A device and method for bonding a zipper of a lower leg of an automotive crash dummy

Abstract

The application relates to the technical field of vehicle crash test, in particular to a device and method for zipping the lower leg of a car crash dummy. The lower leg skin fixing platform is used for fixing the skin of the lower leg of the car crash dummy; the laser scanning device is used for scanning the skin and transmitting the scanning data to the intelligent control system; the intelligent control system is used for generating a zipping trajectory according to the scanning data and transmitting the zipping trajectory to the glue smearing structure; the glue smearing structure is used for smearing glue on the skin along the zipping trajectory under the control of the intelligent control system; and the honeycomb array pressing rod is used for pressing the zipper under the control of the intelligent control system after the skin is smeared with glue and the zipper is placed along the glue path. The application can optimize the production process of the car crash dummy, accelerate the production efficiency of the dummy lower leg and provide conditions for large-scale or rapid production of the dummy in the future.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle crash test, in particular to a device and method for bonding a zipper of a lower leg of a car crash dummy. BACKGROUND

[0002] As the core equipment for vehicle safety performance test, the design and optimization of the lower leg part of the car crash dummy have important scientific significance and engineering value in crash safety evaluation.

[0003] In the production process of the dummy lower leg skin, a zipper needs to be installed on the lower leg skin. Since the thickness of the lower leg skin is uneven, it is not convenient to sew the zipper directly on the skin. Therefore, the existing process is to first sew the zipper on a thin skin strip, which has the same material as the dummy skin, and then bond the skin strip with the sewn zipper to the lower leg of the dummy using glue. After applying the glue, a clamp is used to fix the zipper and the skin to enhance the bonding effect.

[0004] The car crash dummy needs to bond a zipper on the back of the dummy lower leg during the production process to facilitate disassembly and detection during use. The current bonding method of the lower leg skin zipper of the car crash dummy relies entirely on manual operation, has low repeat accuracy, and low production efficiency, which can meet small-scale production but is difficult to meet large-scale production or emergency production. The main difficulty in bonding the lower leg skin zipper is that the bonding area of the lower leg skin is a curved surface structure, and the traditional fixing method is difficult to stably clamp. After applying glue to the lower leg skin zipper, a clamp is needed to fix and stand still. The uneven pressure of each part during standing still will also affect the bonding effect. The thickness of each part of the lower leg skin is uneven, and the force of the clamp during clamping cannot be stably controlled by manual operation. Excessive pressure will cause glue overflow, and insufficient pressure will cause unstable bonding, affecting the bonding effect of the zipper.

[0005] The lower leg skin of the car crash dummy is similar to the structure of a real person, which is a curved surface structure. Rapid and efficient bonding of the zipper on the curved surface is a difficult problem in current technology. Therefore, the present application is proposed. SUMMARY

[0006] The purpose of the present application is to provide a device and method for bonding the zipper of the lower leg of the car crash dummy to optimize the production process of the car crash dummy, speed up the production efficiency of the dummy lower leg, and provide conditions for large-scale or rapid production of the dummy in the future.

[0007] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0008] In a first aspect, the present application provides a device for bonding the zipper of the lower leg of the car crash dummy, comprising:

[0009] A lower leg skin fixing platform is used for fixing the skin of a lower leg of a crash test dummy;

[0010] A laser scanning device is used for scanning the skin and transmitting scanning data to an intelligent control system;

[0011] The intelligent control system is used for generating a zip fastener bonding track according to the scanning data and transmitting the zip fastener bonding track to a glue applying structure;

[0012] The glue applying structure is used for applying glue on the skin along the zip fastener bonding track under the control of the intelligent control system;

[0013] A honeycomb array pressing rod is used for pressing the zip fastener under the control of the intelligent control system after the glue is applied on the skin and the zip fastener is placed along the glue path.

[0014] In a second aspect, the application provides a method for zip fastener bonding of a lower leg of a car crash test dummy, comprising:

[0015] Collecting scanning data of the skin of the lower leg of the car crash test dummy by a laser scanning device;

[0016] Generating a zip fastener bonding track according to the scanning data;

[0017] Controlling a glue applying structure to apply glue on the skin along the zip fastener bonding track;

[0018] Controlling a honeycomb array pressing rod to press the zip fastener after the glue is applied on the skin and the zip fastener is placed along the glue path.

