CN115060475A

CN115060475A - Foot soil action characteristic test device and test method for bionic foot

Info

Publication number: CN115060475A
Application number: CN202210560650.6A
Authority: CN
Inventors: 邹猛; 陈朕; 陈力宁; 宋祥文; 韩娜; 孙浩
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-09-16

Abstract

The invention discloses a foot soil action characteristic test device and a test method of a bionic foot, comprising the following steps: a rack main body; the bionic foot driving unit is arranged on the table frame main body and used for controlling the single leg of the simulated bionic foot to perform corresponding movement with a gait required by the test; the soil tank and the simulated soil unit are connected to the side edge of the rack main body and used for configuring corresponding test environments so as to simulate different soil environments required by the test; and the measurement and control unit is arranged on the bionic foot driving unit and used for acquiring corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit, and performing corresponding kinematic analysis and kinetic analysis on the bionic foot through data analysis. The foot soil interaction characteristic test device for the bionic feet can simulate the foot soil interaction characteristics of the bionic feet in different environments by preparing different simulated soils, can perform multivariate analysis, and improves the test efficiency.

Description

Foot soil action characteristic test device and test method for bionic foot

Technical Field

The invention relates to the technical field of robot kinematics and dynamics, in particular to a foot soil action characteristic test device and a test method for bionic feet.

Background

In recent years, with the further development of scientific technology, people have increasingly deep research and study on unknown fields, but the existing wheeled and tracked mobile platforms cannot meet the detection of some extreme terrains, so that the bionic foot type robot becomes the development direction in the future with good motion characteristics and strong trafficability. When the legged robot performs detection work in a soft environment such as a sandy environment, the legged robot is prone to sink and slide too much, so that the movement stability of the legged robot is reduced. The research on the characteristics of the interaction of the sufficient soil is the key point for analyzing the stability of the sufficient soil in the soft environment. Therefore, the motion process of the legged robot under different simulated soil environments needs to be analyzed, so that the motion condition of the leg of the quadruped robot and the interaction characteristics between the legged soil are obtained, and the stability of the quadruped robot under the corresponding conditions is improved.

But at present, the bionic foot type robot test bed cannot analyze under multivariable conditions (such as motion gait, soil characteristics and foot tip shape). The existing foot type robot testing platform is simple in testing parameters, few in input gait, fixed in foot end type and low in testing efficiency.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a device for testing foot soil interaction characteristics of a bionic foot, which can simulate the foot soil interaction characteristics of the bionic foot under different environments by preparing different simulated soils, and can perform multivariate (such as motion gait, soil characteristics, foot tip shape) analysis, thereby improving the efficiency of test and test.

The technical scheme of the invention is as follows:

a foot soil action characteristic test device of a bionic foot comprises:

a rack main body;

the bionic foot driving unit is arranged on the table frame main body and used for controlling the single leg of the simulated bionic foot to perform corresponding movement with a gait required by the test;

the soil tank and the simulated soil unit are connected to the side edge of the rack main body and are used for configuring corresponding test environments so as to simulate different soil environments required by the test;

the measurement and control unit is arranged on the bionic foot driving unit and used for acquiring corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit and carrying out corresponding kinematic analysis and kinetic analysis on the bionic foot through data analysis;

the rack main body is used for carrying all parts of the driving unit, the soil tank, the simulated soil unit and the measurement and control unit.

The foot soil action characteristic test device of the bionic foot is characterized in that the bionic foot driving unit comprises: the bionic foot comprises a hip joint driving motor, thighs, a knee joint driving motor, crus and a foot palm, wherein the knee joint driving motor is connected with the thighs and the crus at the same time, the hip joint driving motor is connected with the upper portion of the rack main body, and the foot palm is arranged in the soil groove and the simulated soil unit and used for simulating the specific motion process of the bionic foot.

The foot soil action characteristic test device of the bionic foot is characterized in that the hip joint driving motor is connected with the upper part of the rack main body through a bolt; the upper part of the thigh is in interference fit with the hip joint driving motor through a motor rotating shaft, and the lower part of the thigh is in interference fit with the knee joint driving motor through the motor rotating shaft; the upper part of the shank is in interference fit with the knee joint driving motor through a motor rotating shaft.

