A single-leg jump test bench and test method for a legged robot

Abstract

The present invention discloses a single-leg jump test bench and a test method for a legged robot, comprising a vertical freedom guide device, a one-way self-locking device and a bench platform; the vertical freedom guide device comprises a vertical column and a guide slide, the guide slide is slidably connected to the vertical column; the one-way self-locking device comprises a support, a slider, a first connecting rod assembly and a second connecting rod assembly, two first connecting rod assemblies are symmetrically hinged on both sides of the support, one end of the support is fixed with a slide bar, the slider is slidably arranged on the slide bar, a vertical locking column is arranged on the outer side of the other end of the support, one end of the first connecting rod assembly is slidably connected to the slide column on the slide through a slide groove, and a clamping block is arranged at the other end, the two clamping blocks are arranged oppositely, the vertical locking column is located between the two clamping blocks, one end of the second connecting rod assembly is connected to the guide slide, and the other end is hingedly connected to the slider. The present invention can provide protection for a single leg in the vertical direction, and can prevent the single leg from becoming unstable and falling when an unexpected situation occurs during the test.

Description

Technical Field

[0001] The invention relates to the technical field of legged robot testing, and in particular to a single-leg jumping test bench and a testing method for a legged robot. Background Art

[0002] In recent years, with the increase in demand for social activities, people have put forward higher standards for the movement ability of legged robots. Jumping is a typical high-dynamic and high-difficulty action. Legged robots can jump over higher obstacles and improve their passability. Due to the long manufacturing cycle and high trial and error cost of the complete prototype of the legged robot, a single-leg jump test is essential before conducting the jump test of the whole machine. However, the high dynamic characteristics mean that the jump movement has high kinetic energy and high destructive power, which makes the jump test accompanied by certain risks. In order to avoid damage to the single-leg test prototype due to unexpected factors during the test and to ensure the safety of the test personnel and surrounding electronic equipment, high requirements are placed on the functionality and protection of the single-leg jump test bench.

[0003] The current function of legged robot test benches is mainly to test gait, which constrains the vertical degree of freedom and cannot carry out jumping tests. A small number of benches have structures that involve the guidance of the vertical degree of freedom and the fixation of the degrees of freedom in other directions, and have basic jumping test functions.

[0004] In the prior art document with application number CN201710566682.6, a robot test platform is introduced, which mainly includes an integral bracket with a cubic structure, a transverse bracket and guide rails, a longitudinal bracket and guide rails, a slider, and a speed test platform. The slider and guide rails constitute a guide device for the robot's transverse and longitudinal degrees of freedom, which can test the robot's walking gait. However, since the transverse and longitudinal degrees of freedom cannot be fixed, the test platform does not have a jump test function.

[0005] In the prior art document with application number CN202011203856.0, a leg-and-foot robot test platform is introduced, whose structure consists of a frame, a Y constraint component, a rigid and flexible lifting component, a vertical slider mechanism, and a conveyor. The Y constraint component restricts the leg-and-foot robot from performing two-dimensional planar motion, and gait testing can be achieved in combination with the conveyor. When the leg-and-foot robot is fixed to the lower end of the vertical slider mechanism, the robot can only perform one-dimensional vertical motion, and a jump test can be carried out in this state.

[0006] In the prior art document with application number CN202311074974.X, a jumping test bench for a single-legged robot is introduced, which utilizes the simple structures such as the track tooth profile, push rod, spring, etc. to realize the one-way locking function. However, the coordination between the track tooth profile and the push rod is greatly affected by the processing accuracy, and after multiple tests, the track tooth profile is prone to wear, causing the one-way locking function of the test bench to gradually fail.

