Human body model for interactive collision test of collaborative robot and control method of human body model

Abstract

The invention relates to the technical field of robot collision test, and provides a human body model for collaborative robot interaction collision test and a control method thereof, and the human body model comprises a head module which comprises a head supporting part and a head model covering the outer layer of the head supporting part, and a three-dimensional force sensor is fixed on the side surface of the head module; the neck module comprises a neck skeleton rotationally connected with the head supporting part, and a six-dimensional force sensor is arranged at the joint; the trunk module comprises a trunk skeleton hinged to the neck skeleton and a thoracic cavity model covering the outer layer of the trunk skeleton, a plurality of three-dimensional force sensors are arranged on the front chest part of the trunk skeleton, and a three-dimensional force sensor and a flexible sensor are arranged on the back part; the big arm skeleton is connected with the trunk skeleton and is provided with a three-dimensional force sensor; the pose adjusting module comprises a horizontal rotating structure and a linear module, and simulates human body steering and gait movement so as to drive the head module, the neck module, the trunk module and the upper limb module to move and collide with the collaborative robot. Omnidirectional capture and analysis of the space collision force are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robot collision testing, and in particular to a human body model for interactive collision testing of a collaborative robot and a control method thereof. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Existing robotic crash test mannequins still have significant limitations in terms of technical implementation: First, while most models attempt to integrate sensors to enhance data collection capabilities, sensor placement is often concentrated in a single direction or localized area. For example, installing only unidirectional pressure sensors on the torso surface fails to fully capture complex data such as force, moment, and torque in three dimensions. This single-dimensional measurement approach severely limits the accuracy of collision energy distribution analysis, especially in complex collision scenarios involving multi-axial force coupling, where data loss is particularly prominent. Furthermore, existing models' joint designs generally suffer from a limited range of motion. For example, in arm joints, most models only achieve flexion and extension within a limited range of motion, lacking simulation of rotation, lateral swing, and other degrees of freedom. This results in an inability to replicate the flexible motion of human limbs and, consequently, to meet the requirements for multi-posture collision assessment in dynamic interaction testing of collaborative robots. More importantly, the lack of integration between the bone structure and the sensor further amplifies the measurement error: for example, the sensor is usually fixed to the bone surface in an external attachment form. This separate design is prone to signal interference due to mechanical vibration or assembly gap, and it is difficult to accurately transmit the bone force and deformation information.

[0004] The above problems together make it difficult for existing human body models to provide high-fidelity biomechanical data in testing. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a human body model for collaborative robot interactive collision testing and a control method thereof. Sensors are embedded in the bionic skeleton to accurately transmit the force and deformation information of the skeleton. By deploying a three-dimensional / six-dimensional force sensor network at the key physiological nodes of the human body model, omnidirectional capture and analysis of spatial collision forces are achieved. This not only overcomes the defect of incomplete data coverage of traditional single sensor data, but also can generate high-resolution force field distribution maps through algorithm fusion, providing a quantitative basis for evaluating the collision safety of robots.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides a human body model for collaborative robot interactive collision testing, comprising a head module, a neck module, a torso module, an upper limb module, and a posture adjustment module; The head module includes a head support part and a head model covered by an outer layer, and a three-dimensional force sensor is fixed on the side of the head support part to detect the impact force of the head in a collision; The neck module includes a neck bone rotatably connected to the head support part, and a six-axis force sensor is provided at the connection between the head support part and the neck bone for detecting the three-axis force and torque around the three axes in a collision; The torso module includes a trunk skeleton hinged to the neck skeleton and a thorax model covered by an outer layer. The front chest part of the trunk skeleton is equipped with a number of three-dimensional force sensors, and the back part of the trunk skeleton is equipped with a three-dimensional force sensor and a flexible sensor, forming a distributed mechanical monitoring network to detect the thorax pressure field and energy distribution in a collision. The upper limb module includes an upper arm skeleton, a lower arm skeleton and a hand skeleton connected in sequence, the upper arm skeleton is connected to the trunk skeleton, and is provided with a three-dimensional force sensor for detecting the collision force of the upper limb during a collision; The posture adjustment module includes a horizontal rotation structure and a linear module, which simulates the turning and gait movement of the human body to drive the movement of the head, neck, torso and upper limb modules and collide with the collaborative robot.