The foot soil action characteristic test device of the bionic foot, wherein, the measurement and control unit comprises: the bionic foot driving unit comprises a torque sensor, an angular displacement sensor, an angular acceleration sensor and a three-dimensional force sensor, wherein the torque sensor, the angular displacement sensor, the angular acceleration sensor and the three-dimensional force sensor are respectively arranged at different positions of the bionic foot driving unit, and are used for acquiring a torque parameter, an angular displacement parameter, an angular velocity parameter, an angular acceleration parameter and a foot end stress parameter in the motion process of the bionic foot driving unit, and performing corresponding kinematic analysis and dynamic analysis on the bionic foot through data analysis.

The foot soil action characteristic test device for the bionic foot is characterized in that the torque sensor, the angular displacement sensor and the angular acceleration sensor are respectively arranged on the hip joint driving motor and the knee joint driving motor and matched through a motor rotating shaft, and are used for obtaining joint angle change and torque conditions in the motion process; two ends of the three-dimensional force sensor are respectively connected with the shank and the sole through threads and used for measuring the stress condition of the sole in the motion process.

The foot soil action characteristic test device of the bionic foot is characterized in that the lower part of the shank is connected with the three-dimensional force sensor through threads; one end of the foot sole is connected with the three-dimensional force sensor through a bolt, and the other end of the foot sole is arranged in the soil box.

The sufficient soil action characteristic test device of bionical foot, wherein, soil box and simulation soil unit include: with the rack main part passes through welded connection's organic glass soil box, and loads simulation soil in the organic glass soil box for the required different soil environment of analogue test.

The foot soil action characteristic test device of the bionic foot is characterized in that the rack main body comprises a rack main body and trundles arranged below the rack main body, and the trundles are used for supporting the whole test device and can move through the trundles.

The foot soil action characteristic testing device of the bionic foot is characterized in that the torque sensor comprises a first torque sensor and a second torque sensor, the angular displacement sensor comprises a first angular displacement sensor and a second angular displacement sensor, and the angular acceleration sensor comprises a first angular acceleration sensor and a second angular acceleration sensor;

the first torque sensor, the first angular displacement sensor and the first angular acceleration sensor are connected with a rotating shaft of the hip joint driving motor and are used for measuring corresponding parameters of the hip joint in the movement process;

the knee joint driving motor is in interference fit with the simulated shank;

and the second torque sensor, the second angular displacement sensor and the second angular acceleration sensor are connected with the rotating shaft of the knee joint driving motor and are used for measuring corresponding parameters of the knee joint in the movement process.

A test method of the foot soil action characteristic test device of the bionic foot comprises the following steps:

arranging a required simulated soil environment in the soil tank and the organic glass soil box of the simulated soil unit;

the method comprises the following steps of installing a foot pad of a required kind under a three-dimensional force sensor, sequentially connecting a hip joint driving motor, a thigh, a knee joint driving motor, a shank and a foot sole, adjusting the thigh and the shank to corresponding positions, enabling the lower surface of the foot sole to be horizontal to soil, and enabling the foot sole to be in complete contact with the soil in the motion process without interference with other parts;

inputting corresponding motion control parameters of a hip joint driving motor and a knee joint driving motor through a measurement and control unit; the measurement and control unit is controlled to start to collect data, the measurement and control unit controls the driving unit to move, and the soil disturbance condition can be observed through the organic glass soil box in the test process;

corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit are collected through the measurement and control unit;

and after controlling the single leg to move for two to three gait cycles, stopping driving, recording corresponding data by the measurement and control system, and performing corresponding kinematic analysis and kinetic analysis on the bionic foot through data analysis.

Compared with the prior art, the invention discloses a foot soil interaction characteristic test device for bionic feet, which can measure different simulated soil environments, robot motion conditions and foot soil interaction conditions under different conditions, and carry out kinematics and foot soil interaction analysis on the robot motion conditions and the foot soil interaction conditions through obtained data. By measuring the angular displacement of the hip joint and the knee joint and combining the structure parameters of the single leg, the kinematic characteristics and the stress conditions of the hip joint and the knee joint under different environments can be obtained. Meanwhile, by measuring the angular velocity, the angular acceleration and the foot end stress of the hip joint and the knee joint, the kinetic characteristics of the legged robot can be analyzed. Because the hip joint driving motor and the knee joint driving motor are driven independently, a plurality of asynchronous states can be simulated for analysis. The test device has the characteristics of more gaits, simple and convenient test environment replacement and more measurable variables, and improves the test efficiency. The invention has the following advantages:

1) the two groups of driving motors are used, so that the hip joint and the knee joint have independent driving, the driving mode can simulate different states of the foot type robot, and the application range of the test bed is widened.