[0007] Combined with the above existing patent documents, it can be seen that the existing single-leg test bench of the legged robot with a jumping test function uses a motion guide device to limit the degrees of freedom other than the vertical direction, so that the single leg can only move in the vertical direction, which is convenient for carrying out jumping tests. However, jumping motion has the characteristics of high dynamics, and unpredictable factors are prone to occur during testing, such as improper planning of the take-off trajectory or control overshoot. When such a situation occurs, the swing of the single leg will be disordered and more violent. It is difficult to disable the motor by manually operating the emergency stop switch in the extremely short jumping moment. The existing test bench with a jumping test function only avoids the risk of the single leg tipping over and violent movement in the horizontal and vertical directions, and fails to provide strong protection in the vertical direction. This will most likely cause the single leg to land in an unstable state and be greatly impacted, which will cause greater damage to the mechanical structure and joint motor of the single leg. More seriously, it will cause damage to the prototype, thereby delaying the test progress and increasing the test cost. Summary of the invention

[0008] The purpose of the present invention is to provide a single-leg jumping test bench and test method for a legged robot to solve the problems existing in the above-mentioned prior art, to provide protection for the single leg in the vertical direction, to prevent the single leg from becoming unstable and falling when unexpected conditions occur during the test, and to improve the feasibility and safety of the single-leg jumping test.

[0009] To achieve the above object, the present invention provides the following solutions:

[0010] The present invention provides a single-leg jumping test bench for a legged robot, comprising a vertical freedom guide device, a one-way self-locking device and a bench platform;

[0011] The vertical freedom guide device includes a vertical column and a guide slide, the bottom of the vertical column is fixed to the platform, the guide slide is slidably connected to the vertical column, and the guide slide is used to install and fix the single leg of the robot to be tested;

[0012] The one-way self-locking device comprises a support, a slider, a first connecting rod assembly and a second connecting rod assembly, two first connecting rod assemblies are symmetrically hinged on both sides of the support, and one end of the support is fixed with a sliding rod, and the sliding rod is located on the symmetrical center plane of the two first connecting rod assemblies. The sliding rod is slidably arranged on the sliding rod, and a vertical locking column is arranged on the outer side of the other end of the support, and the bottom of the vertical locking column is fixed on the platform. The axis of the vertical locking column is located on the symmetrical center plane of the two first connecting rod assemblies. One end of the first connecting rod assembly is provided with a sliding groove, and a sliding column is fixed on each of the two sides of the slider, and the sliding column is slidably arranged in the sliding groove on the same side thereof. The other end of the first connecting rod assembly is provided with a clamping block, and the two clamping blocks are arranged opposite to each other, and the vertical locking column is located between the two clamping blocks. The second connecting rod assembly is arranged on a side of the slider facing away from the vertical locking column and is hingedly connected to the sliding rod. One end of the second connecting rod assembly is connected to the guide slide, and the other end is hingedly connected to the slider.

[0013] When the single leg of the robot to be tested tends to move downward, the guide slide passes through the second connecting rod assembly, the slider and the two first connecting rod assemblies, so that the two clamping blocks clamp the vertical locking column inward; when the single leg of the robot to be tested is in an upward moving state, the guide slide passes through the second connecting rod assembly, the slider and the two first connecting rod assemblies, so that the two clamping blocks will not contact the vertical locking column.

[0014] Preferably, the first connecting rod assembly includes a first rod, a second rod and a third rod connected in sequence, the sliding groove is arranged at the first end of the first rod, the second end of the first rod is hinged to the first end of the second rod, a first hinge portion hinged to the support is arranged between the first end and the second end of the first rod, the second end of the second rod is hinged to the first end of the third rod, the clamping block is arranged at the second end of the third rod, and a second hinge portion hinged to the support is arranged between the first end and the second end of the third rod.

[0015] Preferably, the first rod and the second rod are straight rods, the third rod is an L-shaped rod, the first hinged portion is arranged at the middle of the first rod, and the second hinged portion is arranged at a right angle to the third rod.

[0016] Preferably, the clamping block is an arc-shaped clamping block, the vertical locking column is a cylinder, and the radius of the arc-shaped clamping block is equal to the radius of the vertical locking column.