[0007] Furthermore, the outer layers of the upper arm skeleton, lower arm skeleton and hand skeleton respectively cover the upper arm model, lower arm model and hand model.

[0008] Furthermore, the trunk skeleton is connected to the upper arm skeleton through a shoulder joint, and the shoulder joint includes a shoulder rotation axis, a shoulder fixed base connected to the trunk skeleton, and an upper arm connection base connected to the upper arm skeleton. The shoulder rotation axis connects the shoulder fixed base and the upper arm connection base in an L shape.

[0009] Furthermore, the upper arm skeleton and the lower arm skeleton are connected through an elbow joint, and the elbow joint includes a first elbow joint fixing block, a joint rotation block and a second elbow joint fixing block which are sequentially connected from top to bottom.

[0010] Furthermore, the forearm skeleton is connected to the hand skeleton through a wrist joint, and the wrist joint includes a first wrist joint fixing block, a joint rotation block, a second wrist joint fixing block and a hand joint fixing block which are sequentially connected from top to bottom.

[0011] Furthermore, the linear module includes a ball screw and a slider arranged on the ball screw, and the horizontal rotating structure is fixed on the slider.

[0012] Furthermore, the flexible sensor conforms to the S-shaped physiological curvature of the spine.

[0013] Furthermore, the horizontal rotating structure includes a rotating column, a second rotating joint and a fixed column; The top of the rotating column is fixedly connected to the bottom of the trunk bone, and the top of the second rotating joint is fixedly connected to the bottom of the rotating column; the shape of the second rotating joint is three hollow concentric cylinders stacked from top to bottom, and the outer diameters of the three cylinders decrease from large to small from top to bottom. The inner diameter of the first cylinder of the second rotating joint is larger than the inner diameters of the second cylinder and the third cylinder. The inner diameters of the second cylinder and the third cylinder are the same, and the bottom of the third cylinder is provided with an inward protrusion.

[0014] Furthermore, the horizontal rotation structure further comprises a bearing end cover, a stop washer, a round nut, a bearing and a first rotation joint; The shape of the first rotary joint is five solid concentric cylinders stacked from top to bottom, and the diameters of the five cylinders increase from small to large from top to bottom; the bottom of the first rotary joint is fixedly connected to the top of the fixed column, the bearing is sleeved on the outside of the second cylinder of the first rotary joint, and a round nut is sleeved on the outside of the first cylinder of the first rotary joint, and a locking washer is provided between the round nut and the inner ring of the shaft, and the inner ring of the bearing is fixed to the first rotary joint by tightening the round nut downward; the second cylinder and the third cylinder of the second rotary joint are sleeved on the outside of the bearing, and the bottom of the outer ring of the bearing contacts the protrusion at the bottom of the second rotary joint, the top of the bearing end cover is fixedly connected to the second cylinder of the second rotary joint, and the bottom of the bearing end cover contacts the top of the outer ring of the bearing.

[0015] A second aspect of the present invention provides a method for controlling a human model for interactive collision testing of collaborative robots as described in the first aspect, comprising the following steps: Control the horizontal rotation structure and linear module to simulate human turning and gait movements to drive the head, neck, torso and upper limb modules to collide with the collaborative robot; The three-dimensional force sensor of the control head module detects the head collision force in the collision, the six-dimensional force sensor of the control neck module detects the three-axis force and torque around the three axes in the collision, the three-dimensional force sensor and flexible sensor of the control torso module detect the chest pressure field and energy distribution in the collision, and the three-dimensional force sensor of the control upper limb module detects the collision force of the upper limb during the collision.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The human body model for interactive collision testing of collaborative robots described in the present invention embeds sensors inside the bionic skeleton, which can accurately transmit the force and deformation information of the skeleton. By deploying a three-dimensional / six-dimensional force sensor network at key physiological nodes of the human body model, it realizes omnidirectional capture and analysis of spatial collision forces. It not only overcomes the defect of incomplete data coverage of traditional single sensor, but also can generate high-resolution force field distribution maps through algorithm fusion, providing a quantitative basis for evaluating the collision safety of robots.

[0017] The human body model for interactive collision testing of collaborative robots described in the present invention is based on a multi-degree-of-freedom design of a rotational joint. The human body model can simulate the complex movement patterns of human joints, and its movement trajectory is highly consistent with the biomechanical characteristics of the human shoulder joint.

