A standardized testing device for exoskeleton performance evaluation

Abstract

The application relates to the technical field of exoskeleton performance test, and particularly discloses a test device for exoskeleton performance evaluation, which comprises a load module and a test environment module which are independent of each other and can be used in combination. The load module is provided with an adjusting mechanism for adjusting weight and gravity center, and comprises a box type load tool, a cylinder type load tool and a chain type load tool. The box type load tool is used for simulating fixed load, the cylinder type load tool is used for simulating dynamic shaking load, and the chain type load tool is used for simulating rigidity adjusting load. The test environment module at least comprises one of a restricted space crossing, a terrain simulation, a ladder frame operation and an upper limb operation workstation unit, and can simulate different specifications of channels, different terrains, ladder frame climbing and upper limb fine operation environments. The device can completely simulate a real operation scene of an exoskeleton, guarantee the reproducibility and transverse comparability of test results, and improve the objectivity and effectiveness of exoskeleton performance evaluation.

Description

Technical Field

[0001] This application relates to the field of exoskeleton performance testing technology, specifically to a standardized testing device for evaluating exoskeleton performance. Background Technology

[0002] Exoskeleton robots, as wearable human-machine collaborative equipment, have been widely used in fields such as industrial handling, medical rehabilitation, military operations, and emergency rescue. Their load handling capacity and mobility in complex environments are the core performance indicators.

[0003] Currently, there are still many shortcomings in the hardware system for performance testing of exoskeletons: The lack of standardized testing conditions for load-bearing fixtures and testing environments leads to inconsistent equipment and unreproducible scenarios in exoskeleton performance testing. Ultimately, this results in a lack of reproducibility and comparability of test results, severely restricting the objectivity and effectiveness of exoskeleton performance evaluation.

[0004] Existing testing devices often completely separate the hardware for load handling testing and motion capability testing of exoskeletons, making it impossible to build composite test scenarios of "load + complex environment", simulate the coupled working conditions in real use of exoskeletons, and have limited load types and test scenarios, making it impossible to comprehensively evaluate performance based on test results.

[0005] Based on this, the present invention proposes a standardized testing device for evaluating the performance of exoskeletons, which solves the core defects of existing exoskeleton testing hardware systems. Summary of the Invention

[0006] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a standardized testing device for evaluating the performance of exoskeletons.

[0007] A standardized testing device for evaluating the performance of exoskeletons includes a load module and a testing environment module that are independently set up but can be used in combination. The load module is equipped with an adjustment mechanism for adjusting its weight and center of gravity. The load module includes at least one of a box-type load fixture, a cylindrical load fixture, and a chain-type load fixture. The box-type load fixture is used to simulate a fixed load, the cylindrical load fixture is used to simulate a dynamic swaying load, and the chain-type load fixture is used to simulate a stiffness-adjustable load. The test environment module includes at least one of the following: a confined space traversal unit, a terrain simulation unit, a ladder operation unit, and an upper limb operation station unit. The confined space traversal unit has an adjustable-sized passageway to simulate passageway environments of different specifications. The terrain simulation unit has multiple ground slabs to simulate different terrain environments. The ladder operation unit has ladder modules with different climbing paths to simulate different ladder-type climbing environments. The upper limb operation station unit has multiple motion operation mechanisms to simulate the refined motion operation environment of the exoskeleton upper limbs.

[0008] According to the technical solution provided in the embodiments of this application, the box-type load tooling includes a load-bearing box and a handling handle; The side wall of the carrier box has multiple mounting slots arranged horizontally, and each mounting slot extends vertically; the inner bottom wall of the carrier box has an array of bolt holes. The adjustment mechanism includes a mounting plate and / or a box-type counterweight. The mounting plate is detachably installed in the mounting slot, and the box-type counterweight is connected to the bolt hole by bolts. By adjusting the number and installation position of the mounting plates and the number and installation position of the box-type counterweight, the load weight and center of gravity position of the box-type load tooling can be adjusted.

[0009] The handling handles are symmetrically arranged on the opposite side walls of the carrying box.

[0010] According to the technical solution provided in the embodiments of this application, the cylindrical load tooling includes a load-bearing cylinder and a handle; The bearing cylinder is a hollow cylinder with openings at both ends, and bearing cylinder end caps are detachably connected to both ends; The adjusting mechanism includes a connecting rod and a cylindrical counterweight; the connecting rod is disposed inside the bearing cylinder, its axis coincides with the axis of the bearing cylinder, and its two ends are detachably connected to the bearing cylinder end caps at both ends of the bearing cylinder; the cylindrical counterweight is slidably sleeved on the connecting rod, and the cylindrical counterweight can slide along the axial direction of the connecting rod, so that the cylindrical load fixture constitutes a dynamic swaying load; The handle is fixed to the outside of the end cap of the bearing cylinder at one end.

[0011] According to the technical solution provided in the embodiments of this application, the adjustment mechanism further includes locking nuts. The outer wall of the connecting rod is provided with threads. The two locking nuts are used to engage with the connecting rod and are respectively disposed on both sides of the cylindrical counterweight to form an axial clamping limit on the cylindrical counterweight, so that the cylindrical load fixture constitutes a static load. By adjusting the number of the cylindrical counterweight and its position on the connecting rod, the load weight and center of gravity position of the cylindrical load fixture can be adjusted.

[0012] According to the technical solution provided in the embodiments of this application, the chain load fixture includes multiple independent load devices connected in sequence by a stiffness adjustment mechanism. The stiffness adjustment mechanism is used to adjust the relative rotational degrees of freedom of adjacent load devices to realize the overall stiffness adjustment of the chain load fixture. The load device is hollow inside, and a counterweight filling port is provided on its side wall for filling with counterweight medium to adjust the load weight of the chain load fixture. A matching sealing cap is provided on the filling port.

[0013] According to the technical solution provided in the embodiments of this application, the confined space traversal unit includes a main frame, a movable adjustment structure, and a boundary adjustment structure; The main frame includes two horizontal beams and two vertical columns, with the horizontal beams and vertical columns perpendicular to each other; The movable adjustment structure includes two door panels and a sliding connection assembly. The two door panels are connected to the crossbeam through the sliding connection assembly, and the two door panels can move closer to or further away from each other along the crossbeam. The boundary adjustment structure includes a boundary adjustment hole and two limiting rods; The boundary adjustment holes are respectively arrayed on the two door panels, and the two ends of the limiting rod are detachably connected to the boundary adjustment holes on the two door panels. The edges of the two door panels that are close to each other and the two limiting rods together form the passage opening. The size of the passage opening can be adjusted by adjusting the distance between the two door panels and / or by adjusting the installation position of the two limiting rods.

[0014] According to the technical solution provided in the embodiments of this application, the terrain simulation unit includes a supporting body, regular land plates, and irregular land plates; The supporting body has a bottom plate and side walls that are perpendicular to each other. The bottom plate and side walls together enclose a test space. The bottom plate has a bearing surface located within the test space. Entrances and exits connected to the test space are respectively opened on the two opposite side walls. The regular-shaped slab has a flat surface and can be laid on the bearing surface; The irregularly shaped floor slab has a bottom surface and a top surface. The bottom surface is a plane for fitting against the bearing surface, and the top surface has an inclined surface that forms a preset angle with the bottom surface. Multiple regular and irregularly shaped land slabs can be freely spliced ​​onto the bearing surface to simulate different terrain environments.

[0015] According to the technical solution provided in the embodiments of this application, the ladder operation unit includes a platform body and an inclined ladder; The platform body includes a support platform with a support surface parallel to the horizontal plane. The inclined ladder is inclinedly set on one side of the support platform, with its top end fixedly connected to the edge of the support platform and its bottom end fixedly attached to the ground, for simulating an inclined ladder climbing operation scenario.

[0016] According to the technical solution provided in the embodiments of this application, the ladder frame operation unit also includes a vertical ladder frame; A working opening is provided on the support surface, and a working cylinder is provided below the working opening. The axis of the working cylinder coincides with the axis of the working opening and is perpendicular to the support surface. The opening of the working cylinder is connected to the working opening, and the working cylinder forms a vertical working space. The vertical ladder is installed inside the working cylinder and is parallel to the axis of the working cylinder. The top end of the vertical ladder is fixedly connected to the edge of the working opening, and the bottom end is fixedly connected to the bottom inner wall of the working cylinder, which is used to simulate a vertical climbing operation scenario.

[0017] According to the technical solution provided in the embodiments of this application, the upper limb working station unit includes a support body and an upper limb working test device. The upper limb working test device includes at least one of the following: a test equipment assembly and debugging mechanism, a workpiece handling and placement mechanism, a screw tightening mechanism, and a pressure detection mechanism. The support body has multiple parallel profiles that are evenly spaced. Each profile has mounting holes arranged in an array along its extension direction, forming a planar mounting grid. The planar mounting grid is divided into a test equipment assembly and debugging mounting area, a workpiece handling and placement mounting area, a screw tightening mounting area, and a pressure testing mounting area. The test equipment assembly and debugging mechanism is detachably installed on the test equipment assembly and debugging installation area. It includes a mounting plate, and the surface of the mounting plate is provided with connection holes that are adapted to the bolt holes at the bottom of the test equipment for installing the exoskeleton performance test equipment and for simulating the operation scenario of installing and repairing equipment on the human upper limb. The workpiece handling and placement mechanism is detachably installed on the workpiece handling and placement installation area. It includes a load placement platform. Both sides of the bottom surface of the load placement platform are detachably connected to the mounting holes through platform mounting parts. The load placement platform is used to place the test workpiece being handled, and is used to simulate the operation scenario of placing human upper limbs and handling maintenance tools during equipment maintenance. The screw-tightening mechanism is detachably mounted on the screw-tightening mounting area. It includes a test panel with test bolt holes of different sizes. Test bolts of the same size are threaded into the test bolt holes and are used to simulate the operation scenario of human upper limbs tightening screws during the assembly of industrial equipment. The pressure detection mechanism is detachably installed on the pressure detection installation area, and includes a pressure sensor for simulating a human upper limb pressing action scenario.

[0018] The beneficial effects of this application are as follows: The load module and test environment module can be used independently to complete specialized tests of the exoskeleton's single-dimensional performance, or they can be combined to build a composite test scenario of "load carrying + complex environment" to achieve coupled testing of the exoskeleton's load handling capability and motion capability, and fully simulate the real working scenario of the exoskeleton. The load module has weight and center of gravity adjustment functions, which solves the problem that existing load modules are of single type and cannot match the actual working load. The test environment module includes a confined space traversal unit, a terrain simulation unit, and a ladder operation unit, which fully reproduces typical scenarios in the actual application of exoskeletons. The upper limb operation station unit covers refined operation scenarios, which can comprehensively test the environmental adaptability, climbing ability, and upper limb operation ability of the exoskeleton, avoiding incomplete performance evaluation caused by single-scenario testing. This device integrates a load module and a test environment module, forming a unified test scenario that replaces existing distributed test devices. This avoids test discrepancies caused by the lack of unified test conditions between the load fixture and the test environment, ensuring consistent test conditions for different test batches and test scenarios. It also guarantees the reproducibility and comparability of test results, thereby improving the objectivity and effectiveness of exoskeleton performance evaluation. Attached Figure Description

[0019] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the load module of the standardized testing device for evaluating exoskeleton performance provided in an embodiment of this application; Figure 2 A schematic diagram of the test environment module structure of the standardized testing device for evaluating exoskeleton performance provided in the embodiments of this application; Figure 3 for Figure 1 Schematic diagram of the structure of the box-type load-bearing fixture; Figure 4 for Figure 1 Schematic diagram of the structure of the medium-cylinder type load-bearing fixture; Figure 5 for Figure 1 Schematic diagram of the structure of the mid-chain load tooling; Figure 6 for Figure 2 Schematic diagram of the structure of the confined space traversal unit; Figure 7 forFigure 2 Schematic diagram of the structure of the terrain simulation unit; Figure 8 for Figure 2 Schematic diagram of the structure of the intermediate ladder frame working unit; Figure 9 for Figure 2 Schematic diagram of the upper and middle limb working station unit; Numbering on the map: 1. Box-type load jig; 2. Cylindrical load jig; 3. Chain-type load jig; 4. Confined space traversal unit; 5. Terrain simulation unit; 6. Upper limb working station unit; 7. Ladder working unit; 101. Loading box; 102. Handling handle; 103. Bolt hole; 104. Suspension hole; 105. Mounting plate; 106. Mounting slot; 107. Expansion mounting hole; 108. Box-type counterweight; 109. Placement frame; 201. Loading cylinder; 202. Loading cylinder end cap; 203. Fastening bolt; 204. Connecting rod; 205. Cylindrical counterweight; 206. Locking nut; 208. Handle; 301. Loading device; 302. Hinged connector; 303. Pin; 304. Counterweight filling port; 305. Sealing cover; 401. Mounting base; 402. Trapezoidal side support plate; 403. H 404. Roller; 405. Door panel; 406. Main frame; 407. Top slide rail; 408. Boundary adjustment hole; 409. Limiting rod; 410. Limiting rod mounting base; 411. V-shaped roller; 501. Roller; 502. Horizontal truss; 503. Side wall; 504. Entrance / exit; 505. Reinforcing truss; 506. Irregularly shaped floor slab; 507. Vertical truss; 508. Horizontal connecting beam; 509. Regular floor slab; 601. Support frame; 602. Screw tightening mechanism; 603. Supporting diagonal brace; 604. Profile; 605. Load placement platform; 606. Inclined side support beam; 607. Test equipment assembly and debugging mechanism; 608. Top fixed crossbeam; 609. Pressure testing mechanism; 610. Bottom support; 611. Bottom fixed crossbeam; 612. Mounting hole; 701. Support platform; 702. Installation guardrail; 703. Inclined ladder; 705. Vertical ladder; 706. Working cylinder; 707. Platform support column. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Please refer to Figures 1-9 This embodiment provides a standardized testing device for evaluating the performance of exoskeletons, including a load module and a testing environment module that are independently configured but can be used in combination. The load module is equipped with an adjustment mechanism for adjusting its weight and center of gravity. The load module includes at least one of a box-type load fixture 1, a cylindrical load fixture 2, and a chain-type load fixture 3. The box-type load fixture 1 is used to simulate a fixed load, the cylindrical load fixture 2 is used to simulate a dynamic swaying load, and the chain-type load fixture 3 is used to simulate a stiffness-adjustable load. The test environment module includes at least one of the following: a confined space traversal unit 4, a terrain simulation unit 5, a ladder operation unit 7, and an upper limb operation station unit 6. The confined space traversal unit 4 has an adjustable-sized passageway to simulate passageway environments of different specifications. The terrain simulation unit 5 has multiple ground slabs to simulate different terrain environments. The ladder operation unit 7 has ladder modules with different climbing paths to simulate different ladder-type climbing environments. The upper limb operation station unit 6 has multiple motion operation mechanisms to simulate the refined motion operation environment of the exoskeleton upper limbs.

[0023] In this embodiment, the load module and the test environment module can be used independently to complete a single-dimensional performance test of the exoskeleton, or they can be combined to build a composite test scenario of "load carrying + complex environment" to realize the coupled test of the exoskeleton's load handling capability and motion capability, and fully simulate the real operation scenario of the exoskeleton.

[0024] In this embodiment, the load module has weight and center of gravity adjustment functions, which solves the problem that the existing load modules are of a single type and cannot match the actual working load.

[0025] In this embodiment, the test environment module includes a confined space traversal unit 4, a terrain simulation unit 5, a ladder operation unit 7, and an upper limb operation station unit 6, which fully reproduces typical scenarios in actual applications of exoskeletons. It can comprehensively test the environmental adaptability, climbing ability, and upper limb operation ability of exoskeletons, avoiding incomplete performance evaluation caused by single-scenario testing.

[0026] In this embodiment, the device integrates a load module and a test environment module. The two types of modules form a unified test scenario, replacing the existing distributed test device. This avoids test differences caused by the lack of unified test conditions between the load fixture and the test environment, ensures consistent test conditions for different test batches and different test scenarios, guarantees the reproducibility and horizontal comparability of test results, and improves the objectivity and effectiveness of exoskeleton performance evaluation.

[0027] In a preferred embodiment, the box-type load tool 1 includes a load-bearing box 101 and a handling handle 102; The side wall of the carrier box 101 is provided with a plurality of mounting slots 106, which are arranged horizontally and each mounting slot 106 extends vertically; the inner bottom wall of the carrier box 101 is provided with an array of bolt holes 103. The adjustment mechanism includes a mounting plate 105 and / or a box-type counterweight 108. The mounting plate 105 is detachably installed in the mounting slot 106, and the box-type counterweight 108 is connected to the bolt hole 103 by bolts. By adjusting the number and installation position of the mounting plates 105 and the number and installation position of the box-type counterweight 108, the load weight and center of gravity position of the box-type load tooling 1 can be adjusted.

[0028] The handling handles 102 are symmetrically arranged on the opposite side walls of the carrier box 101.

[0029] In this embodiment, the box-type load fixture 1 can be used to simulate rigid loads of box-type containers in industrial warehousing and logistics scenarios. By adjusting its weight center of gravity adjustment mechanism, the weight and center of gravity characteristics of different containers can be simulated.

[0030] In this embodiment, as Figure 3 As shown, the carrier box 101 has a rectangular structure. The bottom wall of the carrier box 101 is also provided with four suspension holes 104. The four suspension holes 104 are arranged in a rectangular array and are located near the four corners of the bottom wall. They are used to cooperate with the external hanging structure to realize the suspension installation of the carrier box 101 and adapt to the performance testing requirements of the exoskeleton suspension carrier box 101.

[0031] In this embodiment, as Figure 3 As shown, expansion mounting holes 107 are also provided on the left and right side walls of the carrier box 101. The expansion mounting holes 107 are evenly distributed along the horizontal direction of the side walls and are used to adjust the installation position of the handling handle 102.

[0032] In this embodiment, as Figure 3 As shown, the box-type load fixture 1 also includes a placement frame 109, which is adapted to the box body of the bearing box 101 and is used for positioning the bearing box 101 during the test to ensure the consistency and reproducibility of the test starting position.

[0033] In this embodiment, as Figure 3As shown, the weight and shape of each mounting plate 105 and box-type counterweight 108 are identical. By increasing or decreasing the number of mounting plates 105 and box-type counterweights 108, and changing their installation positions within the bearing box 101, the load weight and center of gravity position of the box-type load fixture 1 can be adjusted. When the load weight needs to be increased, the corresponding number of box-type counterweights 108 are fixed to the bolt holes 103 on the inner bottom wall with bolts, and the mounting plates 105 are snapped into the corresponding mounting slots 106 on the inner side wall. When the center of gravity needs to be adjusted, the box-type counterweights 108 are concentrated at the bolt holes 103 on the front, rear, left, or right side of the inner bottom wall of the bearing box 101, and the mounting plates 105 are inserted into the mounting slots 106 near the corresponding side, so that the center of gravity of the box-type load fixture 1 shifts towards the target direction, thereby meeting the adjustment requirements for load weight and center of gravity position under different test conditions.

[0034] In a preferred embodiment, the cylindrical load tool 2 includes a load-bearing cylinder 201 and a handle 208; The bearing cylinder 201 is a hollow cylinder with openings at both ends, and bearing cylinder end caps 202 are detachably connected to both ends. The adjusting mechanism includes a connecting rod 204 and a cylindrical counterweight 205. The connecting rod 204 is disposed inside the bearing cylinder 201, and its axis coincides with the axis of the bearing cylinder 201. Its two ends are detachably connected to the bearing cylinder end caps 202 at both ends of the bearing cylinder 201. The cylindrical counterweight 205 is slidably sleeved on the connecting rod 204 and can slide along the axial direction of the connecting rod 204, so that the cylindrical load fixture 2 constitutes a dynamic swaying load. The handle 208 is fixed to the outside of the end cap 202 of one end of the bearing cylinder 201.

[0035] In this embodiment, the cylindrical counterweight 205 can slide freely along the connecting rod 204. During the movement of the test personnel, the cylindrical counterweight 205 moves back and forth along the connecting rod 204 to form a dynamic swaying load mode, which is used to simulate the dynamic swaying characteristics of liquid transportation and non-fixed center of gravity load.

[0036] In this embodiment, as Figure 4As shown, the bearing cylinder 201 has a cylindrical structure. The diameter of the bearing cylinder end cap 202 is adapted to the inner diameter of the bearing cylinder 201. End cap bolt holes are arranged in a circumferential array on the circumferential side surface of the bearing cylinder end cap 202. Bearing cylinder mounting holes corresponding to the end cap bolt holes are opened on the circumferential side walls at both ends of the bearing cylinder 201. The bearing cylinder mounting holes and the end cap bolt holes are detachably connected by fastening bolts 203 to form a closed internal counterweight receiving cavity. A through hole is opened in the center of the bearing cylinder end cap 202. The end of the connecting rod 204 passes through the through hole and is threadedly connected to the fixing bolt. The connecting rod 204 provides guidance and mounting foundation for the cylindrical counterweight block 205.

[0037] In a preferred embodiment, the adjusting mechanism further includes locking nuts 206. The outer wall of the connecting rod 204 is provided with threads. Two locking nuts 206 are used to engage with the connecting rod 204 and are respectively disposed on both sides of the cylindrical counterweight 205 to form an axial clamping limit on the cylindrical counterweight 205, so that the cylindrical load fixture 2 constitutes a static load. By adjusting the number of cylindrical counterweights 205 and their positions on the connecting rod 204, the load weight and center of gravity position of the cylindrical load fixture 2 can be adjusted.

[0038] In this embodiment, the weight and shape of each cylindrical counterweight 205 are consistent. The load weight of the bearing cylinder 201 can be adjusted by increasing or decreasing the number of cylindrical counterweights 205 to adapt to different test load weight requirements. By moving the cylindrical counterweights 205 to different axial positions along the axis of the connecting rod 204 and clamping and fixing them with locking nuts 206 on both sides, the center of gravity of the cylindrical load fixture 2 can be adjusted in the axial direction. When the locking nuts 206 are tightened and form an axial clamping limit on the cylindrical counterweights 205, the cylindrical counterweights 205 and the connecting rod 204 are relatively fixed, and the overall center of gravity position remains unchanged, so that the cylindrical load fixture 2 works in static load mode to simulate shoulder-carried equipment and hand-held heavy objects with fixed weight and fixed center of gravity.

[0039] In a preferred embodiment, the chain load fixture 3 includes a plurality of independent load devices 301 connected in sequence by a stiffness adjustment mechanism. The stiffness adjustment mechanism is used to adjust the relative rotational degrees of freedom of adjacent load devices 301 to realize the overall stiffness adjustment of the chain load fixture 3. The load device 301 is hollow inside, and a counterweight filling port 304 is provided on its side wall for filling counterweight medium to adjust the load weight of the chain load fixture 3. A matching sealing cap 305 is provided on the filling port.

[0040] In this embodiment, the counterweight medium can be water, sand, steel balls, etc. In this embodiment, as Figure 5 As shown, the stiffness adjustment mechanism includes a hinged connector 302, which is fixed at both ends of the load device 301. Adjacent hinged connectors 302 are hinged together by a pin 303. A pin nut is threaded onto the pin 303. The pin nut cooperates with the pin 303 to adjust the clamping degree of adjacent hinged connectors 302, thereby adjusting the relative rotational freedom of adjacent load devices 301 and realizing the overall stiffness adjustment of the chain load fixture 3.

[0041] In this embodiment, by tightening the pin nut, the clamping friction between adjacent hinged connectors 302 is increased, and the relative rotational freedom of adjacent load devices 301 is reduced until the rotational freedom is completely restricted, so that the chain load fixture 3 is in a rigid state as a whole, used to simulate rigid pipes and rigid long rod loads; by loosening the pin nut, the clamping friction between the hinged connectors 302 is reduced, and the relative rotational freedom of adjacent load devices 301 is increased, so that the chain load fixture 3 can bend and swing freely, presenting a flexible state, used to simulate the stiffness, weight and shape characteristics of flexible loads such as fire hoses, flexible cables and flexible hoses.

[0042] In a preferred embodiment, the confined space traversal unit 4 includes a main frame 405, a movement adjustment structure, and a boundary adjustment structure; The main frame 405 includes two horizontal beams and two vertical columns, with the horizontal beams and the vertical columns being perpendicular to each other; The movable adjustment structure includes two door panels 404 and a sliding connection assembly. The two door panels 404 are connected to the crossbeam through the sliding connection assembly, and the two door panels 404 can move closer to or further away from each other along the crossbeam. The boundary adjustment structure includes a boundary adjustment hole 408 and two limiting rods 409; The boundary adjustment holes 408 are respectively arrayed on the two door panels 404, and the two ends of the limiting rod 409 are detachably connected to the boundary adjustment holes 408 on the two door panels 404. The edges of the two door panels 404 that are close to each other and the two limiting rods 409 together form the passage opening. The size of the passage opening can be adjusted by adjusting the distance between the two door panels 404 and / or by adjusting the installation position of the two limiting rods 409.

[0043] In this embodiment, the confined space passage unit 4 is used to simulate various passage scenarios with confined spaces, such as car doors, ship hatches, corridors, and doorways. By adjusting the size of the passage opening, it can simulate the test requirements of confined passages of different sizes, restore the boundary constraints of real confined spaces, and adapt to the test of the exoskeleton's confined space passage capability, human-machine size adaptability, and obstacle avoidance maneuverability. In this embodiment, as Figure 6 As shown, trapezoidal side support plates 402 are fixed to the columns on the left and right sides of the main frame 405 to provide lateral support and anti-overturning stability for the confined space passage unit 4; the outer side wall of the trapezoidal side support plate 402 is detachably connected to the mounting base 401, which is used to rigidly fix the main frame 405 to the test site ground; the crossbeam above the main frame 405 is equipped with a top slide rail 406, and the crossbeam below is equipped with a bottom slide rail. The upper part of the door panel 404 is in rolling cooperation with the top slide rail 406 through H-shaped rollers 403, and the lower part is in rolling cooperation with the bottom slide rail through V-shaped rollers 411, so as to realize the smooth sliding of the door panel 404 in the horizontal direction. By adjusting the lateral distance between the two door panels 404, the net width of the passage opening can be adjusted.

[0044] In this embodiment, as Figure 6 As shown, each of the limiting rods 409 has a limiting rod mounting base 410 installed at both ends. The limiting rod mounting base 410 has a limiting rod 409 mounting hole 612 that matches the boundary adjustment hole 408. The limiting rod 409 mounting hole 612 and the boundary adjustment hole 408 are detachably connected by bolts. By adjusting the installation height of the two limiting rods 409, the bottom boundary height and top boundary height of the passage can be controlled, thus fully reproducing various confined space passage scenarios.

[0045] In a preferred embodiment, the terrain simulation unit 5 includes a supporting body, regular land plates 508, and irregular land plates 505; The supporting body has a bottom plate and side walls 502 that are perpendicular to each other. The bottom plate and side walls 502 together enclose a test space. The bottom plate has a bearing surface located within the test space. The two opposite side walls 502 are respectively provided with entrances and exits 503 that are connected to the test space. The surface of the regular ground tile 508 is flat and can be laid on the bearing surface; The irregularly shaped floor slab 505 has a bottom surface and a top surface. The bottom surface is a plane for fitting against the bearing surface, and the top surface has an inclined surface that forms a preset angle with the bottom surface. Multiple regular ground tiles 508 and multiple irregular ground tiles 505 can be freely spliced ​​on the bearing surface to simulate different terrain environments.

[0046] In this embodiment, the terrain simulation unit 5 is used to simulate off-road terrain and uneven walking surfaces, adapting the exoskeleton to walking stability, obstacle crossing ability and gait adaptability in complex terrain.

[0047] In this embodiment, as Figure 7 As shown, the side wall 502 of the supporting body can be a transparent protective side panel, which serves both a safety protection function and does not affect the observation and video recording of the entire testing process, thus balancing testing safety and observation convenience. The entrances and exits 503 are respectively opened on the left and right side walls 502 of the supporting body. The entrances and exits 503 provide passage openings for test personnel to enter and exit the testing space. The opening size is adapted to the passage needs of test personnel wearing exoskeletons, ensuring that there is no interference during the entry and exit process.

[0048] In this embodiment, as Figure 7 As shown, the supporting body is a cuboid truss frame structure, composed of multiple mutually perpendicular vertical trusses 506 and horizontal trusses 501 spliced ​​together. The vertical trusses 506, located on the front and rear sides of the supporting body and arranged opposite each other, are fixedly connected by horizontal connecting beams 507. The vertical distance between the horizontal connecting beams 507 and the supporting surface is greater than the height of the test personnel wearing the exoskeleton, providing sufficient passage space for the test personnel and ensuring that the test personnel can pass through the test space without interference. Reinforcing trusses 504 are provided at the connection between the horizontal connecting beams 507 and the corresponding vertical trusses 506, as well as between adjacent horizontal trusses 501 on the side wall 502 of the supporting body. The reinforcing trusses 504 and the corresponding trusses together form a stable triangular support structure. Through the geometric stability of the triangle, the deformation resistance and overall structural rigidity of the truss frame are enhanced, preventing the truss frame from shaking or bending during the test.

[0049] In this embodiment, the regular ground tile 508 can be a cuboid, and the irregular ground tile 505 can be a right-angled triangular prism, including mutually perpendicular bottom surfaces and vertical side surfaces, as well as an inclined top surface connecting the two. The bottom surface is used to fit and fix with the bearing surface of the bearing body, and the inclined top surface is used to simulate a sloping road surface. By changing the arrangement order of the regular ground tile 508 and the irregular ground tile 505 along the length direction of the bearing surface, different terrain sequences can be formed. For example, arranging multiple irregular ground tiles 505 in the same direction sequentially can form a continuous uphill or downhill terrain; alternating the arrangement of irregular ground tiles 505 and regular ground tiles 508 can form an uneven road surface with peaks and valleys and staggered steps; fitting the vertical side surfaces of two adjacent irregular ground tiles 505 together can form an undulating and bumpy terrain. Different arrangement orders can be quantitatively recorded and repeatedly built to ensure that the test scene is reproducible and comparable.

[0050] In a preferred embodiment, the ladder operation unit 7 includes a platform body and an inclined ladder 703; The platform body includes a support platform 701, which has a support surface parallel to the horizontal plane. The inclined ladder 703 is inclinedly arranged on one side of the support platform 701, and its top end can be fixedly connected to the edge of the support platform 701, while its bottom end is fixedly attached to the ground to simulate the climbing operation scenario of the inclined ladder 703.

[0051] In this embodiment, as Figure 8 As shown, the bottom surface of the support platform 701 is connected to multiple platform support columns 707. Each support column has a fixed column base at its bottom, which ensures the stability and anti-overturning ability of the ladder working unit 7 under heavy load testing conditions. The top surface of the support platform 701 is provided with a guardrail 702 along its circumferential edge to prevent test personnel wearing exoskeletons from accidentally falling during the testing process, ensuring the safety of high-altitude operation testing. Safety handrails are provided on both sides of the inclined ladder 703 to ensure the safety of test personnel during the ladder climbing process.

[0052] In a preferred embodiment, the ladder operation unit 7 further includes a vertical ladder 705; An opening for operation is provided on the support surface. A working cylinder 706 is provided below the opening for operation. The axis of the working cylinder 706 coincides with the axis of the opening for operation and is perpendicular to the support surface. The opening of the working cylinder 706 is connected to the opening for operation, and the working cylinder 706 forms a vertical working space. The vertical ladder 705 is disposed inside the working cylinder 706 and is parallel to the axis of the working cylinder 706. The top end of the vertical ladder 705 is fixedly connected to the edge of the working opening, and the bottom end is fixedly connected to the bottom inner wall of the working cylinder 706, for simulating a vertical climbing operation scenario.

[0053] In this embodiment, the erection height of the support platform 701, the slope and step specifications of the inclined ladder frame 703, the shape and size of the working opening, the depth of the working cylinder 706, and the step parameters of the vertical ladder frame 705 provide a reproducible test scenario for testing the climbing performance, vertical space operation capability, and load-bearing climbing stability of lower limb assisted exoskeletons and full-body exoskeletons.

[0054] In this embodiment, the ladder operation unit 7 is used for different climbing paths such as stair climbing, industrial tank maintenance, underground operations, and ship cabin access, and is adapted to the ladder performance stability test of the exoskeleton.

[0055] In a preferred embodiment, the upper limb workstation unit 6 includes a support body and an upper limb work testing device. The upper limb work testing device includes at least one of the following: a testing equipment assembly and debugging mechanism 607, a workpiece handling and placement mechanism, a screw tightening mechanism 602, and a pressure detection mechanism 609. The support body has multiple parallel profiles 604 distributed at equal intervals. Each profile 604 has mounting holes 612 arranged in an array along its extension direction. The mounting holes 612 form a planar mounting grid. The planar mounting grid is correspondingly divided into a test equipment assembly and debugging mounting area, a workpiece handling and placement mounting area, a screw tightening mounting area, and a pressure testing mounting area. The test equipment assembly and debugging mechanism 607 is detachably installed on the test equipment assembly and debugging installation area. It includes a mounting plate, and the surface of the mounting plate is provided with connection holes that are adapted to the bolt holes at the bottom of the test equipment. It is used to install the exoskeleton performance test equipment and to simulate the operation scenario of installing and repairing equipment on the human upper limb. The workpiece handling and placement mechanism is detachably installed on the workpiece handling and placement installation area. It includes a load placement platform 605. Both sides of the bottom surface of the load placement platform 605 are detachably connected to the mounting holes 612 through platform mounting parts. The load placement platform 605 is used to place the test workpiece being handled, and is used to simulate the operation scenario of placing human upper limbs and handling maintenance tools during equipment maintenance. The screw-tightening mechanism 602 is detachably mounted on the screw-tightening mounting area. It includes a test panel with test bolt holes of different types. Test bolts of the same type are threaded into the test bolt holes and are used to simulate the operation scenario of human upper limbs tightening screws during the assembly of industrial equipment. The pressure detection mechanism 609 is detachably installed on the pressure detection installation area, and includes a pressure sensor for simulating the pressing action of the human upper limb.

[0056] In this embodiment, the upper limb work station unit 6 covers refined work scenarios and is used to simulate typical work scenarios of upper limb exoskeletons such as industrial assembly, equipment maintenance, and precision operation. It is adapted to the operation accuracy, force application performance, and stability test of refined movement operations of the upper limb assistive exoskeleton.

[0057] In this embodiment, as Figure 9As shown, the top of the support body has a top fixed crossbeam 608 detachably connected to one end of the profile 604, and the bottom has a bottom fixed crossbeam 611 detachably connected to the other end of the profile 604. The top fixed crossbeam 608 and the bottom fixed crossbeam 611 are parallel to each other. Both ends of the bottom crossbeam and the top fixed crossbeam 608 are detachably connected through a support frame 601. The support frame 601 is parallel to the profile 604. A bottom support 610 is detachably connected to the bottom of the support frame 601. The bottom support 610 is perpendicular to the support frame 601 and the bottom crossbeam. The end of the bottom support 610 away from the bottom fixed crossbeam 611 is detachably connected to the support frame 601 through an inclined side support beam 606. The bottom support 610, the support frame 601, and the inclined side support beam 606 form a right-angled triangular frame structure to ensure the structural rigidity and anti-overturning stability of the support body under heavy-load operation scenarios.

[0058] In this embodiment, as Figure 9 As shown, the platform mounting component has a first connecting part and a second connecting part that are perpendicular to each other. The first connecting part is detachably connected to the load placement platform 605, and the second connecting part is detachably connected to the mounting hole 612. A support diagonal rod is hinged to the end of the second connecting part away from the first connecting part. The end of the support diagonal rod away from the second connecting part is detachably connected to the load placement platform 605. The support diagonal rod and the platform mounting component form a stable triangular support structure to enhance the load-bearing stability of the load placement platform 605. The pressure detection mechanism 609 also includes a sensor mounting plate, which is connected to the mounting hole 612 of the pressure detection mounting area by bolts. The pressure sensor is fixedly mounted on the sensor mounting plate.

[0059] In this embodiment, the tester wearing the upper limb exoskeleton mounts the test equipment on the mounting tray and performs maintenance or precision operations on the test equipment, simulating upper limb exoskeleton work scenarios such as industrial assembly, equipment maintenance, and precision operations. The tester places the test workpiece on the load placement platform 605. The test workpiece can be a wrench, screwdriver, or other maintenance tools needed by the tester during maintenance, simulating the placement and handling of maintenance tools by the human upper limb during equipment maintenance. The tester holds a wrench and tightens and loosens different types of test bolts on the test panel, simulating the upper limb screw-tightening work scenario during industrial equipment assembly and maintenance, adapting to the testing needs of different bolt specifications. The tester presses the pressure sensor to simulate the pressing action of the upper limb. The upper limb work station unit 6 can comprehensively assess the control ability of the exoskeleton's upper limb fine movements.

[0060] The method of using the standardized testing device for exoskeleton performance evaluation as described in this application: If only load handling testing of the exoskeleton is required, the load module can be used to complete the test independently without combining the test environment module. Select box-type load fixture 1, cylindrical load fixture 2 or chain-type load fixture 3 according to the test requirements of the exoskeleton under test. After adjusting the weight, center of gravity or stiffness of the load, the exoskeleton's handling capacity under a single load is tested by completing the load action.

[0061] If only the exoskeleton's mobility test needs to be performed in a single environment, the test environment module can be used to complete the test independently without combining the load module. Depending on the test requirements, select the confined space crossing unit 4, terrain simulation unit 5, ladder operation unit 7, or upper limb operation station unit 6 to build the corresponding operation scene. The exoskeleton can then perform the corresponding movement actions within the scene to test the exoskeleton's mobility in the corresponding test environment.

[0062] If it is necessary to test the load-bearing capacity of the exoskeleton in a confined space, the load module and the confined space crossing unit 4 can be combined to build confined passage operation scenarios of different sizes, allowing the exoskeleton to carry the load and complete the passage crossing action to test its load-bearing capacity in a confined space.

[0063] If it is necessary to test the load climbing ability of the exoskeleton on the vertical ladder 705 or the inclined ladder 703, the load module is combined with the ladder operation unit 7. The inclined ladder 703 or the vertical ladder 705 of the ladder operation unit 7 is used to build a climbing operation scene, and the exoskeleton carries the load to complete the climbing action, so as to test its load climbing ability on the vertical ladder 705 or the inclined ladder 703.

[0064] If it is necessary to test the load-bearing movement capability of the exoskeleton in complex terrain, the load module is combined with the terrain simulation unit 5. The complex terrain operation scene is built by splicing regular ground plates 508 and irregular ground plates 505, and the exoskeleton carries the load to complete the corresponding movement actions in the scene to test its load-bearing movement capability in complex terrain.

[0065] If it is necessary to test the load operation capability of the exoskeleton's upper limb fine motor skills, the load module is used in combination with the upper limb workstation unit 6 to equip the exoskeleton with the corresponding load. The various motion operation mechanisms of the upper limb workstation unit 6 are used to build a fine work scenario, allowing the exoskeleton to carry the load and complete upper limb actions such as assembly, handling, placement, twisting, and pressing, so as to test the upper limb load operation capability.

[0066] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A standardized testing device for evaluating the performance of exoskeletons, characterized in that: This includes load modules and test environment modules that can be configured independently but combined. The load module is provided with an adjustment mechanism for adjusting its weight and center of gravity. The load module includes at least one of a box-type load fixture (1), a cylindrical load fixture (2), and a chain-type load fixture (3). The box-type load fixture (1) is used to simulate a fixed load, the cylindrical load fixture (2) is used to simulate a dynamic swaying load, and the chain-type load fixture (3) is used to simulate a stiffness-adjustable load. The test environment module includes at least one of the following: a confined space traversal unit (4), a terrain simulation unit (5), a ladder operation unit (7), and an upper limb operation station unit (6); the confined space traversal unit (4) has an adjustable-size passageway for simulating passageway traversal environments of different specifications; the terrain simulation unit (5) has multiple ground slabs for simulating different terrain environments; the ladder operation unit (7) has ladder modules with different climbing paths for simulating different ladder climbing environments; the upper limb operation station unit (6) has multiple motion operation mechanisms for simulating the refined motion operation environment of the exoskeleton upper limb.

2. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The box-type load tooling (1) includes a load-bearing box (101) and a handling handle (102). The side wall of the carrier box (101) is provided with a plurality of mounting slots (106), which are arranged in a horizontal direction and each mounting slot (106) extends in a vertical direction; the inner bottom wall of the carrier box (101) is provided with bolt holes (103). The adjustment mechanism includes a mounting plate (105) and / or a box-type counterweight (108). The mounting plate (105) is detachably installed in the mounting slot (106). The box-type counterweight (108) is connected to the bolt hole (103) by bolts. By adjusting the number and installation position of the mounting plates (105) and the number and installation position of the box-type counterweight (108), the load weight and center of gravity position of the box-type load tooling (1) can be adjusted. The handling handles (102) are symmetrically arranged on the opposite side walls of the carrier box (101).

3. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The cylindrical load tool (2) includes a load-bearing cylinder (201) and a handle (208). The bearing cylinder (201) is a hollow cylinder with openings at both ends, and bearing cylinder end caps (202) are detachably connected to both ends. The adjustment mechanism includes a connecting rod (204) and a cylindrical counterweight (205); the connecting rod (204) is disposed inside the bearing cylinder (201), its axis coincides with the axis of the bearing cylinder (201), and its two ends are detachably connected to the bearing cylinder end caps (202) at both ends of the bearing cylinder (201); the cylindrical counterweight (205) is slidably sleeved on the connecting rod (204), and the cylindrical counterweight (205) can slide along the axial direction of the connecting rod (204), so that the cylindrical load fixture (2) constitutes a dynamic swaying load; The handle (208) is fixed to the outside of the end cap (202) of the bearing cylinder (201).

4. The standardized testing device for evaluating exoskeleton performance according to claim 3, characterized in that: The adjustment mechanism also includes locking nuts (206). The outer wall of the connecting rod (204) is provided with threads. The two locking nuts (206) are used to engage with the connecting rod (204) and are respectively set on both sides of the cylindrical counterweight (205) to form an axial clamping limit on the cylindrical counterweight (205), so that the cylindrical load fixture (2) constitutes a static load. By adjusting the number of cylindrical counterweights (205) and their positions on the connecting rod (204), the load weight and center of gravity position of the cylindrical load fixture (2) can be adjusted.

5. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that, The chain load fixture (3) includes multiple independent load devices (301) connected in sequence by a stiffness adjustment mechanism. The stiffness adjustment mechanism is used to adjust the relative rotational degrees of freedom of adjacent load devices (301) to realize the overall stiffness adjustment of the chain load fixture (3). The load device (301) is hollow inside, and a counterweight filling port (304) is provided on its side wall for filling counterweight medium to adjust the load weight of the chain load fixture (3). A matching sealing cap (305) is provided on the filling port.

6. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The confined space crossing unit (4) includes a main frame (405), a movable adjustment structure, and a boundary adjustment structure; The main frame (405) includes two crossbeams and two columns, with the crossbeams and columns perpendicular to each other; The movable adjustment structure includes two door panels (404) and a sliding connection assembly. The two door panels (404) are connected to the crossbeam through the sliding connection assembly, and the two door panels (404) can move closer to or further away from each other along the crossbeam. The boundary adjustment structure includes a boundary adjustment hole (408) and two limiting rods (409). The boundary adjustment holes (408) are respectively arrayed on the two door panels (404), and the two ends of the limiting rod (409) are detachably connected to the boundary adjustment holes (408) on the two door panels (404); The edges of the two door panels (404) that are close to each other and the two limiting rods (409) together form the passage opening. The size of the passage opening can be adjusted by adjusting the distance between the two door panels (404) and / or by adjusting the installation position of the two limiting rods (409).

7. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The terrain simulation unit (5) includes a supporting body, regular land plates (508) and irregular land plates (505). The supporting body has a bottom plate and side walls (502) that are perpendicular to each other. The bottom plate and side walls (502) together enclose a test space. The bottom plate has a bearing surface located in the test space. The two opposite side walls (502) are respectively provided with entrances (503) that are connected to the test space. The surface of the regular ground tile (508) is flat and can be laid on the bearing surface; The irregularly shaped floor slab (505) has a bottom surface and a top surface. The bottom surface is a plane for fitting against the bearing surface, and the top surface has an inclined surface that forms a preset angle with the bottom surface. Multiple regular land plates (508) and multiple irregular land plates (505) can be freely spliced ​​on the bearing surface to simulate different terrain environments.

8. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The ladder operation unit (7) includes a platform body and an inclined ladder (703). The platform body includes a support platform (701), which has a support surface parallel to the horizontal plane. The inclined ladder (703) is inclinedly arranged on one side of the support platform (701), and its top end can be fixedly connected to the edge of the support platform (701), and its bottom end is attached to the ground and fixed, which is used to simulate the climbing operation scenario of the inclined ladder (703).

9. The standardized testing device for evaluating exoskeleton performance according to claim 8, characterized in that: The ladder work unit (7) also includes a vertical ladder (705); An opening for operation is provided on the support surface, and a working cylinder (706) is provided below the opening for operation. The axis of the working cylinder (706) coincides with the axis of the opening for operation and is perpendicular to the support surface. The opening of the working cylinder (706) is connected to the opening for operation, and the working cylinder (706) forms a vertical working space. The vertical ladder (705) is installed inside the working cylinder (706) and is parallel to the axis of the working cylinder (706). The top end of the vertical ladder (705) is fixedly connected to the edge of the working opening, and the bottom end is fixedly connected to the bottom inner wall of the working cylinder (706) to simulate a vertical climbing operation scenario.

10. The standardized testing device for evaluating exoskeleton performance according to claim 1, characterized in that: The upper limb work station unit (6) includes a support body and an upper limb work test device. The upper limb work test device includes at least one of the following: a test equipment assembly and debugging mechanism (607), a workpiece handling and placement mechanism, a screw tightening mechanism (602), and a pressure detection mechanism (609). The supporting body has multiple parallel profiles (604) distributed at equal intervals. Each profile (604) has mounting holes (612) arranged in an array along its extension direction. The mounting holes (612) form a planar mounting grid. The planar mounting grid is correspondingly divided into a test equipment assembly and debugging mounting area, a workpiece handling and placement mounting area, a screw tightening mounting area, and a pressure testing mounting area. The test equipment assembly and debugging mechanism (607) is detachably installed on the test equipment assembly and debugging installation area. It includes a mounting plate, and the surface of the mounting plate is provided with a connection hole that matches the bolt hole at the bottom of the test equipment. It is used to install the exoskeleton performance test equipment and to simulate the operation scenario of installing and repairing equipment on the human upper limb. The workpiece handling and placement mechanism is detachably installed on the workpiece handling and placement installation area. It includes a load placement platform (605). Both sides of the bottom surface of the load placement platform (605) are detachably connected to the mounting hole (612) through platform mounting parts. The load placement platform (605) is used to place the test workpiece to be handled, and is used to simulate the operation scenario of placing and handling maintenance tools of the human upper limb during the maintenance of equipment. The screw-tightening mechanism (602) is detachably mounted on the screw-tightening mounting area. It includes a test panel with test bolt holes of different types. Test bolts of the same type are threaded into the test bolt holes and are used to simulate the operation scenario of human upper limbs tightening screws during the assembly of industrial equipment. The pressure detection mechanism (609) is detachably installed on the pressure detection installation area, and includes a pressure sensor for simulating the operation scenario of pressing action by the human upper limb.

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