynamic working environment, start all servo motors 7, make the servo motors 7 drive the nylon rope 10 to rotate, and at the same time adjust the rotation speed of the servo motors 7 to adjust the vibration frequency, so that the target wall surface is in a vibrating state. At this time, the legged robot is in the state of the dynamic working environment. Embodiment 1

[0064] A legged wall-climbing robot, the single-leg assembly 41 of the robot is divided into: a frame 42, a shoulder joint 43, a thigh connecting rod 44, an elbow joint, a calf connecting rod 46, an ankle joint 47 and an end attachment actuator 48; wherein the frame 42 is composed of a frame bottom plate 49 and a mounting frame 50; the shoulder joint 43 is composed of a double servo motor 51 and a bevel gear set 52; the elbow joint is composed of a single servo motor; the ankle joint 47 is composed of a mounting seat disc, a spring 54, a ball hinge 56 and a chuck 57; the end attachment actuator 48 is composed of an adhesive sheet sole 59 and a sole connecting block 58.

[0065] The double servo motors 51 are respectively embedded in the mounting frame at the frame. The servo motor at the elbow joint is fixedly connected by the thigh connecting rod 44 and the calf connecting rod 46 together. The double servo motors 51 at the shoulder joint 43 cooperate with the bevel gear set 52 and the servo motor 53 at the elbow joint to jointly provide the movement freedom of the single leg of the robot; the spring 54 is fixedly connected by the mounting seat disc 55 at the ankle joint 47. The ball hinge 56 is embedded in the chuck 57 to provide the freedom of rotation direction for the end attachment actuator 48; the adhesive sheet sole 59 in the end attachment actuator 48 is fixedly connected to the chuck 57 at the ankle joint 47 through the sole connecting block 58.

[0066] Specifically, during the test, it is implemented according to the following steps:

[0067] Step 1, preparation work. The single-leg assembly 41 of the robot is fixedly connected to the second fixing plate 503 through the frame bottom plate 49. The adhesive sheet sole 59 starts to make moving contact with the flat acrylic plate 11 after the robot swings down.

[0068] Step 2, simulate the working environment, adjust the working state of the servo motor 7 in the moving guide 2 to simulate different working environments:

[0069] Do not start the servo motor 7 to simulate the static working environment. At this time, the legged robot is in the state of only being affected by gravity.

[0070] Only start the servo motor 7 located on the vertical guide 16, make it drive the corresponding nylon rope 10 to rotate, adjust the rotation speed of the servo motor 7 to adjust the vibration frequency, and simulate the microgravity working environment. At this time, the legged robot is in the state of microgravity in the vertical direction.

[0071] Start all servo motors 7 to drive the nylon rope 10 to rotate by the servo motors 7, and adjust the rotation speed of the servo motors 7 to adjust the vibration frequency, so as to make the target wall surface in a vibrating state. At this time, the legged robot is in a dynamic working environment;

[0072] Step 3: Data arrangement. Obtain the disturbances of the single leg of the robot in the horizontal and vertical directions on the acrylic plate 11 through the detection device 5, and obtain the data of force, displacement, speed and acceleration during the adhesion and detachment process, and transmit them to the PLC controller; Obtain the adhesion and detachment situation of the single leg of the robot on the acrylic plate 11 or the swinging posture and deformation size of the robot leg rod through the camera device 6, and transmit the data to the PLC controller; The PLC controller calculates the obtained data according to a preset program, and corrects and evaluates the performance of key components.