2) The soil box with replaceable soil is selected, so that the interaction between sufficient soils in different environments can be simulated, and the application range is wide.

3) And the corresponding motion characteristics and the foot soil contact characteristics of the foot type robot can be obtained simultaneously in one test process by using the matching collection of various sensors, so that the test times are reduced.

4) And the replaceable foot end is selected, so that the influence of different foot ends on the kinematic characteristics and the dynamic characteristics can be effectively analyzed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a foot soil action characteristic test device of a bionic foot according to an embodiment of the invention.

Fig. 2 is a front view of a foot soil action characteristic test device of a bionic foot according to a preferred embodiment of the invention.

FIG. 3 is a left side view of a device for testing foot soil action characteristics of a bionic foot according to a preferred embodiment of the invention.

Fig. 4 is a schematic flow chart of a testing method of the testing device for foot soil action characteristics of the bionic foot according to the embodiment of the invention.

Fig. 5 is a test result curve diagram of the test method of the foot soil action characteristic test device of the bionic foot according to the embodiment of the invention.

In the figure: the bionic foot test platform comprises a bionic foot driving unit 1, a soil groove and simulated soil unit 2, a measurement and control unit 3, a table main body 4, a hip joint driving motor 11, a knee joint driving motor 12, a thigh 13, a thigh 14, a sole 15, an organic glass soil box 21, a torque sensor 31, an angular displacement sensor 32, an angular acceleration sensor 33, a rack main body 41 and casters 42.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

The bionic foot type robot becomes a development direction in the future due to good motion characteristics and strong trafficability. When the legged robot performs detection work in a soft environment such as a sandy environment, the legged robot is prone to sink and slide too much, so that the movement stability of the legged robot is reduced. The research on the characteristics of the soil interaction is the key point for analyzing the stability of the soil in a soft environment. Therefore, the motion process of the legged robot under different simulated soil environments needs to be analyzed, so that the motion condition of the leg of the quadruped robot and the interaction characteristics between the legged soil are obtained, and the stability of the quadruped robot under the corresponding conditions is improved.

Therefore, the invention provides a foot soil action characteristic test device of a bionic foot to solve the problems.

The invention discloses a foot soil action characteristic test device of a bionic foot, which can measure different simulated soil environments, robot motion conditions and foot soil interaction conditions under different conditions, and carry out kinematics and foot soil interaction analysis on the robot motion conditions and the foot soil interaction conditions through obtained data. By measuring the angular displacement of the hip joint and the knee joint and combining the structural parameters of the single leg, the kinematic characteristics and the stress conditions of the hip joint and the knee joint under different environments can be obtained. Meanwhile, by measuring the angular velocity, the angular acceleration and the foot end stress of the hip joint and the knee joint, the kinetic characteristics of the legged robot can be analyzed. Because the hip joint driving motor and the knee joint driving motor are driven independently, a plurality of asynchronous states can be simulated for analysis. The test device has the characteristics of more gaits, simple and convenient test environment replacement and more measurable variables, and improves the test efficiency.

An exemplary apparatus:

the invention provides a foot soil action characteristic test device of a bionic foot, which is used for evaluating and analyzing mechanical and kinematic characteristics of the bionic foot when the bionic foot walks on the surface of soil with various characteristics, and providing optimization and support for the design and walking strategy of the bionic foot, as shown in figure 1, the foot soil action characteristic test device of the bionic foot provided by the embodiment of the invention comprises:

a stage main body 4;

the bionic foot driving unit 1 is arranged on the rack main body 4 and used for controlling a single leg of the simulated bionic foot to perform corresponding movement with a gait required by a test;

the soil tank and simulated soil unit 2 is connected to the side edge of the rack main body 4 and is used for configuring corresponding test environments so as to simulate different soil environments required by the test;

the measurement and control unit 3 is arranged on the bionic foot driving unit 1 and is used for acquiring corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit 1 and carrying out corresponding kinematic analysis and dynamic analysis on the bionic foot through data analysis;

the rack main body 4 is used for carrying the driving unit, the soil tank, the simulated soil unit 2 and the measurement and control unit 3.

