CN114486037A - Road condition simulation equipment with force measuring device and control method thereof - Google Patents
Road condition simulation equipment with force measuring device and control method thereof Download PDFInfo
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- CN114486037A CN114486037A CN202210148231.1A CN202210148231A CN114486037A CN 114486037 A CN114486037 A CN 114486037A CN 202210148231 A CN202210148231 A CN 202210148231A CN 114486037 A CN114486037 A CN 114486037A
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- 238000004088 simulation Methods 0.000 title claims abstract description 98
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- 238000001514 detection method Methods 0.000 claims abstract description 73
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- 238000005259 measurement Methods 0.000 claims description 10
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- 238000009530 blood pressure measurement Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a road condition simulation device with a force measuring device, which comprises: the road condition simulation device comprises at least two road condition simulation devices and force measuring devices, wherein the road condition simulation devices are used for simulating road conditions along with feet; the road condition simulation device comprises a horizontal moving mechanism and a vertical moving mechanism which are arranged in a linkage manner; the output end of the vertical moving mechanism is provided with a bearing plate for bearing the weight of the feet; the bearing plate is provided with a force measuring device; the force measuring device comprises a sliding stress detection device and a contact stress detection device; the design can simulate walking movement of double feet or multiple feet by utilizing a horizontal moving mechanism and a vertical moving mechanism, has simple structure and easy control, and can detect the stress state of the feet under various road conditions.
Description
Technical Field
The invention relates to the technical field of pressure measurement, in particular to road condition simulation equipment with a force measuring device and a control method thereof.
Background
In the technical field of biped robots, how to simulate road conditions in reality for the robot to walk is a key problem, the existing simulation equipment only uses a conveyor belt with bearing weight, the conveyor belt is driven by a servo motor, and the walking road surface of the robot is simulated by the continuously moving conveyor belt.
However, in the using process, the conveyor belt can only simulate the road condition of a flat road surface, and cannot simulate more road conditions, meanwhile, when a biped robot walking experiment is carried out, the force distribution of the feet of the robot is used as important data for balance control of the biped robot, the feet of a common biped robot can be provided with a pressure sensor, but the sensor arranged on the soles of the robots is generally only used as a force acquisition device for internal control of the robot, and is only suitable for force detection of the flat road surface.
When the biped robot walks on an uneven road surface, a plurality of forces in different directions can be generated to influence the balance of the robot, and the existing experimental equipment cannot detect the existence of the forces, so that whether the forces can influence the control of the biped robot cannot be researched.
When the biped robot walks on complicated road surface, a foot lifts up the back, and control system can be automatic through the overall control of robot, shifts holistic focus to a foot that does not lift up on, then the foot that waits to lift up just can shift to the biped with the focus after falling to the ground once more, and whether the standard that the robot detected the foot and fallen to the ground just sets up and whether detect suitable pressure at the plantar sensor of robot. If the detection is inaccurate, the robot falls down, and the existing detection equipment cannot simulate the special situation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides road condition simulation equipment with a force measuring device and a control method thereof; the device can simulate different road conditions including a flat road mode, a step road mode, an uphill and downhill road mode and a left-right slope mode, and meanwhile, the foot tray 23 is provided with a contact stress detection device and a slip stress detection device for detecting various stress information of the foot.
A road condition simulation device with a force measuring device, comprising: the road condition simulation device comprises at least two road condition simulation devices and force measuring devices, wherein the road condition simulation devices are used for simulating road conditions along with feet; the road condition simulation device comprises a horizontal moving mechanism and a vertical moving mechanism which are arranged in a linkage manner; the output end of the vertical moving mechanism is provided with a bearing plate for bearing the weight of the feet; the bearing plate is provided with a force measuring device; the force measuring device comprises a sliding stress detection device and a contact stress detection device;
further, the force measuring device also comprises a foot tray; the foot tray is arranged on the upper part of the bearing plate; the sliding stress detection device is arranged between the foot tray and the bearing plate; the contact stress detection device is arranged above the foot tray;
furthermore, the sliding stress detection device comprises four sliding pressure sensors fixed on the bearing plate, and a cross slide block is arranged at the bottom of the foot tray; the four end parts of the crosshead shoe are respectively connected with the four sliding pressure sensors in a mutual contact way; the sliding pressure sensor is used for detecting two mutually vertical sliding stresses;
further, the contact stress detection device is arranged above the foot tray; the contact stress detection device comprises at least four contact stress detection areas; each contact stress detection area is provided with at least two contact pressure sensors; a cover plate matched with the contact stress detection area in shape is arranged on the contact pressure sensor of each contact stress detection area; the cover plate can be directly contacted with the detected foot part;
furthermore, the horizontal moving mechanism is used for simulating the horizontal length of a stride; the vertical moving mechanism is used for simulating the vertical height of a stride; the road condition simulation device also comprises a front and back inclination angle adjusting structure and a left and right inclination angle adjusting structure; the device is used for simulating the states of feet under different road conditions;
further, the horizontal moving mechanism comprises a horizontal moving platform, and the horizontal moving platform is driven by the horizontal moving driving device to move horizontally along the moving track; the vertical moving mechanism is fixedly arranged on the horizontal moving platform;