[0017] Preferably, the second connecting rod assembly includes a fourth rod and a fifth rod connected in sequence, the first end of the fourth rod is hinged to the slider, the second end of the fourth rod is hinged to the first end of the fifth rod, the second end of the fifth rod is connected to the guide slide, and a third hinge portion hinged to the slide rod is provided between the first end and the second end of the fifth rod.

[0018] Preferably, the fourth rod is a straight rod, the fifth rod is a V-shaped rod, and the third hinged portion is located at the V-shaped apex of the fifth rod.

[0019] Preferably, a plurality of universal wheels are provided at the bottom of the stand platform.

[0020] Preferably, two of the vertical locking columns are fixedly provided on the platform, and two of the one-way self-locking devices respectively cooperating with the two vertical locking columns are connected to the guide slide.

[0021] The present invention also provides a single-leg jump test method for a legged robot, based on the single-leg jump test bench for the legged robot described above, comprising the following steps:

[0022] Step 1: Connect the one-way self-locking device to the guide slide, and fix the single leg of the robot to be tested on the guide slide;

[0023] Step 2: Drag the guide slide upwards, manually release the one-way lock, and then lower the single leg of the robot to be tested to a suitable initial position;

[0024] Step 3: Run the algorithm program and conduct a single-leg jump ascending phase test to verify the rationality of the take-off trajectory planning and the effectiveness and stability of the single-leg joint control strategy;

[0025] Step 4: If the test result does not meet expectations or unexpected control overshoot or single-leg instability occurs, operate the emergency stop switch to power off the motor according to the actual situation, troubleshoot the problem in the algorithm, optimize and improve the algorithm program, and execute again from step 2; if the test is successful and the result is as expected, execute step 5;

[0026] Step 5: manually release the one-way lock, reset the single leg of the robot to be tested, remove the one-way self-locking device, and readjust the single leg of the robot to be tested to a suitable initial position;

[0027] Step 6: Run the algorithm program to test the overall jumping process including rising and falling.

[0028] Compared with the prior art, the present invention has achieved the following technical effects:

[0029] 1. The single-leg jump test bench of the legged robot provided by the present invention not only fixes the lateral and longitudinal degrees of freedom, but also has a one-way locking function for the vertical degree of freedom. When the unpredictable factors such as improper planning of the take-off trajectory or control overshoot during the test cause the single leg to become unstable and vibrate at a large frequency, the one-way self-locking device constrains the vertical downward movement, and the single leg will not become unstable and fall to the ground. The test personnel have sufficient time to deal with emergencies and perform emergency stop and power-off measures to avoid the single leg from being impacted and causing damage to the mechanical structure or motor. The main idea of ​​the test method applied to the single-leg jump bench provided by the present invention is to first perform a jump rising phase test, and after verifying that the algorithm is reasonable and effective and there is no problem in the rising phase, the one-way self-locking device is removed to perform a complete jumping process test including rising and falling. Therefore, the single-leg jump test bench and the jump test method described in the present invention can reduce the risk and cost of the test, reduce the damage to the test equipment, ensure the smooth implementation of the single-leg jump test, and improve the feasibility and safety of the single-leg jump test.

[0030] 2. The one-way self-locking device in the present invention realizes the one-way locking function through simple structures such as a slider, a support, and a rod, and does not require additional actuating elements. It has the advantages of simple structure, low cost, easy disassembly and assembly, and energy saving.