In the embodiment of the invention, a rack main body 4 is arranged, then a soil groove and a simulated soil unit 2 which are configured with corresponding test environments are arranged on one side of the rack main body 4, a bionic foot driving unit 1 which is used for controlling a single leg of a simulated bionic foot to perform corresponding motion with a gait required by a test and a measurement and control unit 3 which is used for collecting corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit 1 are loaded on the rack main body 4, and corresponding kinematic analysis and dynamics analysis measurement and control unit 3 are performed on the bionic foot through data analysis.

In the specific implementation of the present invention, the bionic foot driving unit may be configured by: the hip joint driving motor, the knee joint driving motor and the tested bionic foot mechanism (comprising thighs, shanks and soles) form a complete bionic foot device and are fixed on the rack main body; fixing the soil tank and the simulated soil unit at the lower part of the rack main body, filling simulated soil in the soil tank, and changing the soil softness, morphological characteristics and the like according to corresponding test requirements to build a required test environment; the joint motor on the bionic foot is controlled by the measurement and control unit, so that the bionic foot can simulate the soil surface to move according to a certain gait, and the parameters such as torque, pressure, speed and the like in the process are measured by the sensor. The foot soil characteristic test device of the bionic foot is used for simulating soil and an independent bionic foot contact characteristic test, and can be used for rapidly and effectively monitoring and analyzing foot soil action characteristics so as to facilitate the verification and evaluation of the walking strategy of the bionic foot.

In a further specific embodiment, as shown in fig. 2 and 3, the foot soil action characteristic test device of the bionic foot according to the present invention includes: the bionic foot simulation platform comprises a hip joint driving motor 11, a thigh 13, a knee joint driving motor 12, a shank 14 and a foot sole 15, wherein the knee joint driving motor 12 is connected with the thigh 13 and the shank 14 at the same time, the hip joint driving motor 11 is connected with the upper part of the platform main body 4, and the foot sole 15 is arranged in the soil groove and the simulated soil unit 2 and used for simulating the specific motion process of the bionic foot. In the embodiment of the invention, the bionic foot driving unit 1 comprises the following components which are connected in sequence: the bionic foot driving unit 1 is connected with the upper part of the rack main body 4 through the hip joint driving motor 11. A complete bionic foot device is formed by a hip joint driving motor, a knee joint driving motor and a tested bionic foot mechanism (comprising thighs, shanks and soles), is fixed on a table main body, controls a single leg of a simulated bionic foot to perform corresponding motion with a gait required by a test, facilitates a walking strategy of the bionic foot, and is simple and convenient to implement.

In a further embodiment, as shown in fig. 3, the hip joint driving motor 11 and the upper portion of the gantry body 4 may be connected by bolts; the upper part of the thigh 13 is in interference fit with the hip joint driving motor 11 through a motor rotating shaft, and the lower part of the thigh 13 is in interference fit with the knee joint driving motor 12 through the motor rotating shaft; the upper part of the shank 14 is in interference fit with the knee joint driving motor 12 through a motor rotating shaft, so that when the bionic foot is moved, the hip joint driving motor 11 is controlled to rotate to drive the thigh 13 to lift upwards or move downwards and drive the shank 14 and the sole to move, and the knee joint driving motor 12 is controlled to rotate to drive the shank 14 to move, so that a walking strategy of simulating the bionic foot is realized, the connection is firm, and the realization is simple and convenient.

In a further embodiment, as shown in fig. 1, the measurement and control unit 3 further includes: the bionic foot motion analysis system comprises a torque sensor 31, an angular displacement sensor 32, an angular acceleration sensor 33 and a three-dimensional force sensor 34 connected with a lower leg 14, wherein the torque sensor 31, the angular displacement sensor 32, the angular acceleration sensor 33 and the three-dimensional force sensor 34 are respectively arranged at different positions of the bionic foot drive unit 1. More specifically, as shown in fig. 2 and 3, the torque sensor 31, the angular displacement sensor 32 and the angular acceleration sensor 33 are respectively disposed on the hip joint driving motor 11 and the knee joint driving motor 12 and are matched through motor rotating shafts for obtaining joint angle changes and torque conditions during movement.