[0018] The human body model for interactive collision testing of collaborative robots described in the present invention has a combination of a linear module (ball screw and slider) and a horizontal rotation structure (rotating column, second rotary joint, fixed column, etc.) of its posture adjustment module, which can realize horizontal movement and rotation of the human body model, making it convenient to adjust the position and posture of the human body model during the test to adapt to different testing requirements, increase the flexibility and operability of the test, and enable the test to more comprehensively cover various possible collision situations.

[0019] The human body model for collaborative robot interactive collision testing described in the present invention has a flexible sensor that fits the S-shaped physiological curvature of the spine. This design can better fit the human back, more accurately detect the mechanical changes of the back during a collision, improve the accuracy of the test, and make the test results more reflect the physiological response of the human body in a real collision. It is of great significance for evaluating the impact of collaborative robot collisions on the human spine and other parts.

[0020] The human body model for interactive collision testing of a collaborative robot described in the present invention has a design of joint structures such as the shoulder joint, elbow joint and wrist joint, such as the connection method of the shoulder rotation axis, the shoulder fixed base and the upper arm connection base of the shoulder joint, the connection method of the first elbow joint fixed block, the joint rotation block and the second elbow joint fixed block of the elbow joint, and the connection method of multiple fixed blocks and joint rotation blocks of the wrist joint, which can ensure the stability and reliability of the joint in the collision test, reduce the test error caused by loose or damaged joints, and ensure the smooth progress of the test.

[0021] The human body model for interactive collision testing of a collaborative robot described in the present invention has a horizontal rotation structure in which the special shape design of the first rotation joint and the second rotation joint (a structure of multiple concentric cylinders), as well as the coordination of components such as bearings, round nuts, and stop washers, can achieve stable rotation of the horizontal rotation structure, while facilitating installation and maintenance, thereby improving the rotation accuracy and stability of the human body model in the test and enabling the test results to more accurately reflect the collision situation of the human body during steering movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0023] Figure 1 An exploded view of a human model for interactive collision testing of collaborative robots provided by the present invention; Figure 2 A front view of a human model for interactive collision testing of collaborative robots provided by the present invention; Figure 3 A rear view of a human model for interactive collision testing of collaborative robots provided by the present invention; Figure 4 A schematic diagram of the shoulder joint structure provided by the present invention; Figure 5 A schematic diagram of the arm joint structure provided by the present invention; Figure 6 A schematic diagram of the horizontal rotation structure provided by the present invention; Figure 7 A side view of the human body model for collaborative robot interactive collision testing provided by the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0027] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention, and should not be understood as limiting the present invention.

[0028] In the present invention, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meanings of these terms in the present invention based on specific circumstances, and they should not be construed as limitations of the present invention.

[0029] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0030] Example 1 Faced with the increasingly complex collision test and evaluation needs in the human-machine collaborative environment of collaborative robots, it is urgent to develop a human body model that combines high-precision sensing, bionic motion capabilities and modular design to break through the bottleneck of existing technologies and provide a reliable tool for standardized testing of the dynamic safety performance of robots.

[0031] This embodiment 1 provides a human body model for collaborative robot interactive collision testing.

[0032] The present embodiment provides a human body model for collaborative robot interactive collision testing, which can accurately simulate the biomechanical characteristics of the human body and detect multi-dimensional collision force data in real time.

[0033] This embodiment provides a human body model for collaborative robot interactive collision testing, including a head module, a neck module, a torso module, a shoulder joint, an upper limb module, a posture adjustment module and a collaborative robot.

[0034] like Figure 1 As shown, the head module includes a head model 1, a head support part 9, and a first three-dimensional force sensor 10. The head model 1 integrates the head support part 9 and the first three-dimensional force sensor 10 located on the temporal bone of the head, which is rigidly connected to the head support part 9. The first three-dimensional force sensor 10 is used to detect the impact force on the head.

[0035] The head support portion 9 is L-shaped, and the first three-dimensional force sensor 10 is fixed to the side surface of the head support portion 9 .

[0036] The outer skeleton of the head model 1 is covered with a shock-absorbing silicone layer to simulate the brain's damping properties, ensuring that the force transmission path is consistent with the human body's biomechanical response. The temporal bone is one of the thinnest parts of the skull and has a weak impact resistance. Therefore, a first three-dimensional force sensor 10 is installed at the temporal bone to detect the impact force vector of the head during a collision in real time, including the normal pressure, lateral shear force, and their action time curves.

