A foot-ground simulation platform

Abstract

The application discloses a kind of foot ground simulation platform, it is related to robot testing technical field, including three-dimensional frame, the top front and back side of three-dimensional frame is respectively equipped with two mechanical leg horizontal drive mechanism, two mechanical leg horizontal drive mechanism is respectively connected mechanical leg moving mechanism's bottom two ends, still include walking simulation mechanical leg, soil tank horizontal drive mechanism and ground simulation mechanism, walking simulation mechanical leg contains mechanical leg drive component and shank, the top of mechanical leg drive component connects mechanical leg moving mechanism, the bottom of mechanical leg drive component connects the one end of shank, the other end of shank is equipped with foot stress detection mechanism;This foot ground simulation platform, using ground simulation mechanism lets foot stress detection mechanism contact with different ground, detects the stress condition when foot contact with different ground, the result simulated is more real and accurate, can also avoid the walking experiment of real ground, beneficial to reduce experimental cost.

Description

Technical Field

[0001] This invention relates to the field of robot testing technology, specifically to a foot-ground simulation platform. Background Technology

[0002] The overall motion performance of a legged robot is affected by the control performance of each leg. 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 required. There are generally two methods: physical testing, which involves conducting experiments such as walking and running on ground with different structures. This method is affected by many factors and is expensive. Ground simulation, which involves using ground simulation equipment to reproduce the loads from the ground experienced by a single leg of the robot during movement. This method is highly reliable and economical.

[0003] Existing technologies include foot-end load simulation systems for legged robots. These systems can achieve horizontal and vertical loading and can be loaded separately from or fixedly connected to the foot of the legged robot. Their active loading can simulate various uneven road surfaces or conduct vibration experiments, while passive loading can simulate ground environments with different stiffness and damping, such as sand, cement, and swamp. However, the simulation results obtained through loading still differ from the actual ground conditions, and the simulation results are 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 simulation platform. The platform uses a ground simulation mechanism to allow the foot force detection mechanism to contact different ground surfaces, and detects the force on the foot when it contacts different ground surfaces. The simulation results are more realistic and accurate, while avoiding actual walking experiments, which helps to reduce experimental costs and effectively solves the problems in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a foot-ground simulation platform, comprising a three-dimensional frame, wherein two mechanical leg lateral movement drive mechanisms are respectively installed on the front and rear sides of the top of the three-dimensional frame, and the two mechanical leg lateral movement drive mechanisms are respectively connected to the bottom ends of the mechanical leg movement mechanism, and further comprising: The walking simulation mechanical leg includes a mechanical leg drive assembly and a lower leg. The top of the mechanical leg drive assembly is connected to a mechanical leg movement mechanism, the bottom of the mechanical leg drive assembly is connected to one end of the lower leg, and the other end of the lower leg is equipped with a foot force detection mechanism. The soil trough box lateral movement drive mechanism includes a lateral movement plate and a soil trough box lateral movement control component. The lateral movement plate is laterally slidably connected to the bottom of the three-dimensional frame. The lateral movement plate is connected to the three-dimensional frame through the soil trough box lateral movement control component. The ground simulation mechanism includes a tilt control component, a water collection component, a soil tank, and a soil tank volume changing component. The tilt control component is installed on the upper middle part of the transverse plate. The top of the tilt control component is connected to the bottom of the soil tank through the water collection component. The soil tank has openings on the right side and top, and the soil tank volume changing component is installed inside the soil tank.

[0006] The lateral movement drive mechanism of the robotic leg is used to drive the left and right movement of the robotic leg movement mechanism. The robotic leg movement mechanism is used to drive the walking simulation robotic leg to move up and down. The walking simulation robotic leg is used to simulate the walking movements of the robot's legs. The foot force detection mechanism contacts different ground surfaces in the soil tank to detect the force on the foot when in contact with the ground. This helps to determine the impact of different structures and control methods on the performance of the robot's leg resistance. The lateral movement drive mechanism of the soil tank is used to drive the left and right movement of the ground simulation mechanism, allowing the soil tank to extend from the three-dimensional frame. This facilitates the placement of sand in the soil tank and the adjustment of the amount of sand in the soil tank to simulate different road conditions. The soil tank volume changing component can change the internal volume of the soil tank and change the thickness of the sand while keeping the amount of sand in the soil tank constant. The tilt control component is used to control the orientation of the soil tank in various directions to simulate road surfaces with different slopes. When water is poured into the sand in the soil tank to simulate mud, excess water can be collected by the water collection component to keep the surrounding area clean.

[0007] Furthermore, 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 drive assembly is connected to one end of the six-dimensional force sensor, and the other end of the six-dimensional force sensor is connected to one end of the foot mounting base. A rectangular slot is formed in the center of the other end of the foot mounting base. Locking bolts are threaded onto both sides of the foot mounting base. One end of the foot is fixedly connected to a mounting rod, and the other end of the mounting rod engages with the rectangular slot. The locking bolt, located within the rectangular slot, abuts against the mounting rod. A foot flange mounting assembly is mounted on the side of the foot mounting base. Loosening the locking bolt allows the mounting rod to be pulled out of the rectangular slot using the foot. Different feet can be replaced, and then the locking bolt is retightened, securing the new mounting rod. The six-dimensional force sensor can detect the force applied when using different feet, facilitating the assessment of the impact of different feet on the robot's leg performance. If the foot is mounted with a flange instead of a mounting rod, the foot can be mounted on the foot mounting base using the foot flange mounting assembly.