[0019] Compared with the prior art, the application has the following beneficial effects:

[0020] The application scans the skin of the lower leg of the car crash test dummy by a laser scanning device to determine a zip fastener bonding track, automatically controls a glue applying structure to apply glue on the skin along the zip fastener bonding track, and automatically controls a honeycomb array pressing rod to press the zip fastener after the glue is applied on the skin and the zip fastener is placed along the glue path, without manual glue applying and pressing, so that the zip fastener is bonded on the skin curve quickly, efficiently and stably, the production process of the car crash test dummy is optimized, and the production efficiency of the lower leg of the dummy is improved, which provides conditions for large-scale or rapid production of the dummy in the future. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a structural schematic diagram of a device for zipping and bonding of the lower leg of an automobile crash dummy provided by an embodiment of the present application;

[0023] Figure 2 is a structural schematic diagram of a lower leg skin fixing platform provided by an embodiment of the present application;

[0024] Figure 3 is a structural schematic diagram of a laser scanning device provided by an embodiment of the present application;

[0025] Figure 4 is a schematic diagram of a zipping and bonding track provided by an embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of a glue spreading structure provided by an embodiment of the present application;

[0027] Figure 6 is a structural schematic diagram of a honeycomb array pressing rod provided by an embodiment of the present application;

[0028] Figure 7 is a structural schematic diagram of the inside of a pressing rod provided by an embodiment of the present application;

[0029] Figure 8 is a flowchart of a method for zipping and bonding of the lower leg of an automobile crash dummy provided by an embodiment of the present application;

[0030] Among them, 1 is a lower leg skin fixing platform, 2 is a laser scanning device, 3 is a glue spreading structure, 4 is a honeycomb array pressing rod, 5 is an intelligent control system, 101 is a cage frame, 102 is a lower leg skin support rod, 103 is a support column, 104 is a sliding rail protrusion, 105 is a platform motor, 106 is a first lead screw, 201 is a laser scanner, 202 is a second lead screw, 203 is a first sliding rail groove, 204 is a sliding rail motor, 205 is an intelligent control information output end, 301 is a support base, 302 is a first rotary joint, 303 is a second rotary joint, 304 is a mechanical arm, 305 is a glue storage box, 306 is a gear pump, 307 is a dispensing head, 401 is a pressing rod, 402 is a pressure control end, 403 is a second sliding rail groove, 404 is a pressing rod motor, 405 is a third lead screw, 406 is a force sensor, 407 is a composite spring, 408 is a telescopic rod, and 409 is a pressing head. DETAILED DESCRIPTION

[0031] The exemplary embodiments of present application will be described hereinafter with reference to the accompanying drawings, in which, the various details of the embodiments of present application are presented in order to provide a thorough understanding of the embodiments of present application. These details should not be considered as limiting the scope of the embodiments of present application, but merely as an exemplification. Accordingly, one of ordinary skill in the art will recognize that other variations and modifications of the embodiments described herein can be made without departing from the scope and spirit of the embodiments of present application. Also, for clarity and conciseness, the description below omits the description of well-known functions and structures.

[0032] Figure 1 is a structural schematic diagram of a device for bonding a zipper on a lower leg of a crash test dummy according to an embodiment of present application. The embodiment is applicable to the scenario of bonding a zipper on the skin of a crash test dummy. Referring to Figure 1 , the device provided by the embodiment includes a lower leg skin fixing platform 1, a laser scanning device 2, an intelligent control system 5, a glue spreading structure 3, and a honeycomb array pressing rod 4. The laser scanning device 2 and the honeycomb array pressing rod 4 are connected to the lower leg skin fixing platform 1, and the intelligent control system 5 is communicatively connected to the laser scanning device 2, the glue spreading structure 3, and the honeycomb array pressing rod 4, which can be in wireless communication or wired communication. The structure and function of each component will be described in detail as follows:

[0033] The lower leg skin fixing platform 1 is used to fix the skin of the lower leg of a crash test dummy. The laser scanning device 2 is used to scan the skin and transmit the scanning data to the intelligent control system 5. The intelligent control system 5 is used to generate a zipper bonding trajectory according to the scanning data and transmit the zipper bonding trajectory to the glue spreading structure 3. The glue spreading structure 3 is used to spread glue on the skin along the zipper bonding trajectory under the control of the intelligent control system 5. The honeycomb array pressing rod 4 is used to press the zipper under the control of the intelligent control system 5 after the glue is spread on the skin and the zipper is placed along the glue path. The embodiment needs manual placement of the zipper along the glue path.