[0037] like Figure 1As shown, the neck module includes a six-dimensional force sensor 11 and a neck skeleton 12. The top of the neck skeleton 12 is rotatably connected to the bottom surface of the head support part 9, and a six-dimensional force sensor 11 is set at the connection between the two. The head module is hinged to the torso skeleton 21 through the neck skeleton 12 and the six-dimensional force sensor 11.

[0038] Among them, the six-dimensional force sensor 11 installed on the neck can measure the X / Y / Z axis force and the torque around the three axes in real time.

[0039] The neck bone 12 is set to tilt forward 15 degrees to conform to the human body structure and improve the authenticity of the model.

[0040] The torso module includes a chest model 2, a torso skeleton 21, a support base 13, three second three-dimensional force sensors 22, a third three-dimensional force sensor 23, and a flexible sensor 14. The chest model 2 has a built-in chest skeleton 21. The torso skeleton 21 adopts a profiled steel plate welded structure to ensure its strength and durability. Three three-dimensional force sensor support bases 13 are fixed on the front of the torso skeleton 21 to ensure sensor stability. The three second three-dimensional force sensors 22 on the front chest are placed on the support base 13, as shown in the figure. Figure 2 As shown; the third three-dimensional force sensor 23 and the flexible sensor 14 are arranged behind the trunk skeleton 21, and the flexible sensor 14 on the back fits the S-shaped physiological curvature of the spine to monitor the bending deformation and pressure distribution, as shown Figure 3 As shown, three second-dimensional force sensors 22 on the chest, a third-dimensional force sensor 23 on the back, and flexible sensors 14 form a distributed mechanical monitoring network. This generates a real-time spinal curvature cloud map by detecting deformation and pressure distribution. Combined with the sensor array, this allows for dynamic monitoring of the thoracic pressure field and analysis of energy distribution.

[0041] like Figure 4 As shown, the shoulder joint is designed as a dual-action joint structure, supporting 0-180° flexion and extension and ±45° lateral swing. This allows it to move freely in multiple directions, simulating complex shoulder movements. The shoulder joint includes an M5 bolt 38, a shoulder fixing base 39, an M5 stepped bolt 40, an upper arm connection base 41, a shoulder rotation axis 42, and a shoulder joint pin 43.

[0042] M5 bolts 38 secure the shoulder mounting base 39 to the torso model, providing a stable base.

[0043] The end of the shoulder fixed base 39, facing away from the torso model, is rotatably connected to one end of the shoulder rotation axis 42, and the two are coaxial. The shoulder rotation axis 42 serves as the primary rotation axis and is perpendicular to the human sagittal plane (anteroposterior direction). The connecting base 41 is connected to the other end of the shoulder rotation axis 42, and their mid-axis is perpendicular. Rotation of the shoulder rotation axis 42 drives the upper arm connecting base 41 to rotate, achieving flexion (raising the arm forward) and extension (swinging the arm backward). An M5 stepped bolt 40 threadedly secures the shoulder fixed base 39 to the shoulder rotation axis 42. Its stepped structure limits axial displacement and ensures rotational stability. The M5 stepped bolt 40 can be adjusted to limit the rotation range to 0-180°.

[0044] The shoulder joint pin 43 serves as the second rotation axis, which is perpendicular to the coronal plane of the human body (left-right direction), passes through the shoulder rotation axis 42 and the upper arm connection base 41, and the upper arm connection base 41 rotates around the shoulder joint pin 43 to achieve abduction (lateral extension of the arm) and adduction (arm retracted toward the midline of the body), and a limiting groove or pin buckle is provided on the side of the upper arm connection base 41 to control the rotation range within ±45°.

[0045] The above-mentioned dual-axis design provides 0-180° flexion and extension and ±45° lateral swing passive degrees of freedom through the synergistic effect of the shoulder rotation axis (flexion and extension axis) and the shoulder joint pin (lateral swing axis), while using modular positioning pin components (such as M5 stepped bolts and shoulder joint pins) to achieve multi-angle rigid locking; through preset pin holes or threaded limits, the arm can be quickly fixed in typical anatomical positions (such as neutral position, 90° abduction position) or customized test angles, significantly improving the posture reproduction accuracy and experimental efficiency in collision tests.