[0008] Furthermore, the soil trough volume changing component 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. A variable baffle is provided at the right end of the soil trough. The variable baffle is 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 a universal joint two. The right end of the volume-variable cylinder is connected to the top of the support frame through a universal joint one. The support frame is installed on the upper right side of the transverse plate. The slide rail guides and limits the variable baffle, allowing it to move stably left and right within the soil trough. The variable volume cylinder extends, pushing the variable baffle continuously into the soil trough, increasing the thickness of the sand in the trough while keeping the amount of sand constant. The variable volume cylinder then shortens, pulling the variable baffle to the right, and then flattens the sand in the trough, reducing its thickness and simulating different road surface conditions. The universal joints one and two ensure that the variable volume cylinder can still act on the variable baffle when the soil trough is in different tilt positions.

[0009] Furthermore, the water collection assembly includes a circular collection box. The circular collection box is located in the lower middle part of the soil trough. Multiple ear seats are arranged in a ring array on the top outer periphery of the circular collection box. A positioning column that cooperates with the ear seats is fixedly connected to the bottom of the soil trough. Water seepage holes are evenly opened at the bottom of the soil trough corresponding to the position of the circular collection box. A water collection groove is opened at the bottom right end of the soil trough. The bottom end of the water collection groove is connected to the circular collection box through a transfer pipe. A discharge pipe is installed on the bottom side of the circular collection box, and a discharge valve is installed on the discharge pipe. If the soil tank needs to simulate muddy conditions, water needs to be added to the soil tank. Excess water in the soil tank will collect in the circular collection box through the seepage holes. Water draining from the gap between the soil tank and the variable baffle will fall into the water collection groove. Water in the water collection groove will also collect in the circular collection box through the transfer pipe. When too much water is collected in the circular collection box, the drain valve can be opened to drain it from the drain pipe. The soil tank can be removed from the circular collection box with the help of the lugs and positioning columns. If the volume variable cylinder is shortened to detach the variable baffle from the soil tank, the soil tank can be removed for easy replacement of the sand in the soil tank.

[0010] Furthermore, the tilt control assembly includes a tilt control cylinder and an upper universal ball joint. The bottom center of the circular collection box is connected to the top of the support column via a positioning universal ball joint. A frustum plate is fixedly connected to the bottom of the support column, and the frustum plate is installed on the upper center of the transverse plate. The bottom of the circular collection box is connected to the top of four tilt control cylinders via four upper universal balls arranged in a circular array. The bottom of each tilt control cylinder is connected to the upper side of the transverse plate via a lower universal ball joint. The frustum plate, support column, and positioning universal ball joint position the lower center of the circular collection box, while allowing the circular collection box and soil trough to tilt freely. With the help of the lower universal ball joint, tilt control cylinder, and upper universal ball joint, the soil trough can be tilted or kept horizontal. The four tilt control cylinders work in coordination to allow the soil trough to tilt in different directions and angles, thus simulating different tilted ground surfaces in conjunction with the sand inside the soil trough.

[0011] Furthermore, the ground simulation mechanism also includes a gravel receiving drawer. A rectangular slot is provided on the top left side of the soil trough, and the gravel receiving drawer is inserted through the rectangular slot. Guide bars that slide along the front and rear sides of the gravel receiving drawer are respectively provided, and an anti-detachment bolt is threaded to the top right end of the gravel receiving drawer. The anti-detachment bolt prevents the gravel receiving drawer from disengaging from the rectangular slot when sliding to the left. The gravel receiving drawer, with the help of the guide bars and the slide rail, allows for smoother left and right sliding. The gravel receiving drawer is used to hold gravel or other different soil types, facilitating the simulation of gravel roads or other less common soil road surfaces. Since it is inconvenient to replace sand in the soil trough, a gravel receiving drawer is added. When in use, the gravel receiving drawer is positioned at the top of the soil trough to quickly construct a gravel road surface. When not in use, pulling the gravel receiving drawer to the left allows for quick reuse of the road surface simulated by the sand in the soil trough.

[0012] Furthermore, it also includes a soil spraying and humidification mechanism, which comprises a rigid water pipe and a forward and reverse swing assembly. Two curved frames are fixedly connected to the left and right ends of the front side of the soil tank, and two mounting rings are fixedly connected to the top of each curved frame. The two mounting rings are rotatably connected to both ends of the rigid water pipe. Spray heads are evenly spaced along the side of the rigid water pipe near the soil tank. One end of the rigid water pipe is closed, and the other end is connected to one end of a flexible hose via a flexible-rigid pipe connector. The end of the rigid water pipe is connected to the forward and reverse swing assembly. When simulating mud in the soil tank, water needs to be added. The forward and reverse swing assembly drives the rigid water pipe to rotate forward and backward at a certain angle. When the water valve is opened, external water enters the flexible hose through the valve, and then enters the rigid water pipe through the flexible-rigid pipe connector. The spray heads inside the rigid water pipe spray water onto the sand in the soil tank. The forward and reverse rotation of the rigid water pipe facilitates more even water spraying from the spray heads, helping to create a muddy surface with uniform humidity that closely resembles reality.

[0013] Furthermore, the forward and reverse swing assembly includes a drive cylinder, a gear is fixedly sleeved at the end of the rigid water pipe, a support is fixedly connected to the bottom of the bending frame, the support is fixedly connected to the bottom of the drive cylinder, the top of the drive cylinder is fixedly connected to the bottom of the rack via a vertical guide rod, the rack meshes with the gear, a guide sleeve is slidably sleeved on the guide rod, and the guide sleeve is fixedly connected to the middle of the corresponding bending frame via a connecting rod. The guide sleeve limits the guide rod, allowing it to move only up and down. When the drive cylinder extends, it drives the rack to rise via the guide rod, and the transmission between the rack and the gear drives the rigid water pipe to rotate, causing the spray head on the rigid water pipe to tilt downwards. When the drive cylinder shortens, it drives the rack to descend via the guide rod, and the transmission between the rack and the gear drives the rigid water pipe to rotate in the opposite direction, causing the spray head on the rigid water pipe to tilt upwards.