[0034] The laser scanning device 2 is used to scan the skin of the lower leg of a crash test dummy according to the embodiment of present application, so as to determine the zipper bonding trajectory. The glue spreading structure 3 is automatically controlled to spread glue on the skin along the zipper bonding trajectory. The honeycomb array pressing rod 4 is automatically controlled to press the zipper after the glue is spread on the skin and the zipper is placed along the glue path, without manual spreading of glue and pressing. The embodiment realizes fast, efficient, and stable bonding of the zipper on the skin surface, optimizes the production process of the crash test dummy, and speeds up the production efficiency of the dummy lower leg. The embodiment provides conditions for large-scale or rapid production of the dummy in the future.

[0035] Figure 2Fig. 1 is a structural schematic diagram of a calf skin fixing platform provided by an embodiment of the present application, comprising a cage frame 101, a calf skin support rod 102 placed in the cage frame 101, a support column 103, a slide rail protrusion 104, a platform motor 105 and a first screw rod 106.

[0036] The calf skin support rod 102 is located below the cage frame 101 and is made in imitation of a dummy calf skeleton, and is used to fix the skin of the calf of the crash dummy. The support column 103 is used to support the calf skin support rod 102. The slide rail protrusion 104 is fixed above the cage frame 101 and the number is at least two (three are shown in the figure), which is used to provide a path for the movement of the laser scanning device 2 and the honeycomb array pressing rod 4. Figure 2 The extension direction of the slide rail protrusion 104 is perpendicular to the calf axis, thereby providing a path perpendicular to the calf axis for the movement of the laser scanning device 2 and the honeycomb array pressing rod 4. Figure 2 The platform motor 105 is used to control the first screw rod 106 to realize the movement of the laser scanning device 2 and the honeycomb array pressing rod 4 along the slide rail protrusion 104. In a specific application scenario, if the laser scanning device 2 is used, the first screw rod 106 is controlled to move the laser scanning device 2 above the skin. If the honeycomb array pressing rod 4 is used, the first screw rod 106 is controlled to move the honeycomb array pressing rod 4 above the skin.

[0037] Figure 3 Fig. 2 is a structural schematic diagram of a laser scanning device provided by an embodiment of the present application, the laser scanning device 2 comprising a laser scanner 201, a second screw rod 202, a first slide rail groove 203, a slide rail motor 204 and an intelligent control information output end 205.

[0038] The laser scanner 201 is connected to the second screw rod 202, which is used to scan the skin and transmit the scanning data to the intelligent control system 5 through the intelligent control information output end 205. Optionally, the intelligent control information output end 205 is essentially a communication terminal with communication capabilities such as Bluetooth and wifi. The first slide rail groove 203 is engaged with the slide rail protrusion 104 in the platform motor 105, and the laser scanner 201 moves along the slide rail protrusion 104 under the drive of the platform motor 105. Figure 2 The slide rail motor 204 controls the movement of the laser scanner 201 on the second screw rod 202, and the second screw rod 202 is parallel to the calf axis, so that the laser scanner 201 moves along the calf axis through the slide rail motor 204, thereby realizing the two-dimensional movement function of the laser scanner 201 on the horizontal plane, so as to comprehensively scan the left and right sides of the opening of the calf skin.

[0039] The intelligent control system 5 (for example, an upper computer) generates a zipper bonding track according to the scanning data and transmits the zipper bonding track to the glue application structure 3. Optionally, the scanning data is point cloud data of each point on the calf skin, and the calf skin is provided with an opening, and the left side and the right side of the opening are respectively provided. The zipper bonding track includes a left track and a right track. In order to facilitate the description of the position of the track point, see Figure 4 A coordinate system is established on the calf. The ankle joint is the origin, the Z axis is along the calf axis direction, the X axis is in the horizontal direction and perpendicular to the calf axis direction, and the Y axis is in the vertical direction and perpendicular to the X axis and the Z axis. The intelligent control system 5 analyzes the scanning data, extracts the track points on the left side of the opening and fits them, and extracts the track points on the right side of the opening and fits them. The fitting formula is as follows:

[0040] ;

[0041] ;

[0042] ;

[0043] ;

[0044] ;

[0045] wherein, x L ( z ) and y L ( z ) are the coordinate points of the X axis and the Y axis on the left side of the calf skin opening, x R ( z ) and y R ( z ) are the coordinate points of the X axis and the Y axis on the right side of the calf skin opening; z is the coordinate point on the Z axis, z=0 at the center point of the ankle joint, z=L (the length of the calf) at the center point of the knee joint, and z a is the upper reference point of the ankle joint, which is the positioning point of the projection of the center of rotation of the ankle joint in the sagittal plane along the Z axis in the positive direction, and is used as the lower boundary reference point of the zipper bonding track in actual operation; z k is the lower reference point of the knee joint, which is the coordinate point of the projection of the lower pole of the patella in the coronal plane along the Z axis in the negative direction; (z a , z k ) is the zipper bonding area, is the function of the radius of the lower leg cross section, D0 is the basic diameter of the ankle joint, is the minimum circumscribed circle diameter of the lower leg anatomical cross section at Z = 0 section; K is the axial radius growth rate, △ is the normal offset (corresponding to 1cm bonding tape), is the constant vertical distance of the center line of the zipper bonding tape relative to the curvature center line of the lower leg surface, where the normal direction refers to the normal direction of the lower leg skin bonding zipper curve. θ0 is the opening center line azimuth. The calculation formula of is as follows:

[0046] ;

[0047] Wherein, β is the curvature correction coefficient, which can be calibrated.

[0048] After obtaining the bonding trajectory of the zipper by laser scanning, the laser scanning system 2 is controlled to move along the slide rail protrusion 104 to the edge of the cage frame 101.

[0049] Figure 5 is a structural schematic diagram of the glue applying structure provided by the embodiment of the application, the glue applying structure 3 comprises a support base 301, at least two mechanical arms 304 connected with the support base 301 (three mechanical arms 304 are shown) Figure 5 The two mechanical arms 304 are connected through a rotating joint, the rotating joint has an independent motor and a rotating shaft (not shown), Figure 5 The first rotating joint 302 and the second rotating joint 303 are shown, which can control the two mechanical arms 304 to rotate within a certain angle range.

[0050] The mechanical arm 304 is connected with a glue storage box 305, a gear pump 306 and a dispensing head 307 at the end. The glue storage box 305 is used for storing glue, the gear pump 306 is used for controlling the uniform pumping of the glue from the glue storage box 305, and the dispensing head 307 allows the glue to be applied on the skin with a set diameter. The motor in the rotating joint is controlled by the intelligent control system 5 to adjust the movement of the dispensing head 307 along the zipper bonding trajectory, so as to realize the uniform application of glue on the surface of the lower leg skin.

[0051] In order to ensure the smooth movement of the dispensing head 307, the zipper bonding trajectory needs to meet the first-order continuous derivative:

[0052] ;

[0053] ;

[0054] The movement speed v(z) of the dispensing head 307 in the Z-axis direction is constrained as follows:

[0055] ;

[0056] Wherein, is the radius function of the lower leg cross section, which is used to describe the instantaneous profile radius of the lower leg axis direction (Z direction); is the radius function of the lower leg cross section, which is used to describe the instantaneous profile radius of the lower leg axis direction (Z direction); is the tangential vector component of the three-dimensional trajectory curve projected on the XY plane, reflecting the horizontal rate of change when the glue head 307 moves; dz is an infinitesimal displacement along the axis direction (Z direction); is the rate of change of the lower leg profile radius along the axis direction, that is, the radius change caused by the height change.

[0057] The amount of glue used for bonding the zipper on the dummy lower leg skin also needs to be controlled. Too little glue will reduce the bonding effect of the zipper, and too much glue will cause more glue overflow, affecting the appearance of the finished product and wasting resources. Therefore, the glue application amount calculation formula is introduced into the gear pump 306:

[0058]

[0059] Where Q is the application amount, p is the glue density (g / mm 3 ), D is the diameter of the glue head 307 (mm), V is the linear velocity of the glue needle relative to the bonding surface after the glue head 307 discharges glue (mm / s), t is the effective contact time between the glue head 307 and the bonding surface after discharging glue (s), K T is the temperature compensation coefficient (inversely proportional to the ambient temperature).

[0060] After applying glue to the bonding site (i.e., the left and right sides of the opening) of the zipper on the skin of the automobile crash dummy lower leg, the skin strip (simply referred to as the zipper) sewn with the zipper is placed on the lower leg skin along the trace of the glue, and then the honeycomb array pressure rod 4 is automatically controlled to press and stand the zipper.

[0061] Figure 6 is a structural diagram of the honeycomb array pressure rod provided by the embodiment of the application, Figure 7 is a structural diagram of the pressure rod inside. The honeycomb array pressure rod 4 includes a plurality of pressure rods 401 arranged in a honeycomb, and a force sensor 406, a composite spring 407, a telescopic rod 408, and a pressure head 409 connected in turn inside the pressure rod 401, a pressure control end 402, a second sliding groove 403, a third lead screw 405, and a pressure rod motor 404.

[0062] The pressure head 409 is used to press and hold the zipper in place under the action of the pressure control end 402. The telescopic rod 408 can extend and retract, thereby compressing the composite spring 407. The force of the composite spring 407, i.e., the measured pressure generated by the pressure rod 401, is detected by the force sensor 406. The composite spring 407 is made of shape memory alloy and traditional spring. The elastic modulus of the composite spring 407 can be changed by pulse-controlled heating current, thereby dynamically adjusting the pressure of the pressure head 409.

[0063] The pressure control terminal 402 receives the measured pressure generated by each pressure rod 401 via the force sensor 406 and transmits the measured pressure to the intelligent control system 5. The intelligent control system 5 calculates the pressure compensation amount based on the difference between the measured pressure and the target pressure.

[0064] ;

[0065] Where △Pi(t) is the pressure compensation value (in N) of the i-th pressure bar 401 at time t. This is the target pressure value (set according to the process). It is the measured pressure (in N) of the pressure rod 401i at time t, which is collected by the force sensor 406. α is the proportional gain coefficient and γ is the differential gain coefficient.

[0066] During the pressing and holding process, the force of some pressure rods 401 may be too great or too small, requiring some adjustment. The composite spring 407 inside the pressure rod 401 uses a composite structure of shape memory alloy (SMA) and traditional spring, and the heating current (0-2A) can be controlled by pulse width modulation (PWM) to adjust the elastic modulus.

[0067] The pressure of each pressure bar 401 is:

[0068] ;

[0069] ;

[0070] Where F i It is the pressure of the i-th pressure head 409, k is the elastic modulus of the composite spring 407 inside the pressure rod 401, △ l This refers to the deformation (compression displacement) of the internal composite spring 407. The composite spring 407 inside the compression rod 401 is composed of a shape memory alloy and a traditional spring connected in series. The principle formula for the equivalent stiffness of the composite spring 407 is as follows:

[0071] ;

[0072] ;

[0073] wherein k eff is the equivalent stiffness, λ is the temperature influence coefficient of the memory alloy, ΔT is the temperature change amount controlled by the current, k steel is the elastic stiffness of the traditional spring, k SMA is the stiffness of the memory alloy at the current temperature, is the stiffness of the memory alloy at room temperature.

[0074] The pressure control end 402 receives the elastic modulus of each composite spring 407 fed back by the intelligent control system 5, and controls the elastic modulus of the composite spring 407 according to the elastic modulus. By changing the elastic modulus of the composite spring 407, the pressure of the pressure rod 401 is dynamically adjusted. After the pressure is in a suitable range, the zipper and the skin of the lower leg are completely bonded after static waiting.

[0075] The second sliding rail groove 403 is engaged with the sliding rail protrusion 104, the platform motor 105 controls the first lead screw 106 to realize the horizontal movement of the honeycomb array pressure rod 4 in the cage frame 101, and the honeycomb array pressure rod 4 can be above the skin of the lower leg. The pressure rod motor 404 controls the honeycomb array pressure rod 4 to move in the vertical direction. The pressure head 409 is a semispherical pressure head 409 with softness, which avoids deforming the skin of the lower leg of the dummy when pressing the zipper.

[0076] In summary, the intelligent control system provided in the embodiment can receive the scanning data output by the laser scanning device, generate a zipper bonding trajectory, and transmit the zipper bonding trajectory to the glue applying structure, so that the glue applying structure applies glue according to the zipper bonding trajectory. The glue applying structure is internally integrated with an operation formula of the amount of glue, and can control the amount of glue by itself. When the honeycomb array pressure rod is pressed and static, the intelligent control system can receive the force of each pressure rod, and intelligently control the elastic modulus of the composite spring in each pressure rod, so that the pressure of each part of the zipper is approximately and close to the target pressure value, and the bonding effect of the zipper is ensured.

[0077] Figure 8 is a flowchart of a method for bonding a zipper of a lower leg of a crash dummy provided in the embodiment, and is executed by the intelligent control system of the device for bonding a zipper of a lower leg of a crash dummy provided in the foregoing embodiment. The method comprises the following steps:

[0078] S110, collecting scanning data of the skin of the lower leg of the crash dummy by a laser scanning device;

[0079] S120, generating a zipper bonding trajectory according to the scanning data;

[0080] S130, controlling a glue applying structure to apply glue on the skin along the zipper bonding trajectory;

[0081] S140, after the skin is coated with glue and the zipper is placed along the glue path, the honeycomb array pressure rod is controlled to press and stand the zipper. Specifically, the measured pressure generated by each pressure rod in the honeycomb array pressure rod is collected; the pressure compensation amount is calculated according to the difference between the measured pressure and the target pressure; the elastic modulus of the composite spring is calculated according to the pressure compensation amount and the deformation amount of the composite spring; and the composite spring is controlled according to the elastic modulus.

[0082] The method for bonding the zipper of a lower leg of a crash test dummy is described in detail below by a specific embodiment in combination with a certain Hybrid lower leg skin model:

[0083] A 500mm long dummy lower leg skin is fixed on the lower leg skin fixing platform. It is measured that the basic diameter of the lower leg ankle joint is 80mm, the distance between the upper and lower reference points of the ankle joint is 51mm, the distance between the upper and lower reference points of the knee joint is 81mm, the axial radius growth rate is 0.18, the opening center line azimuth angle is 60°, and the curvature correction coefficient is 0.002.

[0084] The curve equation of the zipper bonding track is obtained by laser scanning, wherein the left zipper bonding track equation is:

[0085] ;

[0086] ;

[0087] ;

[0088] wherein D0 is 80, K is 0.18, and β is 0.002. After simplification, the left zipper bonding track curve is:

[0089] ;

[0090] ;

[0091] ;

[0092] Similarly, the right side zipper bonding track curve is:

[0093] ;

[0094] ;

[0095] The adhesive track of the calf zipper is at the edge of the calf opening. The zipper is sewn on a 2cm wide dummy skin material before being adhered. To ensure the adhesive effect, 1cm of glue needs to be applied at the edge of the calf opening. According to the obtained adhesive track of the zipper, the amount of glue applied on the calf skin should not be too much or too little. Too much glue will cause the glue to overflow when pressed and rested, affecting the appearance of the calf skin product. Too little glue will cause the calf zipper to be unstable. Therefore, the glue application device needs to move uniformly at this track, and the gear pump also needs to uniformly pump the glue out of the glue head. The formula for the amount of glue applied to the dummy calf skin is shown in the above example.

[0096] After applying the glue, the leather strip with the sewn zipper needs to be placed along the track of the glue. Then the honeycomb array pressure rod is moved directly above the dummy calf skin, and the zipper is pressed to ensure better adhesion of the calf skin and the zipper. To restore the entire process of dynamic pressure adjustment, an example of a situation that may occur in actual use is used to illustrate.

[0097] The preset target pressure is 3.5±0.5N, the real-time detected pressure is 5.2N, the displacement of the composite spring is 1.9mm, the radius of the memory alloy is 0.6mm, the temperature influence coefficient of the memory alloy is -0.5, and the initial stiffness of the traditional spring and the memory alloy is set to 20N / mm. The pressure compensation amount is calculated by the following formula:

[0098] ;

[0099] ;

[0100] Substituting the formula gives a pressure compensation amount of -1.9N. Assuming that the deformation of this set of composite springs is 1.9mm, the overall stiffness of the composite spring needs to be reduced by 1.

[0101] Substituting 1 into the principle formula of the equivalent stiffness of the composite spring gives △T of about 7.2℃. Therefore, the memory alloy needs to be heated by 7.2℃ to achieve the target spring stiffness, thereby adjusting the pressure rod force within the appropriate range. After all the pressure rods are within the appropriate pressure range, rest and wait for the zipper and calf skin to fully adhere. During the resting process, the intelligent control system dynamically adjusts the pressure of the pressure rod, so that the pressure of each part of the entire zipper is within the appropriate range, which can squeeze out the air bubbles between the zipper and the calf skin, but not cause the glue to overflow, achieving a better adhesive effect.

[0102] The embodiment can quickly and accurately adapt to the curved surface shape of the lower leg of the automobile crash dummy of different sizes, and effectively eliminate the thickness deviation problem of the glue layer caused by uneven clamping force in the traditional bonding process through the multi-point dynamic pressure compensation technology. The device adopts modular adjustment design, and can realize bonding positioning accuracy of ±0.1 mm without complex equipment, and significantly reduces the manual operation error. The operation process is simple and efficient. By ensuring the uniform stress of the lower leg zipper bonding surface, the simulation credibility of the biomechanical characteristics of the dummy leg is greatly improved.

[0103] In the above embodiments, all or part can be realized by software, hardware, firmware or any combination thereof. When realized by software, all or part can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wire, such as coaxial cable, optical fiber, digital subscriber line (DSL) or wireless, such as infrared, wireless, microwave, etc. The computer readable storage medium can be any available medium that the computer can access, or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media or semiconductor media, etc. It should be noted that the computer readable storage medium mentioned in the embodiments of the present application can be a non-volatile storage medium, in other words, it can be a non-transitory storage medium.

[0104] It should be understood that the steps shown above can be reordered, added or deleted. For example, the steps described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions disclosed in the present application can be achieved, which is not limited herein.

[0105] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A device for zipper bonding of the lower leg of a car crash dummy, characterized in that, The device comprises: A calf skin fixing platform for fixing the skin of the calf of the crash test dummy; A laser scanning device for scanning the skin and transmitting the scanning data to the intelligent control system; The intelligent control system is used for generating a zip fastener bonding track according to the scanning data and transmitting the zip fastener bonding track to a glue applying structure; The glue applying structure is used for applying glue on the skin along the zip fastener bonding track under the control of the intelligent control system; A honeycomb array pressing rod is used for pressing the zip fastener under the control of the intelligent control system after the glue is applied on the skin and the zip fastener is placed along the glue path; The honeycomb array pressing rod comprises a plurality of pressing rods arranged in a honeycomb array, and a force sensor, a composite spring, a telescopic rod and a pressing head connected in sequence in the pressing rod, a pressure control end, a second sliding rail groove, a third screw rod and a pressing rod motor; The pressing head is used for pressing the zip fastener under the action of the pressure control end; The pressure control end receives the measured pressure generated by each pressing rod through the force sensor and transmits the measured pressure to the intelligent control system, receives the elastic modulus of each composite spring fed back by the intelligent control system, and controls the composite spring according to the elastic modulus; The second sliding rail groove is engaged with the sliding rail protrusion, and the sliding rail motor controls the movement of the honeycomb array pressing rod on the second screw rod; The pressing rod motor is used for controlling the movement of the honeycomb array pressing rod in the vertical direction.

2. The apparatus for the automobile crash test dummy lower leg zipper bonding according to claim 1, wherein, The calf skin fixing platform comprises a cage frame and a calf skin support rod, a support column, a sliding rail protrusion and a platform motor placed in the cage frame; The calf skin support rod is located below the cage frame and is used for fixing the skin of the calf of the crash test dummy; The support column is used for supporting the calf skin support rod; The sliding rail protrusion is fixed above the cage frame and is used for providing a path for the movement of the laser scanning device and the honeycomb array pressing rod; The platform motor is used for controlling the movement of the laser scanning device and the honeycomb array pressing rod along the sliding rail protrusion.

3. The apparatus for the automobile crash test dummy lower leg zipper bonding according to claim 2, wherein, The laser scanning device comprises a laser scanner, a second screw rod, a first sliding rail groove, a sliding rail motor and an intelligent control information output end; The laser scanner is connected to the second screw rod and is used for scanning the skin and transmitting the scanning data to the intelligent control system through the intelligent control information output end; The first sliding rail groove is engaged with the sliding rail protrusion, and the sliding rail motor controls the movement of the laser scanner on the second screw rod.

4. The apparatus for attaching the lower leg of an automobile crash test dummy according to claim 3, wherein The glue applying structure comprises a support base, at least two mechanical arms connected to the support base, a glue storage box, a gear pump and a glue dispensing head connected to the mechanical arm at the end; The glue storage box is used for storing glue, the gear pump is used for controlling the uniform pumping of glue from the glue storage box, and the glue dispensing head is used for applying glue on the skin with a set diameter.

5. The apparatus for the automobile crash test dummy lower leg zipper bonding according to claim 1, wherein, The pressing head is a semispherical pressing head with softness.

6. A method for zipping a lower leg of an automotive crash test dummy, comprising: The device for zip fastener bonding of the calf of the crash test dummy is used for the method executed by the intelligent control system, comprising: Collecting scanning data of the skin of the lower leg of the crash test dummy by a laser scanning device; Generating a zip fastener bonding track according to the scanning data; Controlling a glue applying structure to apply glue on the skin along the zip fastener bonding track; After the glue is applied on the skin and the zip fastener is placed along the glue path, controlling a honeycomb array pressing rod to press and stand the zip fastener.

7. The method for bonding the lower leg zipper of an automotive crash test dummy according to claim 6, wherein The zip fastener bonding track comprises a track on the left side of the skin opening of the lower leg and a track on the right side of the skin opening of the lower leg: ； ； ； ； ； Wherein, the ankle joint is the origin, the Z axis is along the shank axis direction, the X axis is in the horizontal direction and perpendicular to the shank axis direction, and the Y axis is in the vertical direction and perpendicular to the X axis and the Z axis; x L ( z ) and y L ( z ) are coordinate points on the X axis and the Y axis respectively on the left side of the shank skin opening, x R ( z ) and y R ( z ) are coordinate points on the X axis and the Y axis respectively on the right side of the shank skin opening; z is a coordinate point on the Z axis, and z a is an upper reference point of the ankle joint, and z k is a lower reference point of the knee joint; is a shank section radius function, D0 is a basic diameter of the ankle joint, K is an axial radius growth rate, Δ is a normal offset, and θ0 is an opening center line azimuth.

8. The method for bonding the zipper of the lower leg of an automotive crash test dummy according to claim 6, characterized by, The amount of glue applied satisfies the following formula: ； Wherein, Q is the amount of coating, p is the density of glue, D is the diameter of the glue head, V is the moving speed of the glue head, t is the contact time of the glue head with the skin, K T is the temperature compensation coefficient, which is inversely proportional to the ambient temperature.

9. The method for bonding the zipper of the automobile crash test dummy lower leg according to claim 6, characterized by, Controlling the honeycomb array pressing rod to press and stand the zip fastener comprises: Collecting the measured pressure generated by each pressing rod in the honeycomb array pressing rod; According to the difference between the measured pressure and the target pressure, calculating a pressure compensation amount; According to the pressure compensation amount and the deformation amount of the compound spring, calculating the elastic modulus of the compound spring; According to the elastic modulus, controlling the compound spring.

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