furthermore, the front-back inclination angle adjusting structure and the left-right inclination angle adjusting structure are fixedly connected to the end part of the output end of the vertical moving mechanism through a fixed support; the left and right inclination angle adjusting structure and the fixed support are fixedly connected with each other; the left and right inclination angle adjusting structure comprises a fixed support arm fixedly connected with the fixed support; one end of the fixed support arm is fixedly connected with the fixed support, and the other end of the fixed support arm is fixedly provided with a left and right adjusting motor; the axial direction of a motor shaft of the left and right adjusting motor is the same as the direction of the moving track;
furthermore, the front-back inclination angle adjusting structure comprises a first adjusting bracket, a second adjusting bracket and a front-back adjusting motor; the first adjusting bracket is integrally T-shaped and comprises an arc-shaped supporting arm and a C-shaped supporting arm fixed at the end part of the arc-shaped supporting arm, and the other end part of the arc-shaped supporting arm is hinged on a motor shaft of the left and right adjusting motors; the second adjusting bracket is integrally C-shaped; the front and back adjusting motor is fixedly arranged at one end of the second adjusting bracket, and the axis of the output shaft of the front and back adjusting motor is coplanar with the axis of the motor shaft of the left and right adjusting motor and is vertically arranged; one end of the second adjusting bracket is hinged with an output shaft of the second adjusting bracket on the first adjusting bracket, and the other end of the second adjusting bracket is hinged with the end part of the C-shaped support arm of the first adjusting bracket; the bearing plate is fixedly arranged in the middle of the second adjusting bracket;
a control method of road condition simulation equipment with a force measuring device comprises the following steps:
s01: placing the feet of the device to be tested on the cover plate, and placing the bottoms of the feet and the corresponding areas correspondingly to each other as required;
s02: selecting a mode needing to be subjected to a simulation experiment, and setting related parameters;
s03: setting the motion parameters of the detected device and keeping the motion parameters corresponding to the parameters set in the step S02;
s04: the simulation equipment performs experiments according to the selected experiment mode and records related parameters;
the step S02 includes:
s021: detecting the current state, and calibrating the initial state of the detected equipment;
s022: selecting an experiment mode;
s023: setting related parameters;
s024: starting to perform the test;
the simulation experiment mode in the step S02 includes: a flat road surface mode, a step road surface mode, an uphill and downhill road surface mode and a left and right slope deviation mode;
further, the flat road surface pattern is a pattern simulation for simulating the walking of the tested object on the flat road surface, wherein the parameters involved include: setting a stride length parameter, a stride frequency speed parameter and a foot lifting height parameter; the stride length parameter is used for setting the moving distance of the horizontal moving driving device in a moving period, the horizontal moving driving device drives the foot tray to synchronously move when moving, and the moving distance is the stride length; the step frequency speed parameter is set for setting the times of the horizontal movement driving device completing the reciprocating two step lengths in a time period; the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting of the vertical moving mechanism lifted from the initial position to a certain height in a stride period;
furthermore, the step road surface mode is a mode simulation for simulating the walking of the tested object under the state of the step road surface, and the simulation comprises the simulation of an upper step and a lower step; the parameters involved include: setting a step height parameter, a horizontal stride length parameter, a step frequency speed parameter and a foot lifting height parameter; the step height parameter is used for setting the step height of the simulation test; the horizontal stride length parameter is used for setting the horizontal distance of the horizontal movement of the foot tray when the foot tray walks under the state of a step road surface;
further, the uphill and downhill road mode is a mode simulation for simulating the walking of the tested object under the state of an uphill or a downhill road, wherein the related parameters include: setting slope grade parameters, length parameters of the slope, stride length parameters, step frequency speed parameters and foot lifting height parameters; the slope parameter of the slope is used for setting the slope parameter of the simulated slope, and the slope parameter is the ratio of the length to the height of the slope; after the gradient parameter is converted into an angle parameter, the inclination angle adjusting structure is used for driving the foot tray to turn over forwards and backwards; the length parameter of the slope surface is set for setting the length parameter of the simulated slope surface, and the length parameter is the horizontal distance of the whole slope surface;
further, the left-right slope deviation mode is a mode simulation for simulating the walking of the tested object under the road surface state with the left slope deviation, the right slope deviation or the left-right slope deviation, wherein the related parameters comprise: setting a slope parameter of a left side slope surface, setting a slope parameter of a right side slope surface, setting a length parameter of the slope surface, setting a stride length parameter, setting a stride frequency speed parameter and setting a foot lifting height parameter; the slope parameter setting of the left-side slope surface and the slope parameter setting of the right-side slope surface are used for setting the slope parameters of left and right slopes of the simulated slope surface, and the slope parameters are the ratio of the length to the height of the slope surface; after the gradient parameters are converted into angle parameters, the overturning angle is used for driving the foot tray to overturn left and right for the left and right inclination angle adjusting structure; the length parameter of the slope surface is set for setting the length parameter of the simulated slope surface, and the length parameter is the length distance of the whole slope surface; the horizontal stride length parameter is used for setting the moving distance of the foot tray when walking on an uphill and downhill road;
further, the relevant parameters recorded in S03 include: relevant parameters set after the corresponding experiment mode is selected, the sliding force detected by the sliding stress detection device and the contact stress detected by the contact stress detection device in the step S02;
further, the foot lifting height parameter of the detected device set in the step S03 is greater than the foot lifting height parameter set in the simulation experiment mode, and the height difference is 5-20 mm.