[0014] Furthermore, it also includes a soil loosening mechanism, which includes a soil loosening motor. The top of the variable baffle has two vertical slots, and the side of the variable baffle has a side passage slot communicating with the middle of the vertical slots. Each vertical slot has a vertical sliding plate slidably connected to it. One end of the soil loosening shaft is rotatably connected to the vertical sliding plate through a bearing. The soil loosening shaft is located inside the soil trough box, and a soil loosening rod is fixedly connected to the side of the soil loosening shaft. The soil loosening motor is mounted on the outside of the vertical sliding plate through a motor base, and the output shaft of the soil loosening motor is fixedly connected to the end of the soil loosening shaft. When the sand in the soil trough is trampled repeatedly, it will become compacted and deviate significantly from the actual road surface. At this point, the loosening motor drives the loosening shaft to rotate. The loosening shaft, through the loosening rod, can turn the sand over, making it soft again. The vertical sliding plate moves up and down in the vertical groove, allowing for a larger area of ​​sand to be turned over. After turning, the vertical sliding plate is placed at the bottom of the vertical groove, with the loosening shaft and loosening rod close to the lower layer of sand, so as not to affect the simulation of foot trampling on the sandy ground. When the vertical sliding plate moves up and down, it always blocks the side passage, preventing sand from leaking through the side passage.

[0015] Furthermore, the soil loosening mechanism also includes a cylinder base and a lifting cylinder. The top of the lifting cylinder is mounted on the top of the variable baffle via the cylinder base, and the bottom of the lifting cylinder is fixedly connected to a motor base. The lifting cylinder's operation enables the vertical sliding plate to move up and down within the vertical groove via the motor base.

[0016] Compared with existing technologies, the advantages of the local simulation platform are: 1. The mechanical leg lateral movement drive 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 robot's leg walking action. The foot force detection mechanism contacts different ground surfaces in the soil tank to detect the force on the foot when in contact with the ground, which helps to determine the impact of different structures and control methods on the robot's leg resistance. 2. The soil trough lateral movement drive mechanism is used to drive the ground simulation mechanism to move left and right, allowing the soil trough to extend out from the three-dimensional frame, making it convenient to place sand in the soil trough and adjust the amount of sand in the soil trough to simulate different road conditions. The soil trough volume changing component can change the internal volume of the soil trough, changing the thickness of the sand while keeping the amount of sand in the soil trough constant. The tilt control component is used to control the direction of the soil trough in various directions to simulate road surfaces with different slopes. 3. When simulating mud by sprinkling water on the sand in the soil tank, the forward and reverse swinging component can drive the rigid water pipe to rotate forward and backward at a certain angle. When the water valve is opened, the external water source enters the flexible hose through the water valve, and then enters the rigid water pipe through the flexible and rigid pipe joint. The spray head in the rigid water pipe sprays water onto the sand in the soil tank. The forward and reverse rotation of the rigid water pipe helps the spray head spray water more evenly, which is conducive to creating a muddy ground with uniform humidity that is close to reality. Excess water can be collected by the water collection component to keep the surrounding area clean. 4. By using a ground simulation mechanism to allow the foot force detection mechanism to contact different ground surfaces, the force on the foot when in contact with different ground surfaces can be detected. The simulation results are more realistic and accurate, while avoiding actual walking experiments, which helps to reduce experimental costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the ground simulation platform structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the ground simulation platform of the present invention; Figure 3 This is a side view of the ground simulation platform of the present invention. Figure 4 This invention provides a foot-ground simulation platform. Figure 3 A magnified view of the structure at point A in the middle; Figure 5 This is a schematic diagram of the walking simulation mechanical leg and foot force detection mechanism in the foot-ground simulation platform of the present invention; Figure 6 This is a schematic diagram of a partial structure of the ground simulation platform of the present invention; Figure 7 This invention provides a foot-ground simulation platform. Figure 6 A magnified schematic diagram of the structure at point B in the middle; Figure 8 This invention provides a foot-ground simulation platform. Figure 6 Side view structural diagram; Figure 9 This invention provides a foot-ground simulation platform. Figure 8 A magnified schematic diagram of the structure at point C in the middle; Figure 10 This is a schematic diagram of the soil loosening mechanism in the ground simulation platform of the present invention; Figure 11 This invention provides a foot-ground simulation platform. Figure 6 A schematic diagram of the structure viewed from below; In the diagram: 1. 3D frame; 2. Mechanical leg lateral movement drive mechanism; 21. Lateral movement bracket; 22. Lateral rail; 23. Lateral lead screw; 24. Lateral slide table; 25. Slide seat; 26. Screw; 27. Lead screw nut; 28. Drive motor; 3. Mechanical leg moving mechanism; 31. Disassembly platform; 32. Vertical plate; 33. Vertical linear motor guide rail; 34. Vertical linear motor; 35. Longitudinal linear motor guide rail; 36. Longitudinal linear motor; 4. Walking simulation mechanical leg; 41. Arm seat; 42. Horizontal axis; 43. Longitudinal swing movable seat; 44. Swing motor; 45. Hip bone; 46. Longitudinal movable cylinder. I. 47 Longitudinal Axis I. 48 Lateral Swinging Movable Seat I. 49 Swing Motor II. 410 Thigh II. 411 Longitudinal Movable Cylinder II. 412 Longitudinal Axis II. 413 Lateral Swinging Movable Seat II. 414 Swing Motor III. 415 Lower Leg 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 Tank Lateral Movement Drive Mechanism 61 Lateral Movement Plate 62 Lateral Movement Slide Bar 63 Support 64 Horizontal Lead Screw II. 65 Screw nut II, 66 Crank handle, 7 Ground simulation mechanism, 71 Circular platform, 72 Support column, 73 Positioning universal ball, 74 Circular collection box, 75 Ear seat, 76 Positioning column, 77 Lower universal ball, 78 Tilting control cylinder, 79 Upper universal ball, 710 Soil trough box, 711 Seepage hole, 712 Water collection groove, 713 Support frame, 714 Universal joint I, 715 Variable volume cylinder, 716 Universal joint II, 717 Slide rail, 718 Variable baffle, 719 Transfer pipe, 720 Discharge pipe, 721 Discharge valve, 722 Rectangular 723 Stone receiving drawer, 724 Guide bar, 725 Handle, 726 Anti-loosening bolt, 8 Soil spraying and humidification mechanism, 81 Bend, 82 Mounting ring, 83 Hard water pipe, 84 Flexible and hard pipe joint, 85 Hose, 86 Gear, 87 Rack, 88 Guide rod, 89 Guide sleeve, 810 Support, 811 Drive cylinder, 9 Soil loosening mechanism, 91 Vertical groove, 92 Side through groove, 93 Vertical sliding plate, 94 Soil loosening shaft, 95 Soil loosening rod, 96 Soil loosening motor, 97 Motor base, 98 Cylinder base, 99 Lifting cylinder, 10 Universal casters. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1, please refer to Figures 1 to 11This embodiment provides a technical solution: a foot simulation platform, including a three-dimensional frame 1, four universal wheels 10 are installed at the four corners of the bottom of the three-dimensional frame 1, and each universal wheel 10 is equipped with a wheel brake. The universal wheels 10 facilitate the movement of the three-dimensional frame 1. Two mechanical leg lateral movement drive mechanisms 2 are installed on the front and rear sides of the top of the three-dimensional frame 1, and the two mechanical leg lateral movement drive mechanisms 2 are respectively connected to the bottom ends of the mechanical leg movement mechanism 3. The mechanical leg lateral movement drive mechanism 2 includes a lateral movement bracket 21, a lateral track 22, a lateral lead screw 23, a lateral movement slide 24, a slide block 25, screws 26, a lead screw nut 27, and a drive motor 28. Two lateral movement brackets 21 are fixedly connected to the front and rear sides of the top of the three-dimensional frame 1 via screws 26. Two lateral tracks 22 are fixedly connected to the front and rear sides of the top of each lateral movement bracket 21. Both ends of the lateral lead screw 23 are rotatably connected to each lateral movement bracket 21. The left end of the lateral lead screw 23 is fixedly connected to the output shaft of the drive motor 28. The drive motor 28 is mounted on the left end of the lateral movement bracket 21, and the lateral lead screw 23 is fitted with... There is a lead screw nut 27, and a transverse slide 24 is fixedly connected to the top of the lead screw nut 27. Two slide blocks 25 are provided at the bottom of the transverse slide block 24 and are slidably connected to the transverse track 22. When the drive motor 28 works, it drives the lead screw 23 to rotate clockwise. The thread action between the lead screw 23 and the lead screw nut 27 drives the slide blocks 25 to slide to the left along the transverse track 22. When the drive motor 28 works, it drives the lead screw 23 to rotate counterclockwise. The thread action between the lead screw 23 and the lead screw nut 27 drives the slide blocks 25 to slide to the right along the transverse track 22, thereby enabling the mechanical leg moving mechanism 3 to move left and right.