[0046] like Figure 1 As shown, the upper limb module includes a left upper arm model 3, a right upper arm model 6, a left upper arm skeleton 15, a right upper arm skeleton 18, a left forearm model 4, a right forearm model 7, a left forearm skeleton 16, a right forearm skeleton 19, a left hand skeleton 17, a right hand skeleton 20, a left hand model 5, a right hand model 8, an arm joint, and two fourth three-dimensional force sensors 24. The left upper arm skeleton 15 and the right upper arm skeleton 18 are both connected to the upper arm connection base 41 and connected to the trunk skeleton 21 through the shoulder joint. The left upper arm model 3 and the right upper arm model 6 respectively integrate the left upper arm skeleton 15 and the right upper arm skeleton 18. The left forearm model 4 and the right forearm model 7 respectively have built-in left forearm skeleton 16 and right forearm skeleton 19. The ends of the left upper arm model 3 and the right upper arm model 6 are connected to the left forearm skeleton 16 and the right forearm skeleton 19 respectively through the elbow joint. The ends of the left forearm skeleton 16 and the right forearm skeleton 19 are respectively connected to the left hand skeleton 17 and the right hand skeleton 20 respectively through the wrist joint. The left hand skeleton 17 and the right hand skeleton 20 respectively outsource the left hand model 5 and the right hand model 8. A fourth three-dimensional force sensor 24 is set at each of the left upper arm skeleton 15 and the right upper arm skeleton 18 to detect the impact force of the limbs.

[0047] like Figure 5 As shown, the arm joints include the elbow joint and the wrist joint. The elbow joint includes a first elbow joint fixing block 44, a joint rotation block 45, and a second elbow joint fixing block 46 connected sequentially from top to bottom; the wrist joint includes a first wrist joint fixing block 47, a joint rotation block 45, a second wrist joint fixing block 48, and a hand joint fixing block 49 connected sequentially from top to bottom.

[0048] The elbow joint is a single-degree-of-freedom hinge joint, supporting flexion (bending) and extension (straightening), with its axis of rotation perpendicular to the body's sagittal plane (front-back direction). The elbow joint's rotation block 45 is internally connected to the first and second elbow joint fixing blocks 44, 46 via a bearing or pin structure, allowing for rotation around the axis. The first and second elbow joint fixing blocks 44, 46 are provided with grooves or threaded holes, and the range of rotation is controlled by bolt limiters or baffles.

[0049] The wrist joint is designed as a two-degree-of-freedom rotation joint that supports two types of movements: flexion and extension (bending the palm forward and extending backward) and lateral movement (wrist deviation to the ulnar or radial side). The wrist joint rotation block 45 is connected to the first wrist joint fixed block 47 and the second wrist joint fixed block 48 by a vertical pin to achieve palmar flexion / dorsiflexion. The second wrist joint fixed block 48 is connected to the hand fixed block 49 by a horizontal pin to achieve ulnar deviation / radial deviation. The side wall of the second wrist joint fixed block 48 is provided with an angle limit groove to ensure that the range of motion conforms to human anatomy. The split-axis design ensures flexibility while accurately reproducing the complex movements of the human arm through mechanical limits and modular fixed block control accuracy.

[0050] like Figure 1 As shown, the posture adjustment module consists of a horizontal rotation structure and a linear module 37.