The invention provides a road condition simulation device with a force measuring device, which comprises: the road condition simulation device comprises at least two road condition simulation devices and force measuring devices, wherein the road condition simulation devices are used for simulating road conditions along with feet; the road condition simulation device comprises a horizontal moving mechanism and a vertical moving mechanism which are arranged in a linkage manner; the output end of the vertical moving mechanism is provided with a bearing plate for bearing the weight of the feet; the bearing plate is provided with a force measuring device; the force measuring device comprises a sliding stress detection device and a contact stress detection device;
a control method of road condition simulation equipment with a force measuring device comprises the following steps: s01: placing the feet of the device to be tested on the cover plate, and placing the bottoms of the feet and the corresponding areas correspondingly to each other as required; s02: selecting a mode needing to be subjected to a simulation experiment, and setting related parameters; s03: setting the motion parameters of the detected device and keeping the motion parameters corresponding to the parameters set in the step S02; s04: and (4) carrying out experiments according to the selected experiment mode by the simulation equipment, and recording related parameters.
The device can simulate walking motion of double feet or multiple feet by utilizing the horizontal moving mechanism and the vertical moving mechanism, is simple in structure and easy to control, can simulate the walking motion under various road conditions by utilizing the horizontal moving mechanism and the vertical moving mechanism, can accurately control each parameter in the whole walking motion process, can accurately link with a detected device by accurate parameter control, performs linkage test, and can avoid the condition that the test equipment is damaged or the test equipment is damaged and then the test equipment is damaged.
Drawings
FIG. 1 is a front view of a road condition simulation and force measurement device according to the present invention;
FIG. 2 is a right side view of a road condition simulation and force measurement device of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of a road condition simulation and force measurement device according to the present invention;
FIG. 4 is a cross-sectional view B-B of a road condition simulation and force measurement device of the present invention;
FIG. 5 is a perspective view of a road condition simulation and force measurement device according to the present invention;
FIG. 6 is a perspective view of a road condition simulation device of the road condition simulation and force measurement device of the present invention;
FIG. 7 is a front view of an exploded status of a force measuring device of the road condition simulation and force measuring device of the present invention;
FIG. 8 is a full sectional view of a force measuring device of the road condition simulation and force measuring device of the present invention;
FIG. 9 is a top view of a foot tray of a road condition simulation and force measurement device of the present invention;
FIG. 10 is an exploded perspective view of a road condition simulation and force measurement device according to the present invention;
FIG. 11 is a perspective view of a foot tray of the road condition simulation and force measurement device of the present invention;
fig. 12 is a test mode and parameter comparison table of a control method of a road condition simulation device with a force measuring device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: road condition simulation equipment with force measuring device
Referring to fig. 1-11, a road condition simulation device with a force measuring device includes: at least two road condition simulation devices 1 and force measuring devices 2;
the road condition simulation device 1 is used for simulating road conditions along with feet;
the road condition simulation device 1 comprises a horizontal moving mechanism 11 and a vertical moving mechanism 12 which are arranged in a linkage manner;
the horizontal moving mechanism 11 is used for simulating the horizontal length of a stride;
the vertical moving mechanism 12 is used for simulating the vertical height of a stride;
the road condition simulator 1 further comprises a bearing plate 13 for bearing the weight of feet;
the bearing plate 13 can be subjected to angle conversion and is used for simulating the states of feet under different road conditions;
the bearing plate 13 is provided with a front-back inclination angle adjusting structure 132 and a left-right inclination angle adjusting structure 133;
the surface of the bearing plate 13 is also provided with a force measuring device 2;
the force measuring device 2 is used for detecting the pressure distribution of the foot;
the road condition simulation device 1 is fixedly arranged on the fixed bracket 101;
the fixed bracket 101 is in a rectangular frame shape;
the road condition simulation devices 1 are symmetrically arranged on two sides of the fixed support 101;
the horizontal moving mechanism 11 comprises a moving track 111, a horizontal moving driving device 112 and a horizontal moving platform 113;
the moving track 111 is fixedly arranged on the fixed bracket 101;
the horizontal moving platform 113 is provided with a moving slide block matched with the moving track 111;
the horizontal moving platform 113 is connected with the moving track 111 in a sliding manner;
the horizontal driving device 112 is fixedly arranged on the fixed bracket 101, and the moving end of the horizontal driving device 112 is connected with the end part of the horizontal moving platform 113;
the horizontal driving device 112 can push the horizontal moving platform 113 to move horizontally along the moving track 111;
the horizontal movement driving device 112 is an electric push rod fixed on the fixed bracket;
the horizontal movement driving device 112 can also be a conveyor belt device with a reciprocating motion function;
the vertical moving mechanism 12 is an electric push rod device;
the vertical moving mechanism 12 is fixedly arranged on the horizontal moving platform 113;
the output end of the vertical moving mechanism 12 is provided with a bearing plate 13 for bearing the weight of the feet;
the bearing plate 13 is rectangular plate-shaped;
the bearing plate 13 is further connected with a fixed support 131, a front-back inclination angle adjusting structure 132 and a left-right inclination angle adjusting structure 133;
the fixed support 131 is fixedly arranged at the end part of the output end of the vertical moving mechanism 12;
the left and right inclination angle adjusting structure 133 and the fixed support 131 are fixedly connected with each other;
the left-right tilt angle adjusting structure 133 comprises a fixed support arm 1331 and a left-right adjusting motor 1332;
the fixed support arm 1331 is arc-shaped plate, one end of the fixed support arm is fixedly connected with the fixed support 131, and the other end of the fixed support arm is fixedly provided with a left and right adjusting motor 1332;
the motor shaft of the left-right adjusting motor 1332 is horizontally arranged, and the axial direction of the motor shaft of the left-right adjusting motor 1332 is the same as the direction of the moving track 111;
the front-back tilt angle adjusting structure 132 comprises a first adjusting bracket 1321, a second adjusting bracket 1322 and a front-back adjusting motor 1323;
the first adjusting bracket 1321 is integrally in a T shape and comprises an arc-shaped supporting arm and a C-shaped supporting arm fixed at the end part of the arc-shaped supporting arm, and the other end part of the arc-shaped supporting arm is hinged and arranged on a motor shaft of the left and right adjusting motor 1332;
the second adjusting bracket 1322 is integrally C-shaped;
the front-back adjusting motor 1323 is fixedly arranged at one end of the second adjusting bracket 1322, and the axis of the output shaft of the front-back adjusting motor 1323 is coplanar with the axis of the motor shaft of the left-right adjusting motor 1332 and is vertically arranged;
one end of the second adjusting bracket 1322 is hinged with the output shaft of the second adjusting bracket 1322 on the first adjusting bracket 1321, and the other end is hinged with the end part of the C-shaped support arm of the first adjusting bracket 1321;
the bearing plate 13 is fixedly arranged in the middle of the second adjusting bracket 1322;
the bearing plate 13 is provided with a force measuring device 2;
the force measuring device 2 comprises a sliding stress detection device 21 and a contact stress detection device 22;
the force measuring device 2 also comprises a foot tray 23;
the foot tray 23 is arranged on the upper part of the bearing plate 13;
the sliding stress detection device 21 is arranged between the foot tray 23 and the bearing plate 13;
the contact stress detection device 22 is arranged above the foot tray 23;
the sliding stress detection device 21 comprises two sliding pressure sensors 201 which are vertically arranged and are used for detecting two mutually vertical sliding stresses;
the sliding stress detection device 21 comprises a crosshead 211, a sliding pressure sensor 201 and a load cell fixing device 202;
the crosshead shoe 211 is arranged at the bottom of the foot tray 23;
the crosshead 211 comprises two vertically arranged flanges;
the load cell fixing device 202 is arranged on the bearing plate 13;
the load cell fixing device 202 is a fixing lug arranged on the bearing plate 13;
the force measuring sensor fixing device 202 and the four end parts of the crosshead shoe 211 are arranged correspondingly to each other;
the sliding pressure sensor 201 is fixedly arranged on the force measuring sensor fixing device 202;
the sliding pressure sensor 201 is positioned between the load cell fixing device 202 and the four ends of the crosshead shoe 211; the sliding pressure sensor 201 is in contact connection with the crosshead shoe 211;
the slip pressure sensor 201 is used for detecting two mutually perpendicular slip stresses;
the contact stress detection device 22 is arranged above the foot tray 23;
the contact stress detection device 22 comprises at least four contact stress detection areas 221; at least two contact pressure sensors 222 are arranged on each contact stress detection area 221;
each contact stress detection area 221 is provided with a cover plate 223 matched with the contact stress detection area in shape;
the cover plate 223 is disposed above the contact pressure sensor 222;
the cover plate 223 can directly contact with the detected foot;
the slip pressure sensor 201, the contact pressure sensor 222 and the pressure data processing unit are connected with each other;
the horizontal movement driving device 112, the vertical movement mechanism 12 and the displacement data processing unit are connected with each other;
the pressure data processing unit and the displacement data processing unit are used for processing the pressure data and the displacement data.
Example 2: control method of road condition simulation equipment with force measuring device
Referring to fig. 1-12, a method for controlling a road condition simulation device with a force measuring device includes the following steps:
s01: placing the feet of the device to be tested on the cover plate 223, and placing the bottoms of the feet and the corresponding areas correspondingly to each other as required;
s02: selecting a mode needing to be subjected to a simulation experiment, and setting related parameters;
s03: setting the motion parameters of the detected device and keeping the motion parameters corresponding to the parameters set in the step S02;
s04: the simulation equipment performs experiments according to the selected experiment mode and records related parameters;
the step S02 includes:
s021: detecting the current state, and calibrating the initial state of the detected equipment;
s022: selecting an experiment mode;
s023: setting related parameters;
s024: starting to perform the test;
the foot lifting height parameter of the detected device set in the step S03 is greater than the foot lifting height parameter set in the simulation experiment mode, and the height difference is 5-20 mm;
the simulation experiment mode in the step S02 includes: a flat road surface mode, a step road surface mode, an uphill and downhill road surface mode and a left and right slope deviation mode;
the flat road surface mode is a mode simulation for simulating the walking of a tested object on the flat road surface, wherein the related parameters comprise: setting a stride length parameter, a stride frequency speed parameter and a foot lifting height parameter;
the stride length parameter is set for the moving distance of the horizontal movement driving device 112 in a moving period, and the horizontal movement driving device 112 drives the foot tray 23 to perform synchronous movement when moving, and the moving distance is a stride length;
the step frequency speed parameter is set to set the number of times that the horizontal movement driving device 112 completes two reciprocating step lengths in one time period;
the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting for lifting the vertical moving mechanism 12 from the initial position to a certain height in a stride period;
the step road surface mode is a mode simulation for simulating the walking of a tested object under the state of the step road surface, and the simulation comprises the simulation of an upper step and a lower step; the parameters involved include: setting a step height parameter, a horizontal stride length parameter, a step frequency speed parameter and a foot lifting height parameter;
the step height parameter is used for setting the step height of the simulation test;
the horizontal stride length parameter is set to set the horizontal distance of the horizontal movement of the foot tray 23 when walking on a step road;
the step frequency speed parameter is set to set the number of times that the horizontal movement driving device 112 completes two reciprocating step lengths in one time period;
the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting for lifting the vertical moving mechanism 12 from the initial position to a certain height in a stride period;
the uphill and downhill road mode is a mode simulation for simulating the walking of a tested object under the state of an uphill or downhill road, wherein the related parameters comprise: setting slope grade parameters, length parameters of the slope, stride length parameters, step frequency speed parameters and foot lifting height parameters;
the slope parameter of the slope is used for setting the slope parameter of the simulated slope, and the slope parameter is the ratio of the length to the height of the slope;
after the gradient parameter is converted into an angle parameter, the inclination angle is a turning angle when the front-back inclination angle adjusting structure 132 drives the foot tray 23 to turn back and forth;
the length parameter of the slope surface is set for setting the length parameter of the simulated slope surface, and the length parameter is the horizontal distance of the whole slope surface;
the horizontal stride length parameter is set to be used for setting the moving distance of the foot tray 23 when walking on an uphill and a downhill road;
the step frequency speed parameter is set to set the number of times that the horizontal movement driving device 112 completes two reciprocating step lengths in one time period;
the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting for lifting the vertical moving mechanism 12 from the initial position to a certain height in a stride period;
the left-right slope deviation mode is a mode simulation for simulating the walking of a tested object under the condition of a left slope deviation, a right slope deviation or a road surface state with the left-right slope deviation, wherein the related parameters comprise: setting a slope parameter of a left side slope surface, setting a slope parameter of a right side slope surface, setting a length parameter of the slope surface, setting a stride length parameter, setting a stride frequency speed parameter and setting a foot lifting height parameter;
the slope parameter setting of the left-side slope surface and the slope parameter setting of the right-side slope surface are used for setting the slope parameters of left and right slopes of the simulated slope surface, and the slope parameters are the ratio of the length to the height of the slope surface;
after the gradient parameter is converted into an angle parameter, the left and right inclination angle adjusting structure 133 is the turning angle when driving the foot tray 23 to turn left and right;
the length parameter of the slope surface is set for setting the length parameter of the simulated slope surface, and the length parameter is the length distance of the whole slope surface;
the horizontal stride length parameter is set to be used for setting the moving distance of the foot tray 23 when walking on an uphill and a downhill road;
the step frequency speed parameter is set to set the number of times that the horizontal movement driving device 112 completes two reciprocating step lengths in one time period;
the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting for lifting the vertical moving mechanism 12 from the initial position to a certain height in a stride period;
the relevant parameters recorded in S03 include: in the step S02, selecting relevant parameters set after the corresponding experiment mode, the slip force detected by the slip stress detection device 21, and the contact stress detected by the contact stress detection device 22;
the slip force detected by the slip stress detection device 21 comprises a longitudinal slip force and a transverse slip force;
the longitudinal sliding force is along the moving direction of the tested device, the record of the longitudinal sliding force in the same direction with the moving direction is a forward sliding force, and the record of the longitudinal sliding force in the opposite direction is a reverse sliding force;
the transverse sliding force is vertical to the direction of the longitudinal sliding force;
the contact stress detected by the contact stress detecting means 22 is the contact stress between the foot of the detected device and the contact stress detecting means 22.
When in use, firstly, the feet of the detected device are placed on the foot tray 23, the simulation equipment firstly calibrates the initial state, and the calibration comprises calibrating the sliding stress and the contact stress detected by the current sliding stress detection device 21 and the current contact stress detection device 22, wherein the stress of the contact is equal to the weight of the detected device; and then selects the corresponding mode for testing.
When the flat road surface mode is selected, the horizontal movement driving device 112 of the simulation device performs horizontal movement according to the set stride length and stride frequency speed, the vertical moving mechanism 12 performs vertical movement according to the set foot lifting height parameter, and the sliding stress detection device 21 and the contact stress detection device 22 which are arranged on the foot tray 23 detect corresponding mechanical values during the movement. In the flat road surface mode, firstly, the foot part on one side is lifted, the foot part on the other side is kept still, the horizontal movement driving device 112 corresponding to the lifted foot part moves forwards firstly, and meanwhile, the vertical movement mechanism 12 fixedly arranged with the horizontal movement driving device also performs lifting movement to simulate the lifting movement of the foot part, and the vertical movement mechanism 1 gradually descends after being lifted to a specified height and stops moving after being lowered to the height same as the initial position; then the foot on the other side starts to lift, and when the other side starts to lift, the corresponding horizontal movement driving device 112 and the vertical movement mechanism 12 can move to simulate the foot lifting action; meanwhile, the horizontal movement driving device 112 corresponding to the lifted side foot part moves backwards, returns to the initial position, and is in a changing state when the contact stress detected by the contact stress detection device 22 is in the process of falling from the lifted side foot part to the falling side, firstly, the numerical values of the stress detection values on both sides are the same or approximately the same, and the numerical values of the stress detection values on both sides are equal to the whole weight of the detected device, after the foot part on one side is lifted, the pressure value detected by the lifted side is instantaneously reduced to 0, the pressure value on the non-lifted side is instantaneously increased to be equal to the whole weight of the detected device, and in the normal test state, the contact stress detection device 22 on the lifted side of the foot part cannot detect the contact stress when the foot part on the lifted side of the foot part does not fall to the same height as the non-lifted side of the foot part; if the detected stress exists, the detected device is in an unbalanced state in the whole movement process.
When the step road surface mode is selected, the horizontal movement driving device 112 of the simulation equipment can perform horizontal movement according to the set horizontal step length and step frequency speed, and the vertical movement mechanism 12 performs vertical movement according to the set step height parameters; during the exercise, the sliding stress detection device 21 and the contact stress detection device 22 provided on the foot tray 23 detect the corresponding mechanical values. In the step road surface mode, firstly, the foot on one side is lifted, the foot on the other side is kept still, the horizontal movement driving device 112 corresponding to the lifted foot starts to move horizontally, the horizontal movement stops after the horizontal movement is the same as the length of the horizontal step, meanwhile, the vertical movement mechanism 12 fixedly arranged with the horizontal movement driving device also performs lifting movement, the horizontal movement stops after the horizontal movement is lifted to the parameter of the height of the step, the vertical movement stops until the foot tray 23 detects the basic stress again, the stress value of the detected contact stress is gradually increased from 0 until the detected stress value is half or nearly half of the whole weight of the detected equipment, then the foot on the other side which is kept still starts to move, the movement process is the same as that of the first lifted side, meanwhile, the foot tray 23 on the first lifted side returns to the initial state position in a linear movement mode, the contact stress detected by the corresponding foot tray 23 in the movement process is reduced to 0, the stress value detected by lifting the foot part on one side is gradually increased from half of the whole weight of the detected device to be equal to the whole weight of the whole detected device. During the whole exercise, the foot should be able to stably fall to the position with the designated step height and horizontal stride length after being lifted, and the contact stress detecting device 22 corresponding to the lifted foot should not detect the contact stress during the whole exercise; if the detected stress exists, the detected device is in an unbalanced state in the whole movement process.
When the mode of the uphill and downhill road is selected, the front and rear inclination angle adjusting structure 132 in the simulation equipment can perform angle adjustment, the adjusted angle is the same as the set slope parameter of the set slope, and other motion processes can work according to the mode of the flat road.
When the left-right slope deviation mode is selected, the left-right inclination angle adjusting structure 133 in the simulation equipment can adjust the angle, the adjusted angle is the same as the set slope parameter of the slope, the slope parameter of the left-right slope, and the slope parameter of the right-left slope, and other motion processes can work according to the flat road mode.
In the uphill and downhill road mode and the left and right deviation mode, the front and rear inclination angle adjusting structure 132 and the left and right inclination angle adjusting structure 133 which are connected with the foot tray 23 are used for angle adjustment, after the front and rear inclination angle adjusting structure 132 is carried out, the detected device can passively carry out uphill and downhill motions, when the uphill and downhill motions are carried out, the foot can be in a forward tilting state or a backward tilting state, in this state, the contact stress detection device 22 can cause the condition that the foot stress is concentrated at one of the front and rear positions of the foot due to the forward tilting or backward tilting state of the foot of the detected equipment, and meanwhile, the front and rear slippage phenomenon can also occur in this state, and at the moment, the slippage stress detection device 21 can detect the longitudinal slippage force. Similarly, when the left-right slope mode test is performed, the left-right inclination angle adjusting structure 133 adjusts the angle, and simulates the situation that the foot is in a left-right inclined state when the foot travels in a left-right slope, in this state, the contact stress detecting device 22 may concentrate the foot stress at one of the left-right positions of the foot due to the left-right inclined state of the foot of the device to be detected, and at the same time, the left-right slip phenomenon may occur in this state, and at this time, the slip stress detecting device 21 may detect the lateral slip force.
In the process of using the device, the device can simulate various common road conditions to meet the used road condition states, under various road condition states, the stress state of the foot is an important index for evaluating the balance state of the detected device and the foot strength condition, and whether the detected device can walk under the conditions can be estimated according to the stress state of the foot.
According to the magnitude and distribution of the contact stress detected by the contact stress detection device 22, the state of the foot can be judged, because the contact stress detection device 22 is provided with at least four mutually independent bearing plates 13, each independent bearing plate 13 can detect the pressure value in the area where the foot corresponds to each other, the specific stress state of a specific part of the foot can be clearly known, and because the contact state of the foot and the contact stress detection device 22 in the whole test process is not only in a complete contact state or a complete non-contact state, the stress state of the foot in the whole process can be known by carrying out subarea detection and fine detection.
The design also designs a slip stress detection device 21 which detects the slip stress between the foot and the foot tray 23, and when the foot is in an uphill, a downhill or a left-right deviation slope, the generated slip stress is normal; however, when the device is in a flat road mode, the normal device does not generate sliding stress, the sliding stress is generated because the leg strength of the supporting foot is insufficient, the joint position cannot be locked by joint strength after the leg joint strength is subjected to the gravity on the upper part, so that the joint position is loosened under the compression of the gravity, and further the phenomenon that the joint rotates autonomously occurs, the joint rotates, the leg deviates, the foot is driven to deviate, the sliding stress is generated between the foot and the foot tray 23, and therefore the sliding stress is an important parameter for detecting whether the leg joint of the supporting foot is stable or not. Meanwhile, another reason for generating the sliding stress is embodied in the structural design of the detected equipment, and the balance weight distribution is reasonable during the structural design, so that the subsequent balance control is facilitated. The sliding stress detection device 21 in the design can detect the reasonable degree and the joint locking force condition of the structural balance weight of the whole detected device from the side surface, and is favorable for carrying out comprehensive balance evaluation on the detected device.
Meanwhile, the mutual matching of the two detection devices of the contact stress and the sliding stress can also carry out dynamic evaluation on the dynamic motion process of the detected device, evaluate the balance condition of the detected device in the motion process, and carry out structure optimization and control program optimization according to the evaluation.
The device can simulate walking motion of double feet or multiple feet by utilizing the horizontal moving mechanism and the vertical moving mechanism, is simple in structure and easy to control, can simulate the walking motion under various road conditions by utilizing the horizontal moving mechanism and the vertical moving mechanism, can accurately control each parameter in the whole walking motion process, can accurately link with a detected device by accurate parameter control, performs linkage test, and can avoid the condition that the test equipment is damaged or the test equipment is damaged and then the test equipment is damaged.
In the follow-up movement process, the foot tray 23 is directly contacted only after the feet of the detected equipment fall to the designated position, so that the design can be ensured not to influence the autonomous movement of the detected equipment; meanwhile, follow-up motion is guaranteed while the device is not in contact with the ground, the device can be supported after the device to be detected loses balance, and the device is prevented from falling due to loss of balance.
The provision of the stress detection device on the foot tray 23 can detect whether the foot is in operative contact with the foot tray 23, and can determine abnormality of the device to be detected upon detection of non-operative contact or occurrence of non-detection of contact.
The design not only can be suitable for detecting double feet or multiple feet and robots, but also is suitable for evaluating and training the leg functions of the human body.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (15)
1. A road condition simulation device with a force measuring device is characterized in that: it includes: the road condition simulation device comprises at least two road condition simulation devices (1) and force measurement devices (2) for simulating road conditions along with feet; the road condition simulation device (1) comprises a horizontal moving mechanism (11) and a vertical moving mechanism (12) which are arranged in a linkage manner; the output end of the vertical moving mechanism (12) is provided with a bearing plate (13) for bearing the weight of the feet; the bearing plate (13) is provided with a force measuring device (2); the force measuring device (2) comprises a sliding stress detection device (21) and a contact stress detection device (22).
2. A road condition simulation device with a force measuring device as claimed in claim 1, characterized in that: the force measuring device (2) also comprises a foot tray (23); the foot tray (23) is arranged on the upper part of the bearing plate (13); the sliding stress detection device (21) is arranged between the foot tray (23) and the bearing plate (13); the contact stress detection device (22) is arranged above the foot tray (23).
3. A road condition simulation device with a force measuring device as claimed in claim 2, characterized in that: the sliding stress detection device (21) comprises four sliding pressure sensors (201) fixed on a bearing plate (13), and a cross slide block (211) is arranged at the bottom of the foot tray (23); the four ends of the crosshead shoe (211) are respectively connected with the four sliding pressure sensors (201) in a mutual contact way; the slip pressure sensor (201) is used for detecting two mutually perpendicular slip stresses.
4. A road condition simulation device with a force measuring device as claimed in claim 3, characterized in that: the contact stress detection device (22) is arranged above the foot tray (23); the contact stress detection device (22) comprises at least four contact stress detection areas (221); at least two contact pressure sensors (222) are arranged on each contact stress detection area (221); a cover plate (223) matched with the contact stress detection area (221) in shape is arranged on the contact pressure sensor (222) of each contact stress detection area (221); the cover plate (223) can be directly contacted with the detected foot.
5. A road condition simulation device with a force measuring device as claimed in claim 1 or 4, characterized in that: the horizontal moving mechanism (11) is used for simulating the horizontal length of a stride; the vertical moving mechanism (12) is used for simulating the vertical height of a stride; the road condition simulation device (1) further comprises a front-back inclination angle adjusting structure (132) and a left-right inclination angle adjusting structure (133); the device is used for simulating the state of the foot under different road conditions.
6. A road condition simulation device with a force measuring device as claimed in claim 5, characterized in that: the horizontal moving mechanism (11) comprises a horizontal moving platform (113), and the horizontal moving platform (113) is driven by a horizontal moving driving device (112) to move horizontally along a moving track (111); the vertical moving mechanism (12) is fixedly arranged on the horizontal moving platform (113).
7. A road condition simulation device with force measuring device as claimed in claim 2, characterized in that: the front-back inclination angle adjusting structure (132) and the left-right inclination angle adjusting structure (133) are fixedly connected to the end part of the output end of the vertical moving mechanism (12) through a fixed support (131); the left and right inclination angle adjusting structure (133) and the fixed support (131) are fixedly connected with each other; the left-right inclination angle adjusting structure (133) comprises a fixed support arm (1331) fixedly connected with the fixed support seat (131); one end of the fixed support arm (1331) is fixedly connected with the fixed support seat (131), and the other end is fixedly provided with a left and right adjusting motor (1332); the axial direction of the motor shaft of the left and right adjusting motor (1332) is the same as the direction of the moving track (111).
8. A road condition simulation device with a force measuring device as claimed in claim 7, characterized in that: the front-back inclination angle adjusting structure (132) comprises a first adjusting bracket (1321), a second adjusting bracket (1322) and a front-back adjusting motor (1323); the first adjusting bracket (1321) is integrally T-shaped and comprises an arc-shaped supporting arm and a C-shaped supporting arm fixed at the end part of the arc-shaped supporting arm, and the other end part of the arc-shaped supporting arm is hinged and arranged on a motor shaft of a left adjusting motor (1332) and a right adjusting motor (1332); the second adjusting bracket (1322) is integrally C-shaped; the front-back adjusting motor (1323) is fixedly arranged at one end of the second adjusting bracket (1322), and the axis of the output shaft of the front-back adjusting motor (1323) is coplanar with the axis of the motor shaft of the left-right adjusting motor (1332) and is vertically arranged; one end of the second adjusting bracket (1322) is hinged with an output shaft of the second adjusting bracket (1322) on the first adjusting bracket (1321), and the other end of the second adjusting bracket (1322) is hinged with the end part of the C-shaped support arm of the first adjusting bracket (1321); the bearing plate (13) is fixedly arranged in the middle of the second adjusting bracket (1322).
9. A control method of road condition simulation equipment with a force measuring device is characterized in that: it comprises the following steps:
s01: placing the feet of the device to be tested on the cover plate (223), and placing the bottoms of the feet and the corresponding areas correspondingly to each other according to requirements;
s02: selecting a mode needing to carry out a simulation experiment, and setting related parameters;
s03: setting the motion parameters of the detected device and keeping the motion parameters corresponding to the parameters set in the step S02;
s04: the simulation equipment performs experiments according to the selected experiment mode and records related parameters;
the step S02 includes:
s021: detecting the current state, and calibrating the initial state of the detected equipment;
s022: selecting an experiment mode;
s023: setting related parameters;
s024: starting to perform the test;
the simulation experiment mode in the step S02 includes: a flat road surface mode, a step road surface mode, an uphill and downhill road surface mode and a left and right slope deviation mode.
10. The method according to claim 9, wherein the method comprises the steps of: the flat road surface mode is a mode simulation for simulating the walking of a tested object on the flat road surface, wherein the related parameters comprise: setting a stride length parameter, a stride frequency speed parameter and a foot lifting height parameter; the stride length parameter is set for the moving distance of the horizontal moving driving device (112) in a moving period, the horizontal moving driving device (112) drives the foot tray (23) to move synchronously when moving, and the moving distance is stride length; the step frequency speed parameter is set for setting the times of the horizontal movement driving device (112) completing two reciprocating step lengths in a time period; the parameter setting of the foot lifting height is used for setting the time parameter setting and the height parameter setting of the vertical moving mechanism (12) lifted to a certain height from the initial position in a stride period.
11. The method of claim 10, wherein the method comprises the steps of: the step road surface mode is a mode simulation for simulating the walking of a tested object under the state of the step road surface, and the simulation comprises the simulation of an upper step and a lower step; the parameters involved include: setting a step height parameter, a horizontal stride length parameter, a step frequency speed parameter and a foot lifting height parameter; the step height parameter is used for setting the step height of the simulation test; the horizontal stride length parameter is set for setting a horizontal distance for horizontal movement of the foot tray (23) when walking on a stepped road surface.
12. The method according to claim 11, wherein the method further comprises the steps of: the uphill and downhill road mode is a mode simulation for simulating the walking of a tested object under the state of an uphill or downhill road, wherein the related parameters comprise: setting slope grade parameters, length parameters of the slope, stride length parameters, step frequency speed parameters and foot lifting height parameters; the slope parameter of the slope is used for setting the slope parameter of the simulated slope, and the slope parameter is the ratio of the length to the height of the slope; after the gradient parameter is converted into an angle parameter, the inclination angle is a turning angle when the front and back inclination angle adjusting structure (132) drives the foot tray (23) to turn back and forth; the length parameter of the slope surface is used for setting the length parameter of the simulated slope surface, and the length parameter is the horizontal distance of the whole slope surface.
13. The method according to claim 12, wherein the method further comprises the steps of: the left-right slope deviation mode is a mode simulation for simulating the walking of a tested object under the condition of a road surface state with a left slope deviation, a right slope deviation or a left-right slope deviation, wherein the related parameters comprise: setting a slope parameter of a left side slope surface, setting a slope parameter of a right side slope surface, setting a length parameter of the slope surface, setting a stride length parameter, setting a stride frequency speed parameter and setting a foot lifting height parameter; the slope parameter setting of the left-side slope surface and the slope parameter setting of the right-side slope surface are used for setting the slope parameters of left and right slopes of the simulated slope surface, and the slope parameters are the ratio of the length to the height of the slope surface; after the gradient parameters are converted into angle parameters, the left and right inclination angle adjusting structure (133) drives the foot tray (23) to turn left and right; the length parameter of the slope surface is set for setting the length parameter of the simulated slope surface, and the length parameter is the length distance of the whole slope surface; the horizontal stride length parameter is set for setting the moving distance of the foot tray (23) when walking on an uphill or downhill road.
14. The method according to claim 13, wherein the method further comprises the steps of: the relevant parameters recorded in S03 include: and in the step S02, relevant parameters set after the corresponding experiment mode is selected, the sliding force detected by the sliding stress detection device (21) and the contact stress detected by the contact stress detection device (22) are selected.
15. The method according to claim 14, wherein the method further comprises the steps of: the foot lifting height parameter of the detected device set in the step S03 is larger than the foot lifting height parameter set in the simulation experiment mode, and the height difference is 5-20 mm.
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Cited By (1)
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