[0020] The mechanical leg moving mechanism 3 includes a disassembly platform 31, an upright plate 32, a vertical linear motor guide rail 33, a vertical linear motor 34, a longitudinal linear motor guide rail 35, and a longitudinal linear motor 36. The tops of two transverse sliding tables 24 are respectively fixedly connected to the two disassembly platforms 31 by slide table screws. The tops of the two disassembly platforms 31 are respectively fixedly connected to the two upright plates 32. Two vertical linear motor guide rails 33 are respectively fixedly connected to the side of the two upright plates 32 that are close to each other. The two vertical linear motor guide rails 33 are respectively installed in conjunction with the two vertical linear motors 34. A longitudinal linear motor guide rail 35 is fixedly connected between the two vertical linear motors 34. A longitudinal linear motor 36 is installed on the longitudinal linear motor guide rail 35. The two vertical linear motors 34 move up and down synchronously along the two vertical linear motor guide rails 33, which can change the height of the longitudinal linear motor guide rail 35 and the longitudinal linear motor 36. The longitudinal linear motor 36 can move along the longitudinal linear motor guide rail 35.

[0021] It also includes a walking simulation mechanical leg 4, a soil trough lateral movement drive mechanism 6, and a ground simulation mechanism 7; The walking simulation mechanical leg 4 includes a mechanical leg drive assembly and a lower leg 415. The top of the mechanical leg drive assembly is connected to the mechanical leg moving mechanism 3, and the bottom of the mechanical leg drive assembly is connected to one end of the lower leg 415. The other end of the lower leg 415 is equipped with a foot force detection mechanism 5. The mechanical leg drive assembly includes a hip joint, a hip bone 45, a thigh joint, a thigh 410, and a knee joint. The bottom of the 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 lower leg 415 through the knee joint. Specifically, the hip joint includes an arm seat 41, a horizontal shaft 42, a longitudinal swing 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 via a short rod. The bottom of the arm seat 41 is rotatably connected to two horizontal shafts 42 on the left and right sides respectively. The two horizontal shafts 42 are fixedly connected to the two sides of the longitudinal swing seat 43 respectively. The bottom of the longitudinal swing seat 43 is fixedly connected to the top of the hip bone 45. The 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 horizontal shafts 42. When the swing motor 44 works, it drives the horizontal shaft 42 and the longitudinal swing 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 shaft 47, a transverse movable seat 48, and a second 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 respectively rotatably connected to two longitudinal shafts 47. The two longitudinal shafts 47 are respectively fixedly connected to the front and rear ends of the transverse movable seat 48. The bottom of the transverse movable seat 48 is fixedly connected to the top of the thigh 410. The second swing motor 49 is installed inside the longitudinal movable cylinder 46. The output shaft of the second swing motor 49 is fixedly connected to one of the longitudinal shafts 47. When the second swing motor 49 works, it drives the longitudinal shaft 47 and the transverse movable seat 48 to move relative to the longitudinal movable cylinder 46, thereby causing the thigh 410 to swing left and right.