[0051] like Figure 1 and Figure 6As shown, the horizontal rotation structure includes a rotating column 25, a bearing end cover 26, a stop washer 27, a round nut 28, a bearing 29, a second rotating joint 30, a knurled bolt 31, a fixing pin 32, a top bolt 33, a fixing block 34, a first rotating joint 35, and a fixed column 36. The top of the rotating column 25 is fixedly connected to the bottom of the trunk skeleton 21; the shape of the second rotating joint 30 is three hollow concentric cylinders stacked from top to bottom, and the outer diameters of the three cylinders decrease from large to small from top to bottom. The inner diameter of the first cylinder of the second rotating joint 30 (counted from top to bottom) is larger than the inner diameters of the second cylinder and the third cylinder. The inner diameters of the second cylinder and the third cylinder are the same, and the bottom of the third cylinder is provided with a protrusion inside the box, and the third cylinder is provided with a pin hole 62; the top of the second rotating joint 30 is fixedly connected to the bottom of the rotating column 25; the shape of the first rotating joint 35 is five solid concentric cylinders stacked from top to bottom, and the diameters of the five cylinders decrease from small to large from top to bottom; the bottom of the first rotating joint 35 is fixedly connected to the top of the fixed column 36 The bearing 29 is mounted on the outside of the second cylinder (counting from top to bottom) of the first rotary joint 35. The height of the bearing 29 is consistent with that of the second cylinder of the first rotary joint 35. A round nut 28 is mounted on the outside of the first cylinder of the first rotary joint 35. A locking washer 27 is provided between the round nut 28 and the inner ring of the bearing 29. By tightening the round nut 28 downward, the inner ring of the bearing 29 can be fixed to the first rotary joint 35. The second and third cylinders of the second rotary joint 30 are mounted on the outside of the bearing 29, and the bottom of the outer ring of the bearing 29 contacts the protrusion at the bottom of the third cylinder of the second rotary joint 30. The top of the bearing end cap 26 is fixedly connected to the second cylinder of the second rotary joint 30, and the bottom of the bearing end cap 26 contacts the top of the outer ring of the bearing 29. The presence of the bearing 29 enables the rotary column 25 to rotate relative to the fixed column 36 and supports the entire lumbar rotary joint.

[0052] When the rotating column 25 rotates to a certain angle, the fixing pin 32 placed on the fixing block 34 is inserted into the pin hole 62 of the second rotating joint 30, forming a rigid physical limit, directly blocking the further rotation of the rotating column 25. At this time, the pin hole 62 cooperates to position the angle of waist rotation, thereby improving the accuracy of the rotation angle. Since it is necessary to ensure that the fixing pin 32 is smoothly inserted into the pin hole 62, this pin hole 62 is a transition fit.

[0053] If the rotating column 25 is fixed only by the pin hole 62, due to the existence of processing errors, the rotating column 25 and the fixed column 36 will shake significantly during the collision test, which does not meet the test requirements. At this time, a top bolt 33 is added. Through the internal thread of the fixing block 34, the top bolt 33 is tightly pressed on the third cylinder of the second rotating joint 30 to eliminate the shaking of the upper and lower columns during the test. The top bolt 33 and the fixing pin 32 jointly ensure the stability of the structure.

[0054] There is an elastic washer on the knurled bolt 31 placed on the fixing block 34. The knurled bolt 31 and the elastic washer can fix the fixing pin 32 on the fixing block 34 to prevent the fixing pin 32 from falling off due to vibration.

[0055] This structural design consists of upper and lower columns, which not only fix the rotation angle but also eliminate the cumulative error of the pin hole, improving the accuracy of the structure and jointly ensuring the stability and rotational freedom of the structure. It can simulate the turning movement of the human body and meet the testing requirements.

[0056] The linear module 37 uses a high-precision ball screw 56 transmission mechanism, coupled with a closed-loop controlled servo motor drive system, to form a complete linear motion execution unit. The ball screw 56 is equipped with a slider 53, which is driven by a servo motor 55 and can be programmed to simulate human motion at different speeds. The fixed column 36 is mounted on the linear module, specifically fixed to the slider 53, and is used to support the human model, allowing it to move relative to the ground, such as Figure 7 shown.

[0057] The linear module 37 module adopts precision machined hardened steel guide rails to cooperate with the slider 53. The servo motor 55 is directly connected to the ball screw 56 through an elastic coupling and is equipped with a high-resolution encoder to achieve high-precision repeat positioning accuracy.

[0058] Photoelectric limit switches 54 are provided at both ends of the ball screw 56 for position limit protection.

[0059] The human body model motion control system supports multiple communication protocols and can achieve stepless speed control through host computer programming. It can accurately simulate complex motion trajectories such as human walking and running.

[0060] The fixed columns 36 mounted on the sliders 53 of the linear modules 37 are rigidly connected to the module platform via high-strength bolts. The entire support system is motion-compensated through ground anchors, ensuring a stable force transfer path during dynamic testing.

[0061] The manikin's silicone shell is molded to fit the skeleton's surface through a casting process. Mounting surfaces are created within the silicone shell to align with the skeleton's head, arms, and hands, enhancing the manikin's stability. Zippers directly wrap around specific bones in the arms, hands, and torso, eliminating the need for additional fixings and greatly simplifying the manikin's assembly and maintenance.