[0031] 3. The one-way self-locking device in the present invention does not contact the vertical locking column when locking is not required, and tightly clamps the vertical locking column when locking is required, that is, the deformation loss at the locking joint only occurs when locking. However, for the one-way locking device proposed in patent CN202311074974.X, when locking is not required, the top rod in the device will still contact and interfere with the locking track, causing the tooth shape of the locking track to be easily deformed, and as long as there is a large deformation of the tooth shape on the entire track, its one-way locking function will be affected, resulting in a greater experimental risk. Therefore, compared with patent CN202311074974.X, the one-way self-locking device in the present invention has the advantages of not easy to wear, high durability and strong reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic structural diagram of a single-leg jumping test bench for a legged robot in an embodiment of the present invention;

[0034] Figure 2It is a schematic diagram of the connection structure between the one-way self-locking device and the vertical locking column in an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a one-way self-locking device in an embodiment of the present invention clamping a vertical locking column to achieve one-way locking;

[0036] Figure 4 It is a schematic diagram of the one-way self-locking device in the embodiment of the present invention when it does not contact the vertical locking column;

[0037] Figure 5 This is a flow chart of the single-leg jumping test method for a legged robot provided by the present invention.

[0038] In the figure: 1-vertical freedom guide device, 2-one-way self-locking device, 3-stand platform, 4-vertical column, 5-guide slide plate, 6-support, 7-slider, 8-first connecting rod assembly, 9-second connecting rod assembly, 10-slide bar, 11-vertical locking column, 12-slide groove, 13-slide column, 14-clamping block, 15-first rod, 16-second rod, 17-third rod, 18-first hinge part, 19-second hinge part, 20-fourth rod, 21-fifth rod, 22-third hinge part, 23-universal wheel. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The purpose of the present invention is to provide a single-leg jumping test bench and test method for a legged robot to solve the problems existing in the prior art, to provide protection for the single leg in the vertical direction, to prevent the single leg from becoming unstable and falling when unexpected conditions occur during the test, and to improve the feasibility and safety of the single-leg jumping test.

[0041] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1-Figure 2 As shown, this embodiment provides a single-leg jump test bench for a legged robot, comprising a vertical freedom guide device 1, a one-way self-locking device 2 and a bench platform 3;

[0043] The vertical freedom guide device 1 includes a vertical column 4 and a guide slide 5. The bottom of the vertical column 4 is fixed on the platform 3. The guide slide 5 is slidably connected to the vertical column 4. The guide slide 5 is used to install and fix the single leg of the robot to be tested.

[0044] The one-way self-locking device 2 includes a support 6, a slider 7, a first connecting rod assembly 8 and a second connecting rod assembly 9. Two first connecting rod assemblies 8 are symmetrically hinged on both sides of the support 6. A sliding rod 10 is fixedly arranged at one end of the support 6. The sliding rod 10 is located on the symmetrical center plane of the two first connecting rod assemblies 8. The slider 7 is slidably arranged on the sliding rod 10. A vertical locking column 11 is arranged on the outer side of the other end of the support 6. The bottom of the vertical locking column 11 is fixed on the platform 3. The axis of the vertical locking column 11 is located on the symmetrical center plane of the two first connecting rod assemblies 8. A slide groove 12 is provided at one end of the first connecting rod assembly 8, and a slide column 13 is fixedly provided on both sides of the slider 7. The slide column 13 is slidably arranged in the slide groove 12 on the same side thereof. A clamping block 14 is provided at the other end of the first connecting rod assembly 8. The two clamping blocks 14 are arranged opposite to each other, and the vertical locking column 11 is located between the two clamping blocks 14. The second connecting rod assembly 9 is arranged on the side of the slider 7 facing away from the vertical locking column 11 and is hingedly connected to the slide rod 10. One end of the second connecting rod assembly 9 is connected to the guide slide 5, and the other end is hingedly connected to the slider 7.

[0045] When the single leg of the robot to be tested tends to move downward, the guide slide 5 passes through the second connecting rod assembly 9, the slider 7 and the two first connecting rod assemblies 8, so that the two clamping blocks 14 clamp the vertical locking column 11 inward; when the single leg of the robot to be tested is in an upward moving state, the guide slide 5 passes through the second connecting rod assembly 9, the slider 7 and the two first connecting rod assemblies 8, so that the two clamping blocks 14 will not contact the vertical locking column 11.