[0022] The knee joint includes a longitudinal movable cylinder 411, a longitudinal shaft 412, a transverse movable seat 413, and a swing motor 414. The bottom end of the thigh 410 is fixedly connected to the top of the longitudinal movable cylinder 411. The front and rear ends of the longitudinal movable cylinder 411 are respectively rotatably connected to two longitudinal shafts 412. The two longitudinal shafts 412 are respectively fixedly connected to the front and rear ends of the transverse movable seat 413. The side of the transverse movable seat 413 is fixedly connected to the end of the lower leg 415. The swing motor 414 is installed inside the longitudinal movable cylinder 411. The output shaft of the swing motor 414 is fixedly connected to one of the longitudinal shafts 412. When the swing motor 414 works, it drives the longitudinal shaft 412 and the transverse movable seat 413 to move relative to the longitudinal movable cylinder 411, thereby driving the lower leg 415 to swing left and right.

[0023] In summary, the walking simulation mechanical leg 4, as a complete robot leg structure, is capable of walking normally.

[0024] The foot force detection mechanism 5 includes a six-dimensional force sensor 51, a foot mounting base 52, a rectangular slot 53, a locking bolt 54, a foot flange mounting assembly, a mounting rod 57, and a foot 58. The end of the lower leg 415 away from the mechanical leg drive 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 base 52. A rectangular slot 53 is provided in the middle of the other end of the foot mounting base 52. Locking bolts 54 are threaded to both sides of the foot mounting base 52. One end of the mounting rod 57 is fixedly connected to the foot 58. The other end of the mounting rod 57 is engaged with the rectangular slot 53, and the end of the locking bolt 54 located in the rectangular slot 53 abuts against the mounting rod 57. A foot flange mounting assembly is installed on the side of the foot mounting base 52.

[0025] Loosen the locking bolt 54, and the mounting rod 57 can be pulled out of the rectangular slot 53 using the foot 58. Different feet 58 can be replaced. Then, tighten the locking bolt 54, and the locking bolt 54 will press against the new mounting rod 57. The force sensor 51 can detect the force when using different feet, which is helpful to determine the impact of different feet on the performance of the robot's legs. If the foot 58 is not mounted with a mounting rod 57 but is mounted with a flange, the foot 58 can be mounted on the foot mounting base 52 using the foot flange mounting assembly.

[0026] The foot flange mounting assembly includes an arc groove 55 and mounting holes 56. Two arc grooves 55 are provided on the side of the foot mounting round seat 52, and two mounting holes 56 communicating with the middle of the arc grooves 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 by means of the mounting bolts. It is suitable for fixing the foot 58 which is mounted by flange.

[0027] The soil trough lateral movement drive mechanism 6 includes a lateral movement plate 61 and a soil trough lateral movement control component. The lateral movement plate 61 is laterally slidably connected to the bottom of the three-dimensional frame 1. The lateral movement plate 61 is connected to the three-dimensional frame 1 through the soil trough lateral movement control component.

[0028] The earth trough box transverse movement drive mechanism 6 also includes transverse sliding strips 62. Two transverse sliding strips 62 are fixedly connected to the bottom of the transverse plate 61. Two transverse guide grooves are opened at the bottom of the three-dimensional frame 1. The two transverse guide grooves are slidably connected to the two transverse sliding strips 62 respectively.

[0029] The earth trough box transverse movement control assembly includes a support 63, a second horizontal lead screw 64, a second lead screw nut 65, and a crank 66. A hollow transverse groove is provided at the bottom of the three-dimensional frame 1. Two supports 63 are fixedly connected to the left and right ends of the hollow transverse groove at the bottom of the three-dimensional frame 1, respectively. A second horizontal lead screw 64 is rotatably connected between the two supports 63. A crank 66 is installed at one end of the second horizontal lead screw 64. The second horizontal lead screw 64 and the second lead screw nut 65 are fitted together. The top of the second lead screw nut 65 passes through the hollow transverse groove and is fixedly connected to the bottom of the transverse plate 61. Rotating the second horizontal lead screw 64 clockwise with the crank 66 causes the threaded action of the second horizontal lead screw 64 and the second lead screw nut 65 to move the transverse plate 61 to the left along the transverse guide groove via the transverse slide 62. Rotating the second horizontal lead screw 64 counterclockwise with the crank 66 causes the threaded action of the second horizontal lead screw 64 and the second lead screw nut 65 to move the transverse plate 61 to the right along the transverse guide groove via the transverse slide 62.

[0030] The ground simulation mechanism 7 includes a tilt control component, a water collection component, a soil tank 710, and a soil tank volume changing component. The tilt control component is installed on the upper middle part of the transverse plate 61. The top of the tilt control component is connected to the bottom of the soil tank 710 through the water collection component. The soil tank 710 has openings on the right side and top, and the soil tank volume changing component is installed inside the soil tank 710. The soil trough volume changing assembly includes a support frame 713, universal joint one 714, volume-variable cylinder 715, universal joint two 716, slide rail 717, and variable baffle 718. Two transverse slide rails 717 are fixedly connected to the front and rear sides of the top of the soil trough 710. A variable baffle 718 is provided at the right end of the soil trough 710. The variable baffle 718 is 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 universal joint two 716. The right end of the volume-variable cylinder 715 is connected to the top of the support frame 713 through universal joint one 714. The support frame 713 is installed on the upper right side of the transverse plate 61. The slide rail 717 limits and guides the variable baffle 718, allowing the variable baffle 718 to move stably left and right within the soil trough 710. The variable volume cylinder 715 extends, pushing the variable baffle 718 continuously into the soil trough 710, increasing the thickness of the sand in the soil trough 710 while keeping the amount of sand in the soil trough 710 constant. The variable volume cylinder 715 shortens, pulling the variable baffle 718 to the right, and then flattening the sand in the soil trough 710, which can reduce the thickness of the sand in the soil trough 710, simulating road surface conditions with different softness. The universal joint 1 714 and universal joint 2 716 ensure that the variable volume cylinder 715 can still act on the variable baffle 718 when the soil trough 710 is in different tilt states.