[0062] like Figure 1 As shown, the collaborative robot primarily consists of a fixed base plate 57, a collaborative robot base 58, a collaborative robot body 59, a collision head base 60, and a replaceable collision head 61. The collaborative robot base 58 serves as the core load-bearing structure, rigidly connected to the linear module 37 via the fixed base plate 57 to form a stable mechanical transmission framework. The collaborative robot body 59 is vertically mounted on the collaborative robot base 58 and is responsible for performing high-precision motion tasks. This rigid, integrated design effectively suppresses torque fluctuations and mechanical vibrations during servo motor operation, significantly reducing the risk of positional deviation of the collision contact point during dynamic motion of the human body model and ensuring that the collaborative robot can repeatedly and accurately position itself at the same location on the human body model. The collision head base 60 is mounted at the end of the collaborative robot via a standardized interface. This base provides both force buffering and rapid switching functions, and houses the replaceable collision head 61. The shape and material of the replaceable collision head 61 can be customized according to experimental requirements (e.g., dome-shaped, flat, or made of biomimetic soft tissue-simulating materials), adapting to the needs of collision mechanics research in different scenarios.

[0063] This embodiment provides a humanoid model for collaborative robot interactive collision testing. It features a modular design: a three-dimensional force sensor integrated into the head's temporal bones monitors the collision impact vector; a six-dimensional force sensor is deployed in the neck, maintaining a 15° physiological forward tilt; and a three-dimensional force sensor array and flexible sensor network are integrated into the torso. The upper limbs feature a dual-joint structure, enabling compound shoulder motion and precise angular positioning. The posture adjustment module utilizes a rotating column and a servo-driven linear module to programmatically simulate human steering and gait. The collaborative robot's base serves as the core load-bearing structure, rigidly connected to the linear module. The main body is mounted vertically on top of the base to perform high-precision tasks, minimizing the risk of positional drift. The base, mounted at the end of the collaborative robot through a standardized interface, provides both force buffering and quick-change functionality, allowing for interchangeable collision heads to accommodate diverse research scenarios. By combining a cast silicone shell with a skeletal surface and a zipper-type quick assembly structure, the resulting test device exhibits realistic biomechanical response, multi-dimensional motion capabilities, and real-time mechanical monitoring. This device accurately captures multi-dimensional force-time curves and energy distribution cloud maps during a collision, providing a standardized evaluation tool for collaborative robot human-robot interactive collision testing.

[0064] Example 2 Embodiment 2 of the present invention provides a method for controlling a human body model for interactive collision testing of collaborative robots as described in Embodiment 1.

[0065] This embodiment provides a method for controlling a human model for collaborative robot interactive collision testing, including: Control the horizontal rotation structure and linear module to simulate human turning and gait movements to drive the head, neck, torso and upper limb modules to collide with the collaborative robot; The three-dimensional force sensor of the control head module detects the head collision force in the collision, the six-dimensional force sensor of the control neck module detects the three-axis force and torque around the three axes in the collision, the three-dimensional force sensor and flexible sensor of the control torso module detect the chest pressure field and energy distribution in the collision, and the three-dimensional force sensor of the control upper limb module detects the collision force of the upper limb during the collision.

[0066] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A human model for collaborative robot interactive collision testing, characterized by: Includes head module, neck module, torso module, upper limb module and posture adjustment module; The head module includes a head support part and a head model covered by an outer layer, and a three-dimensional force sensor is fixed on the side of the head support part to detect the impact force of the head in a collision; The neck module includes a neck bone rotatably connected to the head support part, and a six-axis force sensor is provided at the connection between the head support part and the neck bone for detecting the three-axis force and torque around the three axes in a collision; The torso module includes a trunk skeleton hinged to the neck skeleton and a thorax model covered by an outer layer. The front chest part of the trunk skeleton is equipped with a number of three-dimensional force sensors, and the back part of the trunk skeleton is equipped with a three-dimensional force sensor and a flexible sensor, forming a distributed mechanical monitoring network to detect the thorax pressure field and energy distribution in a collision. The upper limb module includes an upper arm skeleton, a lower arm skeleton and a hand skeleton connected in sequence, the upper arm skeleton is connected to the trunk skeleton, and is provided with a three-dimensional force sensor for detecting the collision force of the upper limb during a collision; The posture adjustment module includes a horizontal rotation structure and a linear module, which simulates the turning and gait movement of the human body to drive the movement of the head, neck, torso and upper limb modules and collide with the collaborative robot.