[0073] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0074] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A testing method for a single-leg performance testing experimental platform for a legged robot, characterized in that: The experimental platform comprises a base, a movable guide rail, a test platform, a vibration component, a detection device, a camera device and a PLC controller; the movable guide rail is installed inside a second door-type frame in the base; a plurality of the vibration components are installed on the movable guide rail, the test platform is slidably installed on the movable guide rail, the detection device and the camera device are both installed on the base, the legged robot to be tested is connected to the detection device, and the working end of the camera device faces the test area of ​​the legged robot to be tested; The movable guide rail comprises a horizontal guide rail, a vertical guide rail, a first slider, a second slider and a guide rail connecting block; the two vertical guide rails are respectively fixedly arranged on opposite surfaces of the second door frame, the first slider is slidably connected to the vertical guide rail, the guide rail connecting block is arranged on the first slider, both ends of the horizontal guide rail are respectively connected to the first slider through the guide rail connecting block, and the second slider is slidably connected to the horizontal guide rail; The test platform includes an acrylic plate and an acrylic plate connecting piece; the bottom surface of the acrylic plate connecting piece is fixedly connected to the top of the second sliding block, and the acrylic plate connecting piece is fixedly connected to the bottom end of the acrylic plate; The vibration assembly comprises a servo motor, a mounting seat, a roller and a nylon rope; the mounting seats are provided at both ends of the vertical guide rail and the horizontal guide rail; the servo motor or the rotating shaft is installed on the mounting seat, and the working end of the servo motor and the rotating shaft are both positioned and connected with rollers, and the servo motor is installed at at least one end of the vertical guide rail through the mounting seat; the servo motor is installed at both ends of the horizontal guide rail through the mounting seat; a group of rollers located on the same side are connected by the nylon rope; the middle part of the vertical nylon rope crosses and passes through the small hole on the guide rail connecting block, and the middle part of the horizontal nylon rope crosses and passes through the small hole on the acrylic plate connecting piece; the nylon rope is kept in a taut state, and the servo motor is electrically connected to the PLC controller; The detection device includes a six-dimensional force sensor, a first fixing plate and a second fixing plate; one end of the six-dimensional force sensor is fixedly connected to the outer side of the first door frame in the base through the first fixing plate, and the other end of the six-dimensional force sensor is fixedly connected to the top end of the third connecting rod in the base through the second fixing plate, and the six-dimensional force sensor is electrically connected to the PLC controller; The test method comprises the following specific steps: Step 1, preparation: fix the single leg assembly of the legged robot to be tested on the second fixing plate, and make the sole of the single leg assembly contact with the acrylic plate; Step 2, simulating a working environment: simulating different working environments by adjusting the working state of the servo motor in the vibration assembly; Step three, data collation: obtain the disturbance of the single-leg assembly on the acrylic plate in the horizontal and vertical directions through the detection device, obtain the force, displacement, velocity and acceleration in the adhesion and desorption process, and transmit them to the PLC controller; obtain the adhesion and desorption of the single-leg assembly on the acrylic plate or the swinging posture and deformation size of the single-leg assembly through the camera device, and transmit the swinging posture and deformation size of the single-leg assembly to the PLC controller for processing, and correct the thigh connecting rod and the calf connecting rod and evaluate their performance according to the processing results.

2. The testing method for the single-leg performance testing experimental platform of a legged robot according to claim 1, characterized in that: It also includes an LED light belt, which is positioned and connected around the acrylic plate, and the LED light belt is electrically connected to the PLC controller.

3. The testing method for the single-leg performance testing experimental platform of a legged robot according to claim 1, characterized in that: The base is located at the bottom, and the base is provided with a rectangular frame, a first connecting rod and a second connecting rod are vertically arranged inside the rectangular frame, a third connecting rod is horizontally arranged between the first connecting rod and the second connecting rod, a first portal frame is arranged on the top of the first connecting rod and the third connecting rod, and a second portal frame is arranged on the top of the rectangular frame; the detection device is installed on the outer side wall of the first portal frame.

4. The testing method for the single-leg performance testing experimental platform of a legged robot according to claim 3 is characterized in that: The camera device includes a fixed high-speed camera and a follow-up high-speed camera; the fixed high-speed camera is connected to the base through a connecting piece, and the follow-up high-speed camera is fixedly arranged on a mounting plate, and the mounting plate is mounted on the top of the acrylic plate. The fixed high-speed camera and the follow-up high-speed camera are both electrically connected to the PLC controller.

5. The testing method for the single-leg performance testing experimental platform of a legged robot according to claim 1, characterized in that: The working environment in step 2 includes a static working environment, a microgravity working environment and a dynamic working environment; Simulate a static working environment and do not start the servo motor. At this time, the legged robot is only subject to gravity. To simulate the microgravity working environment, only the servo motor on the vertical guide rail is started to drive the corresponding nylon rope to rotate, and the speed of the servo motor is adjusted to adjust the vibration frequency. At this time, the legged robot is in a microgravity state in the vertical direction. To simulate a dynamic working environment, start all servo motors, so that the servo motors drive the nylon ropes to rotate, and at the same time adjust the speed of the servo motors to adjust the vibration frequency, so that the acrylic plate is in a vibrating state. At this time, the legged robot is in a dynamic working environment.

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