[0031] The water collection assembly includes a circular collection box 74, ear seats 75, positioning posts 76, seepage holes 711, water collection grooves 712, transfer pipes 719, discharge pipes 720, and discharge valves 721. The circular collection box 74 is located in the lower middle part of the soil trough box 710. Multiple ear seats 75 are arranged in a ring array on the outer periphery of the top of the circular collection box 74. The bottom of the soil trough box 710 is fixedly connected to the positioning posts 76 that cooperate with the ear seats 75. Seepage holes 711 are evenly opened at the bottom of the soil trough box 710 corresponding to the position of the circular collection box 74. A water collection groove 712 is opened at the bottom right end of the soil trough box 710. The bottom end of the water collection groove 712 is connected to the circular collection box 74 through the transfer pipe 719. A discharge pipe 720 is installed on the bottom side of the circular collection box 74, and a discharge valve 721 is installed on the discharge pipe 720. If the soil trough 710 needs to simulate muddy conditions, water needs to be added to the soil trough 710. Excess water in the soil trough 710 will collect in the circular collection box 74 through the seepage hole 711. Water discharged from the gap between the soil trough 710 and the variable baffle 718 will fall into the water collection groove 712. Water in the water collection groove 712 will also collect in the circular collection box 74 through the transfer pipe 719. When too much water is collected in the circular collection box 74, the drain valve 721 can be opened to drain it from the drain pipe 720. The soil trough 710 can be removed from the circular collection box 74 with the help of the lug 75 and the positioning column 76. If the volume variable cylinder 715 is shortened to detach the variable baffle 718 from the soil trough 710, the soil trough 710 can be removed to facilitate the complete replacement of the sand in the soil trough 710.

[0032] The tilt control assembly includes a frustum plate 71, a support column 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 collection box 74 is connected to the top of the support column 72 through the positioning universal ball 73. The bottom of the support column 72 is fixedly connected to the frustum plate 71. The frustum plate 71 is installed on the upper middle part of the transverse plate 61. The bottom of the circular collection box 74 is connected to the top of the four tilt control cylinders 78 through four upper universal balls 79 arranged in a ring array. The bottom of each tilt control cylinder 78 is connected to the upper side of the transverse plate 61 through the lower universal ball 77. The circular platform 71, the support column 72, and the positioning omnidirectional ball 73 position the lower center of the circular collection box 74, while allowing the circular collection box 74 and the soil trough 710 to tilt freely. With the help of the lower omnidirectional ball 77, the tilt control cylinder 78, and the upper omnidirectional ball 79, the soil trough 710 can be tilted or kept horizontal. The four tilt control cylinders 78 work in coordination with each other, allowing the soil trough 710 to tilt in different directions and angles, thus simulating different tilted ground surfaces in conjunction with the sand inside the soil trough 710.

[0033] The ground simulation mechanism 7 also includes a rectangular through groove 722, a stone receiving drawer 723, guide bars 724, and anti-detachment bolts 726. A rectangular through groove 722 is provided on the top left side of the soil trough box 710. A stone receiving drawer 723 is inserted in the rectangular through groove 722. Guide bars 724 that are slidably connected to slide rails 717 are provided on the front and rear sides of the stone receiving drawer 723. An anti-detachment bolt 726 is threadedly connected to the top right end of the stone receiving drawer 723. The anti-detachment bolt 726 prevents the gravel receiving drawer 723 from disengaging from the rectangular through groove 722 when sliding to the left. The gravel receiving drawer 723, with the help of the guide bar 724 and the slide rail 717, allows for smoother left and right sliding. The gravel receiving drawer 723 is used to hold gravel or other different soil types, making it convenient to simulate gravel roads or other less common soil roads. Since it is not convenient to replace sand in the soil 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 box 710 to quickly build a gravel road. When not in use, the gravel receiving drawer 723 is pulled to the left to quickly reuse the road surface simulated by the sand in the soil box 710.

[0034] The ground simulation mechanism 7 also includes a handle 725. The left end of the stone holding drawer 723 is fixedly connected to the handle 725, which allows the stone holding drawer 723 to be pushed and pulled left and right with the help of the handle 725.

[0035] In use, the lateral movement drive mechanism 2 of the mechanical leg drives the left and right movement of the mechanical leg movement mechanism 3, which in turn drives the up and down movement of the walking simulation mechanical leg 4. The walking simulation mechanical leg 4 simulates the robot's leg movements. The foot force detection mechanism 5 contacts different ground surfaces within the soil tank 710 to detect the force exerted on the foot upon contact with the ground, thus helping to determine the impact of different structures and control methods on the robot's leg resistance. The lateral movement drive mechanism 6 of the soil tank drives the left and right movement of the ground simulation mechanism 7, allowing the soil tank 710 to extend from the three-dimensional frame 1. This facilitates the placement of sand within the soil tank 710 and the adjustment of the amount of sand, simulating different road conditions. The soil tank volume changing component can alter the internal volume of the soil tank 710, changing the sand thickness while maintaining a constant amount of sand within the soil tank 710. The tilt control component is used to control the orientation of the soil trough 710 in various directions to simulate road surfaces with different inclines. When water is poured into the sand inside the soil trough 710 to simulate mud, excess water can be collected by the water collection component to keep the surrounding area clean.