2. A human model for collaborative robot interactive collision testing according to claim 1, characterized in that: The outer layers of the upper arm skeleton, lower arm skeleton and hand skeleton respectively cover the upper arm model, lower arm model and hand model.

3. The human body model for collaborative robot interactive collision testing according to claim 1, characterized in that: The trunk skeleton is connected to the upper arm skeleton through a shoulder joint. The shoulder joint includes a shoulder rotation axis, a shoulder fixed base connected to the trunk skeleton, and an upper arm connection base connected to the upper arm skeleton. The shoulder rotation axis connects the shoulder fixed base and the upper arm connection base to form an L shape.

4. The human body model for collaborative robot interactive collision testing according to claim 1, characterized in that: The upper arm skeleton and the lower arm skeleton are connected through an elbow joint. The elbow joint includes a first elbow joint fixing block, a joint rotation block and a second elbow joint fixing block which are sequentially connected from top to bottom.

5. The human body model for collaborative robot interactive collision testing according to claim 1, characterized in that: The forearm skeleton is connected to the hand skeleton through a wrist joint, and the wrist joint includes a first wrist joint fixing block, a joint rotation block, a second wrist joint fixing block and a hand joint fixing block which are sequentially connected from top to bottom.

6. The human model for collaborative robot interactive collision testing according to claim 1, characterized in that: The linear module includes a ball screw and a slider arranged on the ball screw, and the horizontal rotating structure is fixed on the slider.

7. The human body model for collaborative robot interactive collision testing according to claim 1, characterized in that: The flexible sensor conforms to the S-shaped physiological curvature of the spine.

8. The human body model for collaborative robot interactive collision testing according to claim 1, characterized in that: The horizontal rotating structure includes a rotating column, a second rotating joint and a fixed column; The top of the rotating column is fixedly connected to the bottom of the trunk bone, and the top of the second rotating joint is fixedly connected to the bottom of the rotating column; the shape of the second rotating joint is three hollow concentric cylinders stacked from top to bottom, and the outer diameters of the three cylinders decrease from large to small from top to bottom. The inner diameter of the first cylinder of the second rotating joint is larger than the inner diameters of the second cylinder and the third cylinder. The inner diameters of the second cylinder and the third cylinder are the same, and the bottom of the third cylinder is provided with an inward protrusion.

9. The human body model for collaborative robot interactive collision testing according to claim 8, characterized in that: The horizontal rotation structure further includes a bearing end cover, a stop washer, a round nut, a bearing and a first rotation joint; The shape of the first rotary joint is five solid concentric cylinders stacked from top to bottom, and the diameters of the five cylinders increase from small to large from top to bottom; the bottom of the first rotary joint is fixedly connected to the top of the fixed column, the bearing is sleeved on the outside of the second cylinder of the first rotary joint, and a round nut is sleeved on the outside of the first cylinder of the first rotary joint, and a locking washer is provided between the round nut and the inner ring of the shaft, and the inner ring of the bearing is fixed to the first rotary joint by tightening the round nut downward; the second cylinder and the third cylinder of the second rotary joint are sleeved on the outside of the bearing, and the bottom of the outer ring of the bearing contacts the protrusion at the bottom of the second rotary joint, the top of the bearing end cover is fixedly connected to the second cylinder of the second rotary joint, and the bottom of the bearing end cover contacts the top of the outer ring of the bearing.

10. A method for controlling a human model for collaborative robot interactive collision testing according to any one of claims 1 to 9, characterized in that: The steps include: Control the horizontal rotation structure and linear module to simulate human turning and gait movements to drive the head, neck, torso and upper limb modules to collide with the collaborative robot; The three-dimensional force sensor of the control head module detects the head collision force in the collision, the six-dimensional force sensor of the control neck module detects the three-axis force and torque around the three axes in the collision, the three-dimensional force sensor and flexible sensor of the control torso module detect the chest pressure field and energy distribution in the collision, and the three-dimensional force sensor of the control upper limb module detects the collision force of the upper limb during the collision.

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