[0046] Through the setting of the vertical column 4 and the guide slide 5, the lateral and longitudinal degrees of freedom of the single leg of the robot to be tested are constrained, and the single leg of the robot to be tested is vertically guided. Through the slider 7, the support 6, the connecting rod assembly (the first connecting rod assembly 8 and the second connecting rod assembly 9) and other structures in the one-way self-locking device 2, in cooperation with the vertical locking column 11, the one-way locking of the single leg of the robot to be tested is realized. When the unpredictable factors such as improper planning of the take-off trajectory or control overshoot during the test cause the single leg of the robot to be tested to become unstable and vibrate at a large high frequency, the one-way self-locking device 2 constrains the vertical downward movement, and the single leg of the robot to be tested will not become unstable and fall to the ground. The test personnel have sufficient time to deal with emergencies and perform emergency stop and power-off measures to avoid the single leg of the robot to be tested from being impacted and causing damage to the mechanical structure or motor. After multiple tests at this stage without problems, the one-way self-locking device 2 can be disassembled, and then the overall jumping process including rising and falling can be tested.

[0047] In this embodiment, the first connecting rod assembly 8 includes a first rod 15, a second rod 16 and a third rod 17 connected in sequence, a first end of the first rod 15 is provided with a slide slot 12, a second end of the first rod 15 is hinged to a first end of the second rod 16, a first hinge portion 18 hinged to the support 6 is provided between the first and second ends of the first rod 15, a second end of the second rod 16 is hinged to a first end of the third rod 17, a clamping block 14 is provided at the second end of the third rod 17, and a second hinge portion 19 hinged to the support 6 is provided between the first and second ends of the third rod 17. The first rod 15 and the second rod 16 are straight rods, the third rod 17 is an L-shaped rod, the first hinge portion 18 is provided at the middle of the first rod 15, and the second hinge portion 19 is provided at a right angle to the third rod 17.

[0048] In this embodiment, the clamping block 14 is an arc-shaped clamping block, and the vertical locking column 11 is a cylinder. The radius of the arc-shaped clamping block is equal to the radius of the vertical locking column 11, so the clamping effect on the vertical locking column 11 is better.

[0049] In this embodiment, the second connecting rod assembly 9 includes a fourth rod 20 and a fifth rod 21 connected in sequence, the first end of the fourth rod 20 is hinged to the slider 7, the second end of the fourth rod 20 is hinged to the first end of the fifth rod 21, the second end of the fifth rod 21 is connected to the guide slide 5, and a third hinged portion 22 hinged to the slide bar 10 is provided between the first end and the second end of the fifth rod 21. The fourth rod 20 is a straight rod, the fifth rod 21 is a V-shaped rod, and the third hinged portion 22 is located at the V-shaped vertex of the fifth rod 21.

[0050] In this embodiment, a plurality of universal wheels 23 are provided at the bottom of the stand platform 3 to facilitate the overall movement of the equipment.

[0051] In this embodiment, two vertical locking columns 11 are fixedly provided on the test platform 3, and two one-way self-locking devices 2 respectively cooperating with the two vertical locking columns 11 are connected to the guide slide 5. By providing two sets of one-way self-locking devices 2 and vertical locking columns 11, the safety during the test is further improved.

[0052] The principle by which the single-leg jump test bench of the legged robot in this embodiment can achieve one-way locking of vertical motion is as follows:

[0053] When the robot's single leg is not in an upward motion state, the one-way self-locking device 2 is as follows: Figure 3As shown. When the guide slide 5 drives the front end of the fifth rod 21 to move downward, the rear end of the fourth rod 20 is retracted forward according to the connecting rod transmission, driving the slider 7 to slide forward; the cooperation between the slide column 13 and the slide slot 12 causes the two first rods 15 to be subjected to a forward force, which is driven by the two second rods 16, so that the rear ends of the two third rods 17 move inward and tightly clamp the vertical locking column 11 through the two clamping blocks 14. Therefore, when the guide slide 5 has a tendency to move downward along the vertical column 4, the two one-way self-locking devices 2 will tightly clamp the vertical locking column 11 to prevent the robot from moving downward on one leg.