[0036] Example 2, please refer to Figures 1 to 11 This embodiment provides a technical solution: a foot-ground simulation platform. This embodiment has a roughly the same structure as Embodiment 1, the difference being: It also includes a soil spraying and humidification mechanism 8, which includes a bending frame 81, a mounting ring 82, a rigid water pipe 83, a flexible and rigid pipe joint 84, a hose 85, and a forward and reverse swing assembly. Two bending frames 81 are fixedly connected to the left and right ends of the front side of the soil tank 710, and two mounting rings 82 are fixedly connected to the top of the two bending frames 81. The two mounting rings 82 are rotatably connected to both ends of the rigid water pipe 83. Spray heads are equidistantly arranged on the side of the rigid water pipe 83 near the soil tank 710. One end of the rigid water pipe 83 is closed and the other end is connected to one end of the hose 85 through the flexible and rigid pipe joint 84. The other end of the hose 85 is connected to an external water source through a water valve. The end of the rigid water pipe 83 is connected to the forward and reverse swing assembly. When simulating mud in the soil tank 710, water needs to be added. The forward and reverse swinging component can drive the rigid water pipe 83 to rotate forward and reverse at a certain angle. When the water valve is opened, the external water source enters the hose 85 through the water valve, and then enters the rigid water pipe 83 through the flexible and rigid pipe joint 84. The spray head in the rigid water pipe 83 sprays water onto the sand in the soil tank 710. The forward and reverse rotation of the rigid water pipe 83 helps the spray head to spray water more evenly, which is conducive to creating a muddy ground with uniform humidity that is close to reality.

[0037] The forward and reverse swing assembly includes a gear 86, a rack 87, a guide rod 88, a guide sleeve 89, a support 810, and a drive cylinder 811. The end of the rigid water pipe 83 is fixedly sleeved with the gear 86. The bottom of the bending frame 81 is fixedly connected to the support 810. The support 810 is fixedly connected to the bottom of the drive cylinder 811. The top of the drive 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 sleeve 89 is slidably sleeved on the guide rod 88. The guide sleeve 89 is fixedly connected to the middle of the corresponding bending frame 81 through a connecting rod. The guide sleeve 89 limits the guide rod 88, allowing the guide rod 88 to move only up and down. The drive cylinder 811 extends, driving the rack 87 to rise through the guide rod 88. The transmission between the rack 87 and the gear 86 drives the rigid water pipe 83 to rotate, causing the spray head on the rigid water pipe 83 to tilt downward. The drive cylinder 811 shortens, driving the rack 87 to fall through the guide rod 88. The transmission between the rack 87 and the gear 86 drives the rigid water pipe 83 to rotate in the opposite direction, causing the spray head on the rigid water pipe 83 to tilt upward.

[0038] Example 3, please refer to Figures 1 to 11 This embodiment provides a technical solution: a foot-ground simulation platform. This embodiment has a roughly the same structure as Embodiment 2, the difference being: It also includes a soil loosening mechanism 9, which includes a vertical groove 91, a side passage groove 92, a vertical sliding plate 93, a soil loosening shaft 94, a soil loosening rod 95, a soil loosening motor 96, and a motor base 97. The top of the variable baffle 718 has two vertical grooves 91, and the side of the variable baffle 718 has a side passage groove 92 that communicates with the middle of the vertical grooves 91. Each vertical groove 91 is slidably connected to a vertical sliding plate 93. One end of the soil loosening shaft 94 is rotatably connected to the vertical sliding plate 93 through a bearing. The soil loosening shaft 94 is located inside the soil trough box 710, and the side of the soil loosening shaft 94 is fixedly connected to the soil loosening rod 95. The outside of the vertical sliding plate 93 is equipped with a soil loosening motor 96 through the motor base 97, and the output shaft of the soil loosening motor 96 is fixedly connected to the end of the soil loosening shaft 94. When the sand in the soil trough 710 is trampled repeatedly, it will become compacted and deviate significantly from the surface of the field. At this time, the loosening motor 96 drives the loosening shaft 94 to rotate. The loosening shaft 94 can turn the sand through the loosening rod 95, making the sand soft again. The vertical sliding plate 93 moves up and down in the vertical groove 91, which can turn a larger area of ​​sand. After turning, the vertical sliding plate 93 is placed at the bottom of the vertical groove 91. The loosening shaft 94 and the loosening rod 95 are close to the lower layer of sand, so as not to affect the simulation of the foot trampling on the sandy ground. When the vertical sliding plate 93 moves up and down, it always blocks the side passage 92, so the sand will not leak through the side passage 92.

[0039] The soil loosening mechanism 9 also includes a cylinder base 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 base 98, and the bottom of the lifting cylinder 99 is fixedly connected to the motor base 97. When the lifting cylinder 99 is working, it can drive the vertical sliding plate 93 to move up and down in the vertical groove 91 via the motor base 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. The control method 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 are all servo motors, and their specific models and power can be selected according to the actual situation.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