When the invention is implemented, two sets of sensors related to angles can be adopted, namely one set of hip joint and one set of knee joint. As shown in fig. 2 and 3, the torque sensor 31 for collecting torque parameters during a movement process includes a first torque sensor 311 and a second torque sensor 312, the angular displacement sensor 32 includes a first angular displacement sensor 321 and a second angular displacement sensor 322, and the angular acceleration sensor 33 includes a first angular acceleration sensor 331 and a second angular acceleration sensor 332; the first torque sensor 311, the first angular displacement sensor 321 and the first angular acceleration sensor 331 are all connected to a rotating shaft of the hip joint driving motor 11, and are used for measuring corresponding parameters of the hip joint in the movement process; for example, torque parameters, angular displacement parameters, angular velocity parameters and angular acceleration parameters of the hip joint in the movement process are respectively measured, accurate data are obtained, and optimization and support are provided for evaluating and analyzing mechanics and kinematics characteristics of the bionic foot when the bionic foot walks on the soil surface with various characteristics.

The knee joint driving motor 12 is in interference fit with the simulated crus 14;

the second torque sensor 312, the second angular displacement sensor 322 and the second angular acceleration sensor 332 are all connected to the rotating shaft of the knee joint driving motor 12, and are used for measuring corresponding parameters of the knee joint during the exercise process. For example, torque parameters, angular displacement parameters, angular velocity parameters and angular acceleration parameters of the knee joint in the exercise process are respectively measured, accurate data are obtained, and optimization and support are provided for evaluating and analyzing mechanics and kinematics characteristics of the bionic foot when the bionic foot walks on the soil surface with various characteristics.

Further preferably, as shown in fig. 3, two ends of the three-dimensional force sensor 34 of the present invention are respectively connected to the lower leg 14 and the sole 15 through threads, so as to measure the stress of the sole 15 during exercise, and timely and accurately obtain the stress data of the sole 15 during exercise. The lower part of the shank 14 is connected with a three-dimensional force sensor 34 through threads; one end of the foot sole 15 is connected with the three-dimensional force sensor 34 through a bolt, and the other end of the foot sole 15 is arranged in the soil box. And the thigh 13 and the shank 14 are adjusted to corresponding positions, so that the lower surface of the sole 15 is ensured to be level with soil, and the sole 15 can be completely contacted with the soil in the movement process and cannot interfere with other parts.

Further, as shown in fig. 2 and 3, the knee joint driving motor 12 of the driving unit 1 of the present invention is connected to the thigh 13 and the lower leg 14, and the angular displacement sensor 32 is connected to the knee joint driving motor 12 for measuring the change of the knee joint angle, so as to accurately obtain the change parameter of the knee joint angle. One end of a three-dimensional force sensor 34 in the measurement and control unit 3 is connected with the shank 14 through threads, and the other end of the three-dimensional force sensor is connected with the sole 15 through threads, so that the stress of the sole can be measured; and the sole 15 is placed in the organic glass soil box 21 in the process of movement; the soil disturbance condition can be observed through the organic glass soil box 21 in the test process.

Further, as shown in fig. 2 and 3, the lower end of the stand body 41 of the present invention is provided with four casters 42 for movement, and the casters 42 are connected to the bottom of the stand body 41 by bolts.

In a further embodiment, as shown in fig. 2 and 3, the soil trough and simulated soil unit 2 of the apparatus for testing the foot soil effect characteristics of the bionic foot comprises: with rack main part 4 is through welded connection's organic glass soil box 21, and the loading is in the simulation soil in the organic glass soil box 21, wherein the simulation soil can be some sand and soil etc. for the required different soil environment of analogue test.

Further preferably, in the present embodiment, the stand main body 4 includes a stand main body 41, and casters 42 disposed below the stand main body 41, for supporting the entire test apparatus, and is movable by the casters 42.

As shown in fig. 1, fig. 2 and fig. 3, the foot soil action characteristic testing device for the bionic foot provided by the embodiment of the invention comprises: the soil testing device comprises a driving unit 1, a soil tank and simulated soil unit 2, a measurement and control unit 3 and a rack main body 4; wherein the driving unit 1 can control a single leg to perform corresponding movement with a gait required by a test; the soil tank and the simulated soil unit 2 are responsible for configuring corresponding test environments; the measurement and control system 3 is responsible for collecting corresponding parameters in the motion process, including torque, angular displacement, angular velocity, angular acceleration and foot end stress, and corresponding kinematic analysis and dynamic analysis can be carried out on the parameters through data analysis; the rack main body 4 is used for carrying the driving unit 1, the soil tank, the simulated soil unit 2 and the measurement and control unit 3.