[0054] When the robot's single leg is in an upward motion, the one-way self-locking device 2 is Figure 4 As shown. When the guide slide 5 drives the front end of the fifth rod 21 to move upward, the rear end of the fourth rod 20 is pushed backward according to the connecting rod transmission, driving the slider 7 to slide backward; the cooperation between the slide column 13 and the slide slot 12 causes the two first rods 15 to be subjected to a backward force, and through the transmission of the two second rods 16, the rear ends of the two third rods 17 are spread outward and will not contact the vertical locking column 11. Therefore, when the guide slide 5 has a tendency to move upward along the vertical column 4, the two one-way self-locking devices 2 will not contact the vertical locking column 11, and will not affect the movement of the robot's single leg, and the robot's single leg can move upward.

[0055] like Figure 5 As shown, a single-leg jump test method for a legged robot is based on the single-leg jump test bench for the legged robot described above, and comprises the following steps:

[0056] Step 1: Connect the one-way self-locking device 2 to the guide slide 5 through interference fit, and fix the single leg of the robot to be tested on the guide slide 5 through screws and bolts;

[0057] Step 2: Hold the guide slide 5 with both hands so that the resultant force on the front end of the fifth rod 21 of the one-way self-locking device 2 is not directed downward. At this time, the one-way self-locking device 2 will not contact and interfere with the vertical locking column 11, and the one-way self-locking function fails. Slowly lower the guide slide 5, that is, manually release the one-way lock, and then lower the single leg of the robot to be tested to a suitable initial position;

[0058] Step 3: Run the algorithm program and conduct a single-leg jump ascending phase test to verify the rationality of the take-off trajectory planning and the effectiveness and stability of the single-leg joint control strategy;

[0059] Step 4: If the test results do not meet expectations or unexpected phenomena such as control overshoot and single-leg instability occur, operate the emergency stop switch to power off the motor according to the actual situation, troubleshoot the problems in the algorithm, optimize and improve the algorithm program, and re-execute from step 2; if the test is successful and the results meet expectations, execute step 5;

[0060] Step 5: Manually release the one-way lock, reset the single leg of the robot to be tested, remove the one-way self-locking device 2, and readjust the single leg of the robot to be tested to a suitable initial position;

[0061] Step 6: Run the algorithm program to test the overall jumping process including rising and falling.

[0062] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A single-leg jump test bench for a legged robot, characterized in that: It includes a vertical freedom guide device, a one-way self-locking device and a bench platform; The vertical freedom guide device includes a vertical column and a guide slide, the bottom of the vertical column is fixed to the platform, the guide slide is slidably connected to the vertical column, and the guide slide is used to install and fix the single leg of the robot to be tested; The one-way self-locking device comprises a support, a slider, a first connecting rod assembly and a second connecting rod assembly, two first connecting rod assemblies are symmetrically hinged on both sides of the support, and one end of the support is fixed with a sliding rod, and the sliding rod is located on the symmetrical center plane of the two first connecting rod assemblies. The sliding rod is slidably arranged on the sliding rod, and a vertical locking column is arranged on the outer side of the other end of the support, and the bottom of the vertical locking column is fixed on the platform. The axis of the vertical locking column is located on the symmetrical center plane of the two first connecting rod assemblies. One end of the first connecting rod assembly is provided with a sliding groove, and a sliding column is fixed on each of the two sides of the slider, and the sliding column is slidably arranged in the sliding groove on the same side thereof. The other end of the first connecting rod assembly is provided with a clamping block, and the two clamping blocks are arranged opposite to each other, and the vertical locking column is located between the two clamping blocks. The second connecting rod assembly is arranged on a side of the slider facing away from the vertical locking column and is hingedly connected to the sliding rod. One end of the second connecting rod assembly is connected to the guide slide, and the other end is hingedly connected to the slider. When the single leg of the robot to be tested tends to move downward, the guide slide passes through the second connecting rod assembly, the slider and the two first connecting rod assemblies, so that the two clamping blocks clamp the vertical locking column inward; when the single leg of the robot to be tested is in an upward moving state, the guide slide passes through the second connecting rod assembly, the slider and the two first connecting rod assemblies, so that the two clamping blocks will not contact the vertical locking column.