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

Claims

1. A foot-based simulation platform, comprising a three-dimensional frame (1), wherein two mechanical leg lateral movement drive 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 lateral movement drive mechanisms (2) are respectively connected to the bottom ends of a mechanical leg moving mechanism (3), characterized in that, Also includes: The walking simulation mechanical leg (4) includes a mechanical leg drive assembly and a lower leg (415). The top of the mechanical leg drive assembly is connected to the mechanical leg moving mechanism (3), and the bottom of the mechanical leg drive assembly is connected to one end of the lower leg (415). The other end of the lower leg (415) is equipped with a foot force detection mechanism (5). The earth trough box lateral movement drive mechanism (6) includes a lateral movement plate (61) and an earth trough box lateral movement control component. The lateral movement plate (61) is laterally slidably connected to the bottom of the three-dimensional frame (1). The lateral movement plate (61) is connected to the three-dimensional frame (1) through the earth trough box lateral movement control component. The ground simulation mechanism (7) includes a tilt control component, a water collection component, a soil tank (710) and a soil tank volume changing component. The tilt control component is installed on the upper middle part of the transverse plate (61). The top of the tilt control component is connected to the bottom of the soil tank (710) through the water collection component. The soil tank (710) has openings on the right side and top. The soil tank (710) is equipped with a soil tank volume changing component. The soil trough volume changing component includes 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 (710). A variable baffle (718) is provided at the right end of the soil trough (710). The variable baffle (718) is 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 a universal joint two (716). The right end of the volume-variable cylinder (715) is connected to the top of the support frame (713) through a universal joint one (714). The support frame (713) is installed on the upper right side of the transverse plate (61).

2. The foot-ground simulation platform according to claim 1, characterized in that: The foot force detection mechanism (5) includes a six-dimensional force sensor (51) and a foot (58). The end of the lower leg (415) away from the mechanical leg drive 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 the foot mounting base (52). A rectangular slot (53) is provided in the middle of the other end of the foot mounting base (52). Locking bolts (54) are threaded to both sides of the foot mounting base (52). The foot (58) is fixedly connected to one end of the mounting rod (57). The other end of the mounting rod (57) is engaged with the rectangular slot (53), and the locking bolt (54) is located in the rectangular slot (53) with one end abutting against the mounting rod (57). A foot flange mounting assembly is installed on the side of the foot mounting base (52).

3. The foot-ground simulation platform according to claim 1, characterized in that: The water collection assembly includes a circular collection box (74). The circular collection box (74) is located at the lower center of the soil trough (710). Multiple ear seats (75) are arranged in a ring array on the outer periphery of the top of the circular collection box (74). The bottom of the soil trough (710) is fixedly connected to a positioning column (76) that cooperates with the ear seats (75). The bottom of the soil trough (710) is evenly provided with seepage holes (711) corresponding to the position of the circular collection box (74). A water collection groove (712) is provided at the bottom right end of the soil trough (710). The bottom end of the water collection groove (712) is connected to the circular collection box (74) through a transfer pipe (719). A discharge pipe (720) is installed on the bottom side of the circular collection box (74). A discharge valve (721) is installed on the discharge pipe (720).

4. The foot-ground simulation platform according to claim 3, characterized in that: The tilt control assembly includes 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 support column (72) through a positioning universal ball (73). The bottom of the support column (72) is fixedly connected to a frustum plate (71). The frustum plate (71) is installed on the upper middle part of the transverse plate (61). The bottom of the circular collection box (74) is connected to the top of four tilt control cylinders (78) respectively through four upper universal balls (79) arranged in a ring array. The bottom of each tilt control cylinder (78) is connected to the upper side of the transverse plate (61) through a lower universal ball (77).

5. The foot-ground simulation platform according to claim 1, characterized in that: The ground simulation mechanism (7) also includes a stone receiving drawer (723). A rectangular through slot (722) is provided on the top left side of the soil trough (710). The stone receiving drawer (723) is inserted in the rectangular through slot (722). The front and rear sides of the stone receiving drawer (723) are respectively provided with guide bars (724) that are slidably connected to the slide rail (717). The top right end of the stone receiving drawer (723) is threaded with an anti-loosening bolt (726).

6. The foot-ground simulation platform according to claim 3, characterized in that: It also includes a soil spraying and humidifying mechanism (8), which includes a rigid water pipe (83) and a forward and reverse swing assembly. Two curved frames (81) are fixedly connected to the left and right ends of the front side of the soil tank (710). Two mounting rings (82) are fixedly connected to the top of the two curved frames (81). The two mounting rings (82) are rotatably connected to the two ends of the rigid water pipe (83). Spray heads are provided at equal intervals on the side of the rigid water pipe (83) close to the soil tank (710). One end of the rigid water pipe (83) is closed and the other end is connected to one end of the flexible hose (85) through a flexible and rigid pipe joint (84). The end of the rigid water pipe (83) is connected to the forward and reverse swing assembly.

7. The foot-ground simulation platform according to claim 6, characterized in that: The forward and reverse swing assembly includes a drive cylinder (811), a gear (86) is fixedly sleeved at the end of the hard water pipe (83), a support (810) is fixedly connected to the bottom of the bending frame (81), the support (810) is fixedly connected to the bottom end of the drive cylinder (811), the top end of the drive cylinder (811) is fixedly connected to the bottom of the rack (87) through a vertical guide rod (88), the rack (87) is meshed 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 part of the corresponding bending frame (81) through a connecting rod.

8. The foot-ground simulation platform according to claim 1, characterized in that: It also includes a soil loosening mechanism (9), which includes a soil loosening motor (96). The top of the variable baffle (718) has two vertical slots (91), and the side of the variable baffle (718) has a side passage slot (92) that communicates with the middle of the vertical slots (91). Each vertical slot (91) is slidably connected to a vertical sliding plate (93). One end of a soil loosening shaft (94) is rotatably connected to the vertical sliding plate (93) through a bearing. The soil loosening shaft (94) is located in the soil trough box (710), and a soil loosening rod (95) is fixedly connected to the side of the soil loosening shaft (94). The soil loosening motor (96) is installed on the outside of the vertical sliding plate (93) through a motor seat (97). The output shaft of the soil loosening motor (96) is fixedly connected to the end of the soil loosening shaft (94).

9. The foot-ground simulation platform according to claim 8, characterized in that: The soil loosening mechanism (9) also includes 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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