Foot-to-ground adhesion performance automatic measurement experiment platform

Abstract

The invention relates to a foot-to-ground adhesion performance automatic measurement experiment platform, and belongs to the technical field of foot-end data measurement of foot type mobile robots. The automatic measurement experiment platform for the foot-to-ground adhesion performance comprises a translation lifting loading device, an automatic slope angle adjusting device and a data acquisition and analysis device, the translation lifting loading device can realize horizontal displacement and vertical displacement of the single-leg grounding mechanism and apply a load to the single-leg grounding mechanism, and the magnitude of the applied load can be monitored in real time through a single-dimensional pressure sensor; the slope angle automatic adjusting device can adjust the inclination angle of the soil containing box, and the change effect of the single-leg grounding mechanism on the irregular slope terrain is simulated through data fed back by the angle sensor. The multi-dimensional pressure sensor is used for collecting the friction force between the rapid replacement foot end and the slope terrain; the data acquisition and analysis device can measure the friction coefficient, the impact load ratio, the torque stability margin, the maximum climbing angle, the critical slipping speed and other performance parameters of the single-leg grounding mechanism.

Description

Technical Field

[0001] This invention belongs to the field of foot data measurement technology for legged mobile robots, and specifically relates to an automatic measurement experimental platform for foot adhesion performance. Background Technology

[0002] The characteristics of robot foot-to-ground contact are fundamental to robot foot-to-ground adhesion. Adhesion force is generated between the foot and the ground; only with a clear understanding of the contact characteristics between the robot foot and the ground can we correctly understand the generation of adhesion force between the foot and the soil. However, current research on robot foot-to-ground contact mechanics, both domestically and internationally, is not systematic or in-depth enough. To address this research gap, we can draw on the research paradigm of vehicle-ground interaction in ground mechanics to guide the design of robot foot ends by establishing contact mechanics models. However, the verification of theoretical models relies on experimental data, highlighting the importance of designing experimental platforms for foot-to-ground adhesion performance.

[0003] However, traditional experimental platforms have two limitations: First, the experimental process relies on manual debugging, which leads to low efficiency and the presence of human error; Secondly, the platform lacks the ability to automatically adjust multi-dimensional motion degrees of freedom, making it impossible to precisely control the displacement and attitude angle of the foot in the horizontal and vertical directions. This limitation severely affects the accurate measurement of contact mechanical parameters, and in particular, makes it difficult to reproduce the dynamic contact process under multiple working conditions.

[0004] Therefore, constructing an experimental platform with automatic posture adjustment and multi-dimensional force measurement functions has become an urgent need to advance research on foot-ground contact mechanics. Summary of the Invention

[0005] Based on the problems existing in the above-mentioned background technology, the present invention proposes an automatic measurement experimental platform for foot adhesion performance, which solves the problem that traditional experimental platforms lack the ability to automatically adjust multi-dimensional motion degrees of freedom and cannot accurately control the displacement and attitude angle of the foot in the horizontal and vertical directions.

[0006] The embodiments of the present invention are implemented as follows: This invention provides an automatic measurement experimental platform for foot adhesion performance, which includes a main support frame, on which a translational lifting loading device, an automatic slope angle adjustment device, and a data acquisition and analysis device are provided.

[0007] The translational lifting loading device includes a fixed bracket connected to the main support frame. The fixed bracket is equipped with two displacement sensors and a single-leg fixing component for fixing the single-leg ground contact mechanism. The single-leg fixing component moves horizontally and vertically. The two displacement sensors are used to detect the horizontal and vertical displacements of the single-leg fixing component, respectively. The single-leg ground contact mechanism includes a base motor fixing component and a quick-change foot end. A single-dimensional pressure sensor is installed between the single-leg fixing component and the base motor fixing component. A multi-dimensional pressure sensor is installed on the quick-change foot end.

[0008] The automatic slope angle adjustment device includes an angle adjustment structure, a soil loading box, and an angle sensor. The angle adjustment structure adjusts the tilt angle of the soil loading box, which is located below the single-leg fixing member and is filled with soil. The angle sensor is used to measure the tilt angle of the soil loading box in real time.