The knee joint driving motor 12 in the driving unit 1 is simultaneously connected with the thigh 13 and the shank 14, and the angular displacement sensor 32 is connected with the knee joint driving motor 12 for measuring the change of the knee joint angle; one end of a three-dimensional force sensor 34 in the measurement and control unit 3 is connected with the crus 14 through threads, and the other end of the three-dimensional force sensor is connected with the sole 15 through threads, so that the stress of the sole can be measured; and the sole 15 is placed in the organic glass soil box 21 in the moving process; the caster 42 is connected to the bottom of the housing body 41 by a bolt.

As shown in fig. 3, a left side view of a foot soil action characteristic test device of a bionic foot, a hip joint driving motor 11 in a driving unit 1 is fixedly connected with a frame main body 41 through bolts and is connected with a thigh 13 in an interference fit manner, and a torque sensor 31, an angular displacement sensor 32 and an angular acceleration sensor 33 in the test system 3 are all connected with a rotating shaft of the hip joint driving motor 11 and are used for measuring corresponding parameters of a hip joint in a movement process; the knee joint driving motor 12 in the movement mechanism 1 is in interference fit with the simulated shank 14, and the torque sensor 31, the angular displacement sensor 32 and the angular acceleration sensor 33 in the measurement and control unit 3 are all connected with the rotating shaft of the knee joint driving motor 12 and used for measuring corresponding parameters of the knee joint in the movement process.

The working principle of the invention is as follows:

referring to fig. 1, 2 and 3, before the test, a required simulated soil environment is arranged in an organic glass soil box 21, then a required foot pad is installed under a three-dimensional force sensor 34, and the thigh 13 and the shank 14 are adjusted to corresponding positions, so that the lower surface of the foot sole 15 is ensured to be horizontal to the soil, and meanwhile, the foot sole 15 can be in complete contact with the soil in the motion process and cannot interfere with other parts. The corresponding motion parameters of the hip joint driving motor 11 and the knee joint driving motor 12 are input through the measurement and control unit 3. Open measurement and control unit 3 and carry out data acquisition, measurement and control unit 3 makes drive unit 1 move, and accessible organic glass soil box 21 observes the soil disturbance condition in the test process. After the single leg moves for two to three gait cycles, the driving is stopped, and the measurement and control system 3 records the corresponding data.

The specific test result is, for example, 2 gait cycles when the bionic foot is operated for 2.2 seconds. The three-way force condition of the bionic foot acquired by the three-way force sensor is shown in fig. 5. In the process of movement, as for the X-direction stress of the foot end, the maximum value of the stress is 8.27N, and the minimum value is-0.27N; for the Y-direction stress at the foot end, the maximum value of the stress is 3.34N, and the minimum value is-2.27N; for the Z-direction stress of the foot end, the maximum value of the stress is-9.8N, and the minimum value is-22.0N. The test result can analyze that when the specific bionic foot moves under specific soil, the stress of the foot end of the specific bionic foot is increased firstly and then reduced.

In the invention, two groups of driving motors, namely a hip joint driving motor 11 and a knee joint driving motor 12, are adopted to enable the hip joint and the knee joint to have independent driving, and the driving mode can simulate different states of the foot type robot and improve the application range of the test bed.

Furthermore, the organic glass soil box 21 can be arranged as a soil box with replaceable soil, so that the interaction between sufficient soil in different environments can be simulated, and the application range is wide. The invention designs the replaceable soil of the machine glass soil box 21 structure, can simulate the mutual action of sufficient soil under different environments, and particularly can simulate the soft soil environment with the most serious stability problem of a sufficient robot.

The torque sensor 31, the angular displacement sensor 32, the angular acceleration sensor 33, the three-dimensional force sensor 34 connected with the shank 14 and the like are adopted to be matched for collection, the test in the foot soil contact process is concentrated, the corresponding motion characteristic and the foot soil contact characteristic of the foot type robot can be obtained simultaneously in one test process, and the test times are reduced.

In the embodiment of the invention, the crus and the sole are connected through the three-dimensional force sensor, the sole can be detachably connected, and the influence of different foot ends on the kinematics and dynamics can be effectively analyzed by selecting replaceable foot ends.