2. The single-leg jump test bench for legged robots according to claim 1 is characterized in that: The first connecting rod assembly includes a first rod, a second rod and a third rod connected in sequence, the sliding groove is arranged at the first end of the first rod, the second end of the first rod is hinged to the first end of the second rod, a first hinge portion hinged to the support is arranged between the first end and the second end of the first rod, the second end of the second rod is hinged to the first end of the third rod, the clamping block is arranged at the second end of the third rod, and a second hinge portion hinged to the support is arranged between the first end and the second end of the third rod.

3. The single-leg jump test bench for legged robots according to claim 2 is characterized in that: The first rod and the second rod are straight rods, the third rod is an L-shaped rod, the first hinged portion is arranged at the middle of the first rod, and the second hinged portion is arranged at a right angle to the third rod.

4. The single-leg jump test bench for a legged robot according to claim 1, characterized in that: The clamp block is an arc-shaped clamp block, the vertical locking column is a cylinder, and the radius of the arc-shaped clamp block is equal to the radius of the vertical locking column.

5. The single-leg jump test bench for legged robots according to claim 1 is characterized in that: The second connecting rod assembly includes a fourth rod and a fifth rod connected in sequence, the first end of the fourth rod is hinged to the slider, the second end of the fourth rod is hinged to the first end of the fifth rod, the second end of the fifth rod is connected to the guide slide, and a third hinge portion hinged to the slide rod is provided between the first end and the second end of the fifth rod.

6. The single-leg jump test bench for legged robots according to claim 5, characterized in that: The fourth rod is a straight rod, the fifth rod is a V-shaped rod, and the third hinge portion is located at the V-shaped apex of the fifth rod.

7. The single-leg jump test bench for a legged robot according to claim 1, characterized in that: A plurality of universal wheels are arranged at the bottom of the platform.

8. The single-leg jump test bench for a legged robot according to claim 1, characterized in that: The two vertical locking columns are fixedly provided on the platform, and the two one-way self-locking devices respectively cooperating with the two vertical locking columns are connected to the guide slide.

9. A method for testing a legged robot's single-leg hopping, characterized in that: The single-leg jump test bench for a legged robot according to any one of claims 1 to 8 comprises the following steps: Step 1: Connect the one-way self-locking device to the guide slide, and fix the single leg of the robot to be tested on the guide slide; Step 2: Drag the guide slide upwards, manually release the one-way lock, and then lower the single leg of the robot to be tested to a suitable initial position; Step 3: Run the algorithm program and conduct a single-leg jump ascending phase test to verify the rationality of the take-off trajectory planning and the effectiveness and stability of the single-leg joint control strategy; Step 4: If the test result does not meet expectations or unexpected control overshoot or single-leg instability occurs, operate the emergency stop switch to power off the motor according to the actual situation, troubleshoot the problem in the algorithm, optimize and improve the algorithm program, and execute again from step 2; if the test is successful and the result is as expected, execute step 5; Step 5: manually release the one-way lock, reset the single leg of the robot to be tested, remove the one-way self-locking device, and readjust the single leg of the robot to be tested to a suitable initial position; Step 6: Run the algorithm program to test the overall jumping process including rising and falling.

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