[0009] The data acquisition and analysis device includes an installation platform mounted on the main support frame, on which a data acquisition unit and a computer are electrically connected to each other; multiple displacement sensors, single-dimensional pressure sensors, multi-dimensional pressure sensors and angle sensors are all electrically connected to the data acquisition unit.

[0010] Furthermore, as a specific arrangement for realizing the movement of the single-leg fixing component in both horizontal and vertical directions, the fixing bracket is fixedly equipped with two guide rails and a slide table fixing bracket. The two guide rails are spaced apart, and a platform is mounted on them via a slider. A lifting platform and an electric slide table are mounted on the platform. An electric cylinder is vertically mounted on the lifting platform, and the single-leg fixing component is fixedly connected to the piston rod of the electric cylinder via an electric cylinder connector. The slider on the electric slide table is fixedly connected to the slide table fixing bracket, and the electric slide table drives the platform to slide along the length of the guide rails. By controlling the extension and retraction of the piston rod of the electric cylinder, the single-leg fixing component and the single-leg ground contact mechanism connected to the single-leg fixing component are displaced in the vertical direction. By controlling the movement of the slider on the electric slide table, the platform and the single-leg ground contact mechanism are displaced in the horizontal direction. The displacement of the single-leg ground contact mechanism in both horizontal and vertical directions is precisely controlled, enabling the reproduction of the dynamic contact process of the single-leg ground contact mechanism under multiple working conditions.

[0011] Furthermore, both displacement sensors are pull-rope sensors. One pull-rope sensor is fixedly connected to the fixed bracket, and the pull rope of the pull-rope sensor is fixedly connected to the platform, used to detect the horizontal displacement of the single-leg fixing member on the platform; the other pull-rope sensor is fixedly connected to the lifting platform and its pull rope end is fixedly connected to the single-leg fixing member, used to detect the vertical displacement of the single-leg fixing member.

[0012] Furthermore, as a specific configuration of the single-leg ground-contact mechanism, the single-leg ground-contact mechanism also includes a first joint motor fixedly connected to the base section motor fixing component. The rotor of the first joint motor is connected to a base section rotating component, which is connected to a base section connecting component. The base section connecting component is connected to a thigh motor fixing component. A second joint motor is fixedly mounted on the thigh motor fixing component. The rotor of the second joint motor is connected to a thigh rotating component, which is connected to a thigh connecting component. The thigh connecting component is connected to a lower leg motor fixing component. A third joint motor is fixedly mounted on the lower leg motor fixing component. The rotor of the third joint motor is connected to a lower leg rotating component, which is fixedly connected to a lower leg connecting component. A foot end connecting component is provided at the end of the lower leg connecting component, and the foot end connecting component is detachably connected to the quick-change foot end. The entire single-leg ground-contact mechanism is driven by three joint motors, and the joint motors can automatically detect changes in torque. They can also change their posture according to the position and angle of the single-leg ground-contact mechanism to achieve optimal measurement results.

[0013] Furthermore, the lengths of the base joint connector, thigh connector, and lower leg connector are adjustable. Specifically, they can be adjusted according to experimental requirements.

[0014] Furthermore, the angle adjustment structure includes a support bracket and an electric linear module. The top of the support bracket is provided with a support plate, and one side of the support plate is rotatably connected to one side of the support bracket through a bearing seat and a bearing connecting rod. The support bracket is provided with a support seat for supporting the support plate. Two bearing connecting seats are spaced apart on the lower end face of the other side of the bearing plate, and a rotating rod is rotatably connected between the two bearing connecting seats; The electric linear module is mounted on one side of the support bracket and is electrically connected to the computer. An adjuster is connected to the top of the slider of the electric linear module. A support rod is rotatably connected to the adjuster. The other end of the support rod is rotatably connected to the middle of the rotating rod. The soil-filling box is positioned on the upper surface of the bearing plate.

[0015] The basic principle of the angle adjustment structure is as follows: When it is necessary to adjust the tilt angle of the soil-filling box, the electric linear module is activated to control the slider on it to move horizontally in a linear fashion, which in turn drives the adjuster to move. The movement of the adjuster drives the movement of the support rod, ultimately causing the soil-filling box to rotate around one side of the supporting bracket, thereby achieving the purpose of adjusting the tilt angle of the soil-filling box. The change in the tilt angle of the soil-filling box simulates different slope terrains.

[0016] Furthermore, the upper surface of the bearing plate is provided with four soil-filling box fixing components arranged in a rectangular shape.

[0017] Furthermore, the soil-filling box is equipped with transparent observation windows on both the front and back, and a scale is vertically installed on one side of each transparent observation window. The transparent observation windows allow the experimenter to observe the shear changes when the single-leg ground-touching mechanism treads on the soil. The scale is fixedly installed on the outside of the soil-filling box and can measure the height of the added soil experimental material, and can also calculate the settlement depth of the single-leg ground-touching mechanism based on the difference between the deep pit formed by the single-leg ground-touching mechanism and the soil base surface.

[0018] Furthermore, the angle sensor is located at the end of the bearing connecting rod. When adjusting the tilt angle of the soil filling box, the bearing connecting rod rotates, which in turn drives the angle sensor to rotate, thereby realizing real-time detection of the tilt angle of the soil filling box.

[0019] Furthermore, the single-leg fixing component and the base section motor fixing component are connected by four diagonally arranged one-dimensional pressure sensors; these four diagonally arranged pressure sensors detect changes in single-leg pressure and prevent excessive load from causing deformation between structural components. This mechanism not only saves labor costs but also automatically detects the horizontal and vertical displacement of the single leg using displacement sensors to adjust its position, and automatically detects changes in single-leg pressure using pressure sensors.

[0020] Compared with traditional experimental platforms, the beneficial effects of this invention are: This invention discloses an automatic measurement experimental platform for foot adhesion performance. By setting up a translational lifting loading device, it can achieve horizontal and vertical displacement of the single-leg ground-contact mechanism and apply a load. The magnitude of the applied load can be monitored in real time by a single-dimensional pressure sensor. The angle adjustment structure in the automatic slope angle adjustment device can adjust the tilt angle of the soil-filling box, and the data fed back by the angle sensor simulates the changing effect of the single-leg ground-contact mechanism on irregular slope terrain. A multi-dimensional pressure sensor is used to collect the friction force between the foot tip and the slope terrain during rapid foot replacement. The data acquisition and analysis device uses data from multiple displacement sensors, single-dimensional pressure sensors, and... Data collected by multi-dimensional pressure and angle sensors can measure the real-time curves of three-dimensional force and three-dimensional torque at the foot end of the single-leg ground contact mechanism during rapid foot replacement, as well as the axial force of the base section and its transmission ratio with the foot end force. Finally, performance parameters such as friction coefficient, impact load ratio, torque stability margin, maximum climbing angle, and critical slip speed can be obtained through computer calculation. In summary, the automatic foot-ground adhesion performance measurement experimental platform of this invention has automatic posture adjustment and multi-dimensional force measurement functions, which solves the problem that traditional experimental platforms lack the ability to automatically adjust multi-dimensional motion degrees of freedom and cannot accurately control the displacement and attitude angle of the foot end in the horizontal and vertical directions. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of the present invention will become clearer through the accompanying drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual dimensions; the focus is on illustrating the main points of the invention.

[0022] Figure 1 This is a three-dimensional structural schematic diagram of an experimental platform for automatically measuring foot adhesion performance.

[0023] Figure 2 A three-dimensional structural diagram of the translation and lifting loading device.

[0024] Figure 3 This is a three-dimensional structural diagram of an automatic slope angle adjustment device.

[0025] Figure 4 This is a three-dimensional structural diagram of a single-leg ground-touching mechanism.

[0026] Figure 5 This is a schematic diagram of the installation structure of the angle sensor.

[0027] Among them, 1. Main support framework; 2. Translation and lifting loading device; 21. Fixed bracket; 22. Displacement sensor; 23. Single leg fixing component; 24. Single-dimensional pressure sensor; 25. Guide rail; 26. Slide table fixing bracket; 27. Platform; 28. Lifting platform; 29. ​​Electric slide table; 210. Electric cylinder; 211. Electric cylinder connector; 3. Automatic slope angle adjustment device; 31. Soil loading box; 32. Angle sensor; 33. Bearing bracket; 34. Electric linear module; 35. Bearing plate; 36. Bearing seat; 37. Bearing connecting rod; 38. Support seat; 39. Bearing connecting seat; 310. Rotating rod; 311. Adjuster; 312. Support rod; 313. Soil loading box fixing component; 314. Transparent observation window; 315. Scale; 4. Data acquisition and analysis device; 41. Installation platform; 42. Data acquisition unit; 43. Computer; 5. Single-leg ground contact mechanism; 51. Base section motor fixing component; 52. Quick-change foot end; 54. First joint motor; 55. Base section rotating component; 56. Base section connecting component; 57. Thigh motor fixing component; 58. Second joint motor; 59. Thigh rotating component; 510. Thigh connecting component; 511. Lower leg motor fixing component; 512. Third joint motor; 513. Lower leg rotating component; 514. Lower leg connecting component. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0032] Please refer to Figures 1-4 As shown, the present invention provides an automatic measurement experimental platform for foot adhesion performance, which includes a main support frame 1, on which a translation lifting loading device 2, an automatic slope angle adjustment device 3 and a data acquisition and analysis device 4 are provided.

[0033] The translational lifting loading device 2 includes a fixed bracket 21 connected to the main support frame 1. The fixed bracket 21 is equipped with two displacement sensors 22 and a single-leg fixing member 23 for fixing the single-leg ground contact mechanism 5. The single-leg fixing member 23 moves in the horizontal and vertical directions. The two displacement sensors 22 are used to detect the horizontal and vertical displacements of the single-leg fixing member 23, respectively. The single-leg ground contact mechanism 5 includes a base motor fixing member 51 and a quick-change foot end 52. A single-dimensional pressure sensor 24 is provided between the single-leg fixing member 23 and the base motor fixing member 51. A multi-dimensional pressure sensor is provided on the quick-change foot end 52.

[0034] Preferably, the single-leg fixing member 23 and the base section motor fixing member 51 are connected by four diagonally arranged one-dimensional pressure sensors 24; the four diagonally arranged pressure sensors detect changes in single-leg pressure and prevent excessive load from causing deformation between structural components. This mechanism not only saves labor costs but also automatically detects the horizontal and vertical displacement of the single leg through displacement sensors 22 to adjust its position, and can also automatically detect changes in single-leg pressure through pressure sensors.

[0035] The automatic slope angle adjustment device 3 includes an angle adjustment structure, a soil loading box 31, and an angle sensor 32. The angle adjustment structure adjusts the tilt angle of the soil loading box 31, which is located below the single-leg fixing member 23 and is filled with soil. The angle sensor 32 is used to measure the tilt angle of the soil loading box 31 in real time.

[0036] The data acquisition and analysis device 4 includes an installation platform 41 mounted on the main support frame 1. The installation platform 41 is equipped with a data acquisition unit 42 and a computer 43 that are electrically connected to each other. Multiple displacement sensors 22, single-dimensional pressure sensors 24, multi-dimensional pressure sensors and angle sensors 32 are all electrically connected to the data acquisition unit 42.

[0037] This invention provides an automatic measurement experimental platform for foot adhesion performance. A translational lifting loading device 2 enables the horizontal and vertical displacement of the single-leg ground-contact mechanism 5 and applies a load to it. The magnitude of the applied load can be monitored in real-time by a single-dimensional pressure sensor 24. An angle adjustment structure in the slope angle automatic adjustment device 3 can adjust the tilt angle of the soil-filling box 31, and the data fed back by the angle sensor 32 simulates the changing effect of the single-leg ground-contact mechanism 5 on irregular slope terrain. A multi-dimensional pressure sensor is used to collect the frictional force between the quick-changing foot end 52 and the slope terrain. Based on the data collected by multiple displacement sensors 22, single-dimensional pressure sensors 24, multi-dimensional pressure sensors, and angle sensors 32, the data acquisition and analysis device 4 can measure the real-time curves of the three-dimensional force and three-dimensional torque of the quick-changing foot end 52 of the single-leg ground-contact mechanism 5, the axial force of the base section and its transmission ratio with the foot end force, and finally, the computer 43 calculates performance parameters such as the friction coefficient, impact load ratio, torque stability margin, maximum climbing angle, and critical slippage speed.

[0038] Specifically, such as Figure 1 and Figure 2As shown, as a specific arrangement for realizing the movement of the single-leg fixing member 23 in the horizontal and vertical directions, two guide rails 25 and a slide table fixing bracket 26 are fixedly installed on the fixing bracket 21. The two guide rails 25 are spaced apart and a platform 27 is installed on them via a slider. A lifting platform 28 and an electric slide table 29 are installed on the platform 27. An electric cylinder 210 is vertically installed on the lifting platform 28. The single-leg fixing member 23 is fixedly connected to the piston rod of the electric cylinder 210 through an electric cylinder connector 211. The slider on the electric slide table 29 is fixedly connected to the slide table fixing bracket 26. The electric slide table 29 drives the platform 27 to slide along the length direction of the guide rails 25. By controlling the extension and retraction of the piston rod of the electric cylinder 210, the single-leg fixing member 23 and the single-leg ground contact mechanism 5 connected to the single-leg fixing member 23 are moved vertically; by controlling the movement of the slider on the electric slide table 29, the platform 27 and the single-leg ground contact mechanism 5 are moved horizontally, and the displacement of the single-leg ground contact mechanism 5 in the horizontal and vertical directions is precisely controlled, so as to reproduce the dynamic contact process of the single-leg ground contact mechanism 5 under multiple working conditions.

[0039] Specifically, both displacement sensors 22 are pull-rope sensors. One pull-rope sensor is fixedly connected to the fixed bracket 21, and the pull rope of the pull-rope sensor is fixedly connected to the platform 27. It is used to detect the horizontal displacement of the single-leg fixing member 23 on the platform 27. The other pull-rope sensor is fixedly connected to the lifting platform 28, and its pull rope end is fixedly connected to the single-leg fixing member 23. It is used to detect the vertical displacement of the single-leg fixing member 23.

[0040] Specifically, such as Figure 1 and Figure 4As shown, as a specific configuration of the single-leg ground contact mechanism 5, the single-leg ground contact mechanism 5 further includes a first joint motor 54 fixedly connected to the base section motor fixing member 51. The rotor of the first joint motor 54 is connected to a base section rotating member 55. The base section rotating member 55 is connected to a base section connecting member 56. The base section connecting member 56 is connected to a thigh motor fixing member 57. A second joint motor 58 is fixedly mounted on the thigh motor fixing member 57. The rotor of the second joint motor 58 is connected to a thigh rotating member 59. The thigh rotating member 59 is connected to a thigh connecting member 510. The thigh connecting member 510 is connected to a calf motor fixing member 511. A third joint motor 512 is fixedly mounted on the calf motor fixing member 511. The rotor of the third joint motor 512 is connected to a calf rotating member 513. A calf connecting member 514 is fixedly connected to the calf rotating member 513. A foot end connecting member is provided at the end of the calf connecting member 514. The foot end connecting member is detachably connected to the quick-change foot end 52. The entire single-leg ground contact mechanism 5 is driven by 3 joint motors, and the joint motors can automatically detect changes in torque. They can also change their posture according to the position and angle of the single-leg ground contact mechanism 5 in order to achieve the best measurement effect.

[0041] Preferably, but not limited to, the lengths of the base joint connector 56, the thigh connector 510, and the lower leg connector 514 are adjustable. Specifically, they can be adjusted according to experimental requirements.

[0042] Specifically, such as Figure 1 and Figure 3 As shown, the angle adjustment structure includes a support bracket 33 and an electric linear module. A support plate 35 is mounted on the top of the support bracket 33. One side of the support plate 35 is rotatably connected to one side of the support bracket 33 via a bearing seat 36 and a bearing connecting rod 37. A support seat 38 for supporting the support plate 35 is mounted on the support bracket 33. Two bearing connecting seats are spaced apart on the lower end face of the other side of the support plate 35, and a rotating rod 310 is rotatably mounted between the two bearing connecting seats. The electric linear module is mounted on one side of the support bracket 33 and electrically connected to the computer 43. An adjuster 311 is connected to the top of the slider of the electric linear module, and a support rod 312 is rotatably connected to the adjuster 311. The other end of the support rod 312 is rotatably connected to the middle of the rotating rod 310. The soil loading box 31 is mounted on the upper end face of the support plate 35.

[0043] The basic principle of the angle adjustment structure is as follows: When it is necessary to adjust the tilt angle of the soil-filling box 31, the electric linear module is activated to control the slider on it to move horizontally in a linear fashion, which in turn drives the adjuster 311 to move. The movement of the adjuster 311 drives the support rod 312 to move, ultimately achieving the rotation of the soil-filling box 31 around one side of the bearing bracket 33, thus achieving the purpose of adjusting the tilt angle of the soil-filling box 31. The change in the tilt angle of the soil-filling box 31 simulates different slope terrains. Figure 1 and Figure 5 As shown, the angle sensor 32 is located at the end of the bearing connecting rod 37. When the tilt angle of the soil box 31 is adjusted, the bearing connecting rod rotates, which in turn drives the angle sensor 32 to rotate, thereby realizing the real-time detection of the tilt angle of the soil box 31.

[0044] Preferably, but not limited to, the upper surface of the support plate 35 has four soil-filling box fixing members 313 arranged in a rectangle. The soil-filling box 31 has a transparent observation window 314 on both its front and back sides, and a scale 315 is vertically installed on one side of each transparent observation window 314. The transparent observation window 314 allows the experimenter to observe the shear changes when the single-leg ground-touching mechanism 5 treads on the soil. The scale 315 is fixedly installed on the outside of the soil-filling box 31 and can measure the height of the added soil experimental material, and can also calculate the settlement depth of the single-leg ground-touching mechanism 5 based on the difference between the deep pit created by the single-leg ground-touching mechanism 5 and the soil base surface.

[0045] The experimental steps of the automatic measurement experimental platform for foot adhesion performance in this invention are as follows: Step 1: Experiment preparation and sensor deployment. Connect the six-dimensional force sensor to the quick-change foot end 52, and install the single-dimensional pressure sensor 24 at the base motor fixing part 51. Prepare a multi-terrain test platform with different moisture ratios (fill the soil test box 31 with soil test materials with different moisture ratios).

[0046] Step 2: Single-leg dynamic adhesion test of the single-leg ground contact mechanism 5. Adjust the translational lifting loading device 2 to position the single-leg ground contact mechanism 5 appropriately. Set the basic motion mode and control the single-leg ground contact mechanism 5 to contact the soil in the soil-filling box 31 with a fixed gait, gradually increasing the joint driving force. Record the six-dimensional force dynamic curve of the foot tip and the single-dimensional force change of the base segment within each cycle. Determine whether slippage occurs by sudden changes in force signals, and mark the force and torque values ​​corresponding to the slippage moment.

[0047] Step 3: Multi-terrain adaptability comparison test. Switch the terrain conditions in the soil box 31 to conduct a single-leg dynamic adhesion test of the single-leg ground contact mechanism 5. For the slope conditions, gradually increase the tilt angle until the single-leg ground contact mechanism 5 can no longer adhere stably, and record the maximum stable climbing angle.

[0048] Step 4: Data processing and adhesion performance parameter extraction. The real-time curves of three-dimensional force and three-dimensional torque of the quick-change foot end 52 of the single-leg ground contact mechanism 5 are measured, as well as the axial force of the base section and its transmission ratio with the foot end force. Finally, the performance parameters such as friction coefficient, impact load ratio, torque stability margin, maximum climbing angle, and critical slip speed can be obtained by computer 43.

[0049] In summary, the automatic foot adhesion performance measurement experimental platform of the present invention has automatic posture adjustment and multi-dimensional force measurement functions, which solves the problem that traditional experimental platforms lack the ability to automatically adjust multi-dimensional motion degrees of freedom and cannot accurately control the displacement and attitude angle of the foot in the horizontal and vertical directions.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic experimental platform for measuring foot adhesion performance, characterized in that, It includes a main support frame, on which a translation lifting loading device, an automatic slope angle adjustment device and a data acquisition and analysis device are installed; The translational lifting loading device includes a fixed bracket connected to the main support frame. The fixed bracket is equipped with two displacement sensors and a single-leg fixing component for fixing the single-leg ground contact mechanism. The single-leg fixing component moves horizontally and vertically. The two displacement sensors are used to detect the horizontal and vertical displacements of the single-leg fixing component, respectively. The single-leg ground contact mechanism includes a base motor fixing component and a quick-change foot end. A single-dimensional pressure sensor is installed between the single-leg fixing component and the base motor fixing component. A multi-dimensional pressure sensor is installed on the quick-change foot end. The automatic slope angle adjustment device includes an angle adjustment structure, a soil loading box, and an angle sensor. The angle adjustment structure adjusts the tilt angle of the soil loading box, which is located below the single-leg fixing member and is filled with soil. The angle sensor is used to measure the tilt angle of the soil loading box in real time. The data acquisition and analysis device includes an installation platform mounted on the main support frame, on which a data acquisition unit and a computer are electrically connected to each other; multiple displacement sensors, single-dimensional pressure sensors, multi-dimensional pressure sensors and angle sensors are all electrically connected to the data acquisition unit.

2. The automatic measurement experimental platform for foot adhesion performance according to claim 1, characterized in that, The fixed bracket is equipped with two guide rails and a slide table fixed bracket. The two guide rails are spaced apart and a platform is mounted on them via a slider. The platform is equipped with a lifting platform and an electric slide table. An electric cylinder is vertically mounted on the lifting platform. The single-leg fixing member is fixedly connected to the piston rod of the electric cylinder through an electric cylinder connector. The slider on the electric slide table is fixedly connected to the slide table fixed bracket. The electric slide table drives the platform to slide along the length of the guide rails.

3. The automatic measurement experimental platform for foot adhesion performance according to claim 2, characterized in that, Both displacement sensors are pull-rope sensors. One pull-rope sensor is fixedly connected to the fixed bracket, and the pull rope of the pull-rope sensor is fixedly connected to the platform. The other pull-rope sensor is fixedly connected to the lifting platform, and its pull rope end is fixedly connected to the single-leg fixing component.

4. The automatic measurement experimental platform for foot adhesion performance according to claim 1, characterized in that, The single-leg ground-contact mechanism further includes a first joint motor fixedly connected to the base section motor fixing component. The rotor of the first joint motor is connected to a base section rotating component. The base section rotating component is connected to a base section connecting component. The base section connecting component is connected to a thigh motor fixing component. A second joint motor is fixedly mounted on the thigh motor fixing component. The rotor of the second joint motor is connected to a thigh rotating component. The thigh rotating component is connected to a thigh connecting component. The thigh connecting component is connected to a calf motor fixing component. A third joint motor is fixedly mounted on the calf motor fixing component. The rotor of the third joint motor is connected to a calf rotating component. A calf connecting component is fixedly connected to the calf rotating component. A foot end connecting component is provided at the end of the calf connecting component. The foot end connecting component is detachably connected to the quick-change foot end.

5. The automatic measurement experimental platform for foot adhesion performance according to claim 4, characterized in that, The lengths of the base joint connector, thigh connector, and lower leg connector are adjustable.

6. The automatic measurement experimental platform for foot adhesion performance according to claim 1, characterized in that, The angle adjustment structure includes a support bracket and an electric linear module. A support plate is provided on the top of the support bracket. One side of the support plate is rotatably connected to one side of the support bracket through a bearing seat and a bearing connecting rod. A support seat for supporting the support plate is provided on the support bracket. Two bearing connecting seats are spaced apart on the lower end face of the other side of the bearing plate, and a rotating rod is rotatably connected between the two bearing connecting seats; The electric linear module is mounted on one side of the support bracket and is electrically connected to the computer. An adjuster is connected to the top of the slider of the electric linear module. A support rod is rotatably connected to the adjuster. The other end of the support rod is rotatably connected to the middle of the rotating rod. The soil-filling box is positioned on the upper surface of the bearing plate.

7. The automatic measurement experimental platform for foot adhesion performance according to claim 6, characterized in that, The upper surface of the bearing plate has four soil-filling box fixing components arranged in a rectangle.

8. The automatic measurement experimental platform for foot adhesion performance according to claim 6, characterized in that, The soil-filling box is equipped with transparent observation windows on both the front and back, and a scale is vertically installed on one side of each transparent observation window.

9. The automatic measurement experimental platform for foot adhesion performance according to claim 6, characterized in that, The angle sensor is located at the end of the bearing connecting rod.

10. The automatic measurement experimental platform for foot adhesion performance according to any one of claims 1 to 9, characterized in that, The single-leg fixing component and the base section motor fixing component are connected by four diagonally arranged one-dimensional pressure sensors.

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