Based on the foot soil action characteristic test device of the bionic foot of the embodiment, as shown in fig. 4, the embodiment of the invention also provides a test method of the foot soil action characteristic test device of the bionic foot, which comprises the following steps:

s100, arranging a required simulated soil environment in the soil tank and an organic glass soil box of the simulated soil unit;

step S200, mounting a foot pad of a required variety under a three-dimensional force sensor, sequentially connecting a hip joint driving motor, a thigh, a knee joint driving motor, a shank and a foot sole, and adjusting the thigh and the shank to corresponding positions to enable the lower surface of the foot sole to be horizontal to soil and enable the foot sole to be in complete contact with the soil in the motion process without interference with other parts;

s300, inputting corresponding motion control parameters of a hip joint driving motor and a knee joint driving motor through a measurement and control unit; the measurement and control unit is controlled to start to collect data, the measurement and control unit controls the driving unit to move, and the soil disturbance condition can be observed through the organic glass soil box in the test process;

s400, collecting corresponding parameters including torque, angular displacement, angular velocity, angular acceleration and foot end stress in the motion process of the bionic foot driving unit through a measurement and control unit;

step S500, after controlling the single leg to move for two to three gait cycles, stopping driving, recording corresponding data by the measurement and control system, and performing corresponding kinematic analysis and kinetic analysis on the bionic foot through data analysis, which is specifically described above.

The test method of the invention for the foot soil action characteristic test device of the bionic foot is specifically described with reference to the device embodiment.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A foot soil action characteristic test device of a bionic foot is characterized by comprising:

a rack main body;

2. The foot soil action characteristic test device of the bionic foot according to claim 1, wherein the bionic foot driving unit comprises: the bionic foot comprises a hip joint driving motor, thighs, a knee joint driving motor, crus and a foot palm, wherein the knee joint driving motor is connected with the thighs and the crus at the same time, the hip joint driving motor is connected with the upper portion of the rack main body, and the foot palm is arranged in the soil groove and the simulated soil unit and used for simulating the specific motion process of the bionic foot.

3. The device for testing the foot soil action characteristic of the bionic foot according to claim 2, wherein the hip joint driving motor is connected with the upper part of the rack main body through a bolt; the upper part of the thigh is in interference fit with the hip joint driving motor through a motor rotating shaft, and the lower part of the thigh is in interference fit with the knee joint driving motor through the motor rotating shaft; the upper part of the shank is in interference fit with the knee joint driving motor through a motor rotating shaft.

4. The apparatus for testing foot soil action characteristics of a bionic foot according to claim 3, wherein the measurement and control unit comprises: the bionic foot driving unit comprises a torque sensor, an angular displacement sensor, an angular acceleration sensor and a three-dimensional force sensor, wherein the torque sensor, the angular displacement sensor, the angular acceleration sensor and the three-dimensional force sensor are respectively arranged at different positions of the bionic foot driving unit, and are used for acquiring a torque parameter, an angular displacement parameter, an angular velocity parameter, an angular acceleration parameter and a foot end stress parameter in the motion process of the bionic foot driving unit, and performing corresponding kinematic analysis and dynamic analysis on the bionic foot through data analysis.

5. The device for testing the foot soil action characteristics of the bionic foot according to claim 4, wherein the torque sensor, the angular displacement sensor and the angular acceleration sensor are respectively arranged on the hip joint driving motor and the knee joint driving motor and matched through a motor rotating shaft, and are used for obtaining joint angle change and torque conditions in the motion process; two ends of the three-dimensional force sensor are respectively connected with the shank and the sole through threads and used for measuring the stress condition of the sole in the motion process.

6. The device for testing the foot soil action characteristic of the bionic foot according to claim 4, wherein the lower part of the shank is connected with the three-dimensional force sensor through threads; one end of the foot palm is connected with the three-dimensional force sensor through a bolt, and the other end of the foot palm is arranged in the soil box.

7. The apparatus for testing foot soil action characteristics of a bionic foot according to claim 1, wherein the soil tank and the soil simulating unit comprise: with the rack main part passes through welded connection's organic glass soil box, and loads simulation soil in the organic glass soil box for the required different soil environment of analogue test.

8. The apparatus for testing foot soil action characteristics of a bionic foot according to claim 1, wherein the rack body comprises a frame body, and casters disposed under the frame body for supporting the entire apparatus and being movable by the casters.

9. The device for testing foot soil action characteristics of a bionic foot according to claim 4, wherein the torque sensor comprises a first torque sensor and a second torque sensor, the angular displacement sensor comprises a first angular displacement sensor and a second angular displacement sensor, and the angular acceleration sensor comprises a first angular acceleration sensor and a second angular acceleration sensor;

the knee joint driving motor is in interference fit with the simulated shank;

10. A method for testing the foot soil action characteristic testing device of a bionic foot according to any one of claims 1-9, comprising the following steps: