CN115290366A - Motion simulation test device suitable for leg-foot type walking device - Google Patents
Motion simulation test device suitable for leg-foot type walking device Download PDFInfo
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- CN115290366A CN115290366A CN202210932645.3A CN202210932645A CN115290366A CN 115290366 A CN115290366 A CN 115290366A CN 202210932645 A CN202210932645 A CN 202210932645A CN 115290366 A CN115290366 A CN 115290366A
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- 238000004088 simulation Methods 0.000 title claims abstract description 99
- 238000012360 testing method Methods 0.000 title claims abstract description 39
- 210000002414 leg Anatomy 0.000 claims description 71
- 210000000689 upper leg Anatomy 0.000 claims description 23
- 210000004394 hip joint Anatomy 0.000 claims description 21
- 239000002131 composite material Substances 0.000 claims description 15
- 238000010586 diagram Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 9
- 230000003014 reinforcing effect Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 238000012876 topography Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/007—Subject matter not provided for in other groups of this subclass by applying a load, e.g. for resistance or wear testing
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Abstract
The invention discloses a motion simulation test device suitable for a leg-foot type walking device, which comprises a base, a vertical adjusting device, a longitudinal adjusting device, a vehicle body simulation device, a leg-foot walking device, an obstacle simulation device and a ground simulation device, wherein the vertical and longitudinal positions of the vehicle body simulation device are adjusted through the base, the vertical adjusting device and the longitudinal adjusting device, the obstacle simulation device simulates the leg-foot walking device to encounter obstacles, and the ground simulation device simulates terrains to simulate complex working condition environments, so that a test leg-foot system realizes continuous multi-cycle motion in a limited test space, thereby verifying the feasibility of a walking strategy and realizing the test of the response of a machine body and the stress condition of the leg-foot system.
Description
Technical Field
The invention relates to the technical field of leg-foot type robots, in particular to a motion simulation test device suitable for a leg-foot type walking device.
Background
The leg-foot type walking device is suitable for operation under the conditions of rugged terrain and complex environment, and plays an important role in the fields of rescue and relief work, mountain transportation, forest fire fighting, military operation and the like. The single-leg and foot motion test is an effective method for testing walking performance in the field of leg-foot walking devices and leg-foot robots. The design perfection of the testing device directly influences the testing level of the leg and foot system.
The current single leg and foot movement test device mainly has the following technical difficulties:
(1) How to achieve continuous multi-cycle leg and foot motion;
(2) How to simulate the terrain environment with complex working conditions in the test, such as a transverse slope, a longitudinal slope, steps, gullies and the like;
(3) How to truly reflect the state response of the vehicle body or the robot body in the leg and foot movement;
(4) How to truly reflect the stress condition of the leg and foot system.
Disclosure of Invention
In order to solve the problems, the invention provides a motion simulation test device suitable for a leg-foot type walking device, which comprises a base, a vertical adjusting device, a longitudinal adjusting device, a leg-foot walking device, a vehicle body simulating device, an obstacle simulating device and a ground simulating device. The test device simulates a complex working condition environment, so that the tested leg-foot system realizes continuous multi-cycle movement in a limited space, and the feasibility of a walking strategy, the response of a test body and the stress condition of the leg-foot system are verified.
The technical scheme adopted by the invention is as follows:
the utility model provides a motion simulation test device suitable for sufficient running gear of leg which characterized in that: the device comprises a base, a vertical adjusting device, a longitudinal adjusting device, a vehicle body simulation device, a leg and foot walking device, an obstacle simulation device and a ground simulation device;
a vertical adjusting device and a ground simulation device are arranged on the base;
a vertical adjusting device is arranged on the vertical adjusting device, and the vertical adjusting device adjusts the height of the vertical adjusting device;
the longitudinal adjusting device is provided with a vehicle body simulating device, and the longitudinal adjusting device adjusts the position of the vehicle body simulating device on the longitudinal adjusting device;
the vehicle body simulation device is connected with the leg and foot walking device;
the leg and foot walking device is provided with an obstacle simulation device;
the ground simulation device simulates different terrains by adjusting the height and the pitching angle on the base.
Further: the vertical adjusting device comprises a stand column and a vertical driving cylinder; the upright posts are fixed on the base, and at least two upright posts are arranged; the top of the upright post is provided with a vertical driving cylinder; the top of the vertical driving cylinder supports the longitudinal adjusting device.
Further, the method comprises the following steps: the longitudinal adjustment device includes: a rodless cylinder body and a rodless cylinder sliding block; two ends of the rodless cylinder body are fixed on the vertical adjusting device; the rodless cylinder sliding block is arranged on the rodless cylinder body in a sliding mode.
Further: the vehicle body simulation device includes: the guide post, the limiting block and the vehicle body connecting device; the guide post is connected with a rodless cylinder slide block of the longitudinal adjusting device; the limiting block is arranged at the top of the guide post; the car body connecting device is sleeved on the guide post and is connected with the leg-foot walking device.
And further: the vehicle body connecting device includes: the device comprises a vehicle body frame, a guide hole, a mounting seat, a connecting pin, a counterweight mounting shaft, a counterweight block and a counterweight fixing stop block; two fork arms are arranged on the vehicle body frame; the guide hole is formed in the bottom position between the two fork arms and matched with the guide column; the mounting seat is arranged in the middle between the two fork arms and is connected with a side swing driving cylinder of the leg and foot walking device; a connecting pin is arranged at the top between the two fork arms and is connected with a hip joint of the leg and foot walking device; the side swing driving cylinder is connected with the hip joint in a driving way; the counterweight mounting shaft is arranged on the outer side of the two fork arms, and the counterweight is mounted on the counterweight mounting shaft; the counterweight fixing stop block is arranged on the outer side of the counterweight block.
Further: the obstacle simulation device includes: a rotor and a stator; the two rotors are arranged on a hinge shaft of a thigh rod and a hip joint of the leg and foot walking device, and rotate along with the thigh rod; the other one is arranged on a hinged shaft of the thigh rod and the shank rod and rotates along with the shank rod; the two stators are arranged, one stator is arranged on the hip joint of the leg and foot walking device and is positioned near the hinge joint of the thigh rod and the hip joint; the other is arranged on the thigh rod of the leg-foot walking device and is positioned near the hinge point of the thigh rod and the shank rod.
Further: the ground simulation apparatus includes: the ground simulation driving cylinder and the simulation ground;
the simulated ground includes: the device comprises a ground panel, an independent longitudinal guide rail, a transverse guide rail, a composite longitudinal guide rail and a sliding block;
four ground simulation driving cylinders are arranged at four corners of the bottom surface of the ground panel, wherein,
the movable end of the ground simulation driving cylinder is connected to one corner on one side of the ground panel through a connecting block spherical hinge;
the movable end of the other ground simulation driving cylinder is in spherical hinge connection with a sliding block, the sliding block is arranged on the independent longitudinal guide rail, and the independent longitudinal guide rail is arranged on the other corner on one side of the ground panel;
the movable ends of the other two ground simulation driving cylinders are respectively connected with a sliding block in a spherical hinge mode, the two sliding blocks are respectively installed on a transverse guide rail, the transverse guide rail is installed on a composite longitudinal guide rail and slides along the composite longitudinal guide rail, and the two composite longitudinal guide rails are respectively installed on two corners of the other side of the ground panel.
Further: the ground simulation device is used for defining a specific area as a simulated obstacle area, the obstacle is simulated to be touched when the foot end of the leg and foot walking device touches the obstacle area, and the obstacle simulation device applies resistance to the leg and foot walking device to simulate the effect of touching the obstacle.
Compared with the prior art, the invention has the beneficial effects that:
1. the motion simulation test device suitable for the leg-foot type walking device provided by the invention adjusts the vertical and longitudinal positions of the vehicle body simulation device by arranging the vertical adjusting device and the longitudinal adjusting device, thereby realizing continuous multi-cycle walking motion of the leg-foot type walking device.
2. According to the motion simulation test device suitable for the leg-foot type walking device, the ground simulation device and the obstacle simulation device are arranged, so that complex multi-working-condition environments such as cross slopes, longitudinal slopes, steps, gullies and other complex pavements can be simulated, and the tested leg-foot system can simulate complex working-condition motion in a limited test space.
3. The motion simulation test device suitable for the leg-foot type walking device provided by the invention is simple in structure and easy to operate, and can truly measure the response of a machine body and the stress condition of a leg-foot system.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram illustrating an overall architecture according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a base and a vertical adjustment device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a longitudinal adjustment apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a connection relationship among the longitudinal adjustment device, the vehicle body simulation device, and the leg and foot walking device according to the embodiment of the present invention;
FIG. 5 is a schematic view illustrating a connection structure of the leg and foot walking device and the obstacle simulating device according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a vehicle body simulation apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a vehicle body attachment apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a ground simulator according to an embodiment of the present invention;
FIG. 9a is a schematic diagram of a simulated ground structure according to an embodiment of the present invention;
FIG. 9b is a schematic diagram of a portion of a simulated ground structure according to an embodiment of the invention;
FIG. 10 is a schematic diagram illustrating a step terrain simulation according to an embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating a slope terrain simulation according to an embodiment of the present invention;
FIG. 12a is a schematic diagram illustrating a starting state of a supporting phase in a flat road walking test process of the leg and foot walking device according to the embodiment of the present invention;
FIG. 12b is a schematic diagram illustrating a supporting phase process state of the leg and foot walking device during a flat road walking test according to the embodiment of the present invention;
FIG. 12c is a schematic diagram illustrating the critical states of the leg/foot walking device at the end of the support phase and at the beginning of the swing phase during the road-leveling walking test according to the embodiment of the present invention;
fig. 12d is a schematic diagram illustrating a state of a swing phase process in a walking test process of the leg and foot walking device on a flat road according to the embodiment of the present invention.
In the figure:
1-a base and a vertical adjusting device; 11-a base; 12-a column; 13-vertical driving cylinder; 14-a fixing frame; 15-bracket.
2-longitudinal adjusting device; 21-rodless cylinder block; 22-rodless cylinder slide; 23-reinforcing beam.
3-a leg and foot walking device; 31-the hip joint; 32-thigh bar; 33-shank rod; 34-foot end; 35-side swing driving cylinder.
4-a vehicle body simulation device; 41-a guide post; 42-a stop block; 43-vehicle body attachment means.
431-a vehicle body frame; 432-a pilot hole; 433-a mounting seat; 434-connecting pins; 435-counterweight mounting shaft; 436-a counterweight; 437-counterweight fixing stop block.
5-obstacle simulation means; 51-a rotor; 52-stator.
6-a ground simulation device; 61-a ground simulation driving cylinder; 611-A driving cylinder; 612-B drive cylinder; 613-C driving cylinder; 614-D drive cylinders.
62-simulating the ground; 621-a floor panel; 622-connecting block; 623-composite longitudinal rail; 624-independent longitudinal rail; 625-a transverse rail; 626 — slide block.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The invention provides a motion simulation test device suitable for a leg-foot type walking device, which comprises a base and vertical direction adjusting device 1, a longitudinal direction adjusting device 2, a leg-foot walking device 3, a vehicle body simulating device 4, an obstacle simulating device 5 and a ground simulating device 6 as shown in figure 1. The vertical adjusting device is arranged on the base, the top of the vertical adjusting device can stretch, the telescopic end bears the longitudinal adjusting device 2, and the vertical adjusting device is used for adjusting the height of the longitudinal adjusting device 2 and the vehicle body simulation device 4; the longitudinal adjusting device 2 is connected with a vehicle body simulating device 4 and used for adjusting the longitudinal position of the vehicle body simulating device 4, the vehicle body simulating device 4 is connected with a leg and foot walking device 3, the leg and foot walking device 3 is provided with an obstacle simulating device 5, and the obstacle simulating device 5 is used for simulating the leg and foot walking device 3 to encounter obstacles; the ground simulator 6 is arranged on the base of the test device and is used for simulating terrain and providing support for the leg and foot walking device 3. The test device simulates complex working condition environments, so that the tested leg and foot system can realize continuous multi-cycle motion, the feasibility of a walking strategy is verified, and the response condition of a test machine body and the stress condition of the leg and foot system are tested.
According to the motion simulation test device of the leg-foot type walking device, the power of each element is taken from the place where the test system is located, and the power accessories and the connection mode are not repeated.
As shown in fig. 2, the base and vertical adjustment apparatus 1 includes a base 11, a column 12, a vertical driving cylinder 13, a fixing frame 14, and a bracket 15, wherein the column 12, the vertical driving cylinder 13, the fixing frame 14, and the bracket 15 are components of the vertical adjustment apparatus.
The base 11 is fixed subaerial for other devices of supporting and installation, three stand 12 are installed to the position equipartition that base 11 is close to one side, and stand 12 bottom sectional area is greater than upper portion, makes its foundation firm, and a vertical driving cylinder 13 is installed at every stand 12 top, and the mount 14 is installed at the vertical driving cylinder 13 top that is located on both ends stand 12, and a bracket 15 is installed at the vertical driving cylinder 13 top that is located on the middle standing pillar, mount 14 and bracket 15 are used for the installation and support vertical adjusting device 2. The vertical drive cylinder 13 may be selected from an electric cylinder or a hydraulic cylinder. The number of the columns 12 can be increased or decreased according to the length of the base 11.
As shown in fig. 3, the longitudinal adjustment device 2 includes: a rodless cylinder block 21, a rodless cylinder block 22, and a reinforcing beam 23.
Two rodless cylinder bodies 21 are provided, two ends of each rodless cylinder body are respectively fixed on the fixing frames 14 at two sides of the base and the vertical adjusting device 1, the rodless cylinder sliding block 22 is slidably installed on the rodless cylinder body 21, and the rodless cylinder sliding block 22 can freely slide along the direction of the rodless cylinder body 21 and can also be driven by a piston in the rodless cylinder body 21 to slide in a controlled manner. In order to enhance the rigidity, a reinforcing beam 23 is further arranged, the reinforcing beam 23 is composed of two channel steels and is arranged between the two rodless cylinder bodies, two ends of the reinforcing beam are respectively fixed on the fixing frames 14 at two sides of the vertical adjusting device and used for bearing the load, as shown in fig. 4, the middle part of the reinforcing beam 23 is supported on the base and the bracket 15 of the vertical adjusting device 1, and the longitudinal rigidity of the longitudinal adjusting device 2 is improved.
The rodless cylinder body 21 is an existing product and comprises a cylinder body, a sliding block and a piston.
As shown in fig. 4 and 5, the leg/foot walking device 3 includes: hip joint 31, thigh rod 32, shank rod 33, foot end 34, and side swing driving cylinder 35.
One end of the hip joint 31 is connected to the vehicle body simulation device 4, the other end of the hip joint is hinged to one end of a thigh rod 32, the other end of the thigh rod 32 is hinged to a shank rod 33, the end of the shank rod 33 is hinged to a foot end 34, a position sensor is mounted on the foot end 34, the hip joint 31 and a lateral swing driving cylinder 35 are connected to the vehicle body simulation device 4, and the lateral swing driving cylinder 35 is used for driving the hip joint to swing.
As shown in fig. 6, the vehicle body simulation apparatus 4 includes: guide posts 41, stoppers 42, and vehicle body attachment devices 43.
The guide post 41 is connected with the rodless cylinder block 22 on the longitudinal adjusting device 2 through a bolt, a groove at the bottom of the guide post is matched with the reinforcing beam 23, and the guide post 41 can slide along the rodless cylinder block 21 along with the rodless cylinder block 22. The limiting block 42 is fixed on the top of the guide post 41 through a bolt and is used for limiting the vehicle body connecting device 43 to slide off. The car body connecting device 43 is sleeved on the guide post 41, the car body connecting device 43 can freely slide along the guide post 41 in the vertical direction, and the limiting block 42 limits the vertical movement range of the car body connecting device 43.
As shown in fig. 7, the vehicle body attachment device 43 includes: the vehicle body frame 431, the guide hole 432, the mounting seat 433, the connecting pin 434, the counterweight mounting shaft 435, the counterweight 436 and the counterweight fixing stopper 437.
The body frame 431 has two forks, the guiding hole 432 is located between the bottoms of the two forks, and the guiding hole 432 is matched with the guiding column 41 and can freely slide on the guiding column 41 along the vertical direction. The mounting base 433 is located in the middle between the two fork arms, the mounting base 433 is used for mounting the side swing driving cylinder 35 of the leg and foot walking device 3, the connecting pins 434 are mounted at the tail ends of the two fork arms, and the connecting pins 434 are used for connecting the hip joint 31 of the leg and foot walking device 3, so that the hip joint 31 can swing under the driving of the side swing driving cylinder 35.
The vehicle body connecting device 43 slides up and down along the guide post 41 along with the movement of the leg and foot walking device 3, and drives the vehicle body simulation device 4 to slide along the rodless cylinder body 21.
As shown in fig. 5, the obstacle simulation device 5 includes: a rotor 51 and a stator 52.
The two rotors 51 are provided, one of which is fixed to a hinge shaft connecting the hip joint 31 and the thigh lever 32 of the leg and foot walking device 3 and rotates with the thigh lever 32, and the other of which is fixed to a hinge shaft connecting the thigh lever 32 and the shank lever 33 and rotates with the shank lever 33.
The stators 52 are two in number, one is fixed on the hip joint 31 of the leg and foot walking device 3 and is positioned near the hinge point of the hip joint 31 and the thigh rod 32, and can apply resistance to the rotor 51 fixed on the thigh rod 32 by clamping, thereby limiting the movement of the thigh rod 32. The other stator is fixed on the thigh bar 32 and located near the hinge point of the thigh bar 32 and the shank bar 33, and can apply resistance to the rotor fixed on the shank bar 33 by clamping, thereby restricting the movement of the shank bar 33 and finally realizing the function of a virtual barrier.
As shown in fig. 8, the ground simulation apparatus 6 includes a ground simulation cylinder 61 and a simulated ground 62.
The bottom of the ground simulation driving cylinder 61 is fixed on the base 11, the top is connected with the bottom surface of the simulation ground 62, the simulation ground 62 is supported, the height and the inclination angle of the simulation ground 62 can be adjusted by adjusting the extension length of the four ground simulation driving cylinders 61, and the ground simulation device 6 can simulate different terrains such as plane terrains, slope terrains and the like.
As shown in fig. 9a and 9B, four ground simulation driving cylinders 61, namely, an a driving cylinder 611, a B driving cylinder 612, a C driving cylinder 613, and a D driving cylinder 614, are supported at the four corners of the bottom of the simulated ground 62.
The simulated ground 62 includes: floor panel 621, connecting block 622, composite longitudinal rail 623, independent longitudinal rail 624, cross rail 625, slider 626.
The floor panel 621 is used for supporting the leg and foot walking device 3. A connecting block 622 is fixed at one corner of one side of the bottom surface of the floor panel 621, and the connecting block 622 is connected with the a driving cylinder 611 through a spherical hinge. A composite longitudinal guide rail 623 is fixed at the other corresponding corner on the same side of the bottom surface of the floor panel 621, the composite longitudinal guide rail 623 comprises two longitudinal guide rails, a transverse guide rail 625 is installed between the two longitudinal guide rails, the transverse guide rail 625 can slide on the composite longitudinal guide rail 623 along the longitudinal direction, a sliding block 626 is installed on the transverse guide rail 625, and the sliding block 626 is connected with the B driving cylinder 612 through a spherical hinge.
An independent longitudinal guide rail 624 is fixed at one corner of the other side of the bottom surface of the floor panel 621, a slide block 626 is installed on the independent longitudinal guide rail 624, and the slide block 626 is connected with the C-drive cylinder 613 through a spherical hinge. A composite longitudinal guide rail 623 is fixed at the other corresponding corner on the same side of the bottom surface of the floor panel 621, similarly, a transverse guide rail 625 is installed on the composite longitudinal guide rail 623, a slide block 626 is installed on the transverse guide rail 625, and the slide block 626 is connected with the D-drive cylinder 614 through a spherical hinge.
The movement of three degrees of freedom of the floor panel 621 including a vertical lifting movement and a rotational movement in two directions can be realized by the limitation of the spherical hinges and the guide rails of the four driving cylinders, and the movement of three degrees of freedom can be realized by the three driving cylinders, and the four driving cylinders are adopted for setting in order to increase the rigidity of the floor panel 621. On the base, a plurality of said ground simulating means 6 may be provided, in order to simulate different terrains.
By simulating different supporting conditions of the driving cylinder 61 on the simulated ground 62, various terrain conditions can be simulated, and the following are several embodiments:
1. simulating step topography
As shown in fig. 10, two ground simulation devices 6 are provided on the base 11, and the ground simulation drive cylinders 61 of the two ground simulation devices 6 are adjusted to make the ground panels 621 of the two ground simulation devices 6 be at different heights, thereby forming a single step terrain, and simulating the walking condition of the leg and foot walking device 3 on the step terrain.
2. Simulating slope terrain
As shown in fig. 11, two ground simulation devices 6 are also disposed on the base 11, and the ground simulation driving cylinders 61 of the two ground simulation devices 6 are adjusted to make the ground panels 621 of the two ground simulation devices 6 at the same inclination angle, and the heights of the ground panels 621 of the two ground simulation devices 6 are adjusted to make the two ground panels 621 on the same plane, so as to form a slope terrain, thereby simulating the walking condition of the leg and foot walking device 3 on the slope terrain.
3. Simulating flat road topography
As shown in fig. 12a, two ground simulation devices 6 are similarly provided on the base 11, and the ground simulation drive cylinders 61 of the ground simulation devices 6 are adjusted to make the ground panels 621 of the two ground simulation devices 6 in a horizontal state and at the same height, thereby simulating the walking condition of the leg/foot walking device 3 on the flat road terrain.
The complete motion simulation process of the leg and foot walking device 3 will be described below by taking the flat road terrain as an example, as shown in fig. 12a-12 d:
as shown in fig. 12a, the extension length of the driving cylinders in the base and vertical direction adjusting device 1 and the ground simulator 6 is adjusted to make the foot end 34 of the leg/foot walking device 3 contact with the ground panel 621 of the ground simulator 6, so that the leg/foot walking device 3 is in the supporting phase, and at this time, the rodless cylinder slider 22 of the longitudinal direction adjusting device 2 and the vehicle simulator 4 are in the free sliding state, the foot end 34 of the leg/foot walking device 3 steps on the ground panel 621, and during the supporting phase, the vertical load of the leg/foot walking device 3 and the vehicle body connecting device 43 acts on the ground panel 621.
As shown in fig. 12b, the leg and foot running gear 3 moves according to a predetermined trajectory, the vehicle body connecting device 43 slides along the guide post 41 in accordance with the movement of the leg and foot running gear 3, and at the same time, the rodless cylinder block 22 of the longitudinal direction adjusting device 2 and the vehicle body simulating device 4 slide along the rodless cylinder block 21 in accordance with the movement of the leg and foot running gear 3.
As shown in fig. 12c, the illustrated position is a critical state when the supporting phase of the leg walking device 3 is finished and the swing phase is initiated (i.e., a state when the leg walking device 3 is about to raise the leg and take a step), and the rodless cylinder block 22 and the vehicle body simulation device 4 are driven by the piston in the rodless cylinder block 21.
As shown in fig. 12d, when the illustrated position is in the swing phase state of the leg and foot walking device 3, the leg and foot walking device 3 moves according to the preset swing phase trajectory, the foot end 34 of the leg and foot walking device 3 leaves the ground panel 621, the vertical load of the leg and foot walking device 3 and the vehicle body connecting device 43 acts on the reinforcing beam 23, and simultaneously, the rodless cylinder slider 22 drives the vehicle body simulation device 4 to slide along the rodless cylinder body 21 to the initial position under the driving of the piston in the rodless cylinder body 21, the leg and foot walk until the foot end 34 of the leg and foot walking device 3 again lands on the ground panel 621, and one step cycle is ended.
By repeating the process shown in fig. 12a-12d, a continuous multi-cycle movement of the leg and foot walking device 3 can be achieved.
During the exercise, a specific area is defined as an obstacle area on the ground simulator 6, a position sensor is attached to the foot end 34 of the leg/foot walking device 3, when the foot end 34 with the position sensor touches the obstacle area, that is, the foot end 34 touches an obstacle, the obstacle simulator 5 restricts the movement of the leg/foot walking device 3, and thereby a virtual obstacle is realized.
By observing the motion state of the vehicle body connecting device 43 and the structural state of the leg and foot walking device 3 in the process of the supporting phase motion of the leg and foot walking device 3, the response of the machine body and the stress condition of the leg and foot system can be obtained.
Claims (8)
1. The utility model provides a motion simulation test device suitable for sufficient running gear of leg which characterized in that: the device comprises a base, a vertical adjusting device, a longitudinal adjusting device, a vehicle body simulating device, a leg and foot walking device, an obstacle simulating device and a ground simulating device;
a vertical adjusting device and a ground simulation device are arranged on the base;
a vertical adjusting device is arranged on the vertical adjusting device, and the vertical adjusting device adjusts the height of the vertical adjusting device;
the longitudinal adjusting device is provided with a vehicle body simulating device, and the longitudinal adjusting device adjusts the position of the vehicle body simulating device on the longitudinal adjusting device;
the vehicle body simulation device is connected with the leg and foot walking device;
the leg and foot walking device is provided with an obstacle simulation device;
the ground simulation device simulates different terrains on the base by adjusting the height and the pitching angle.
2. The exercise simulation test apparatus for a legged walking device according to claim 1, wherein: the vertical adjusting device comprises a stand column and a vertical driving cylinder;
the upright posts are fixed on the base, and at least two upright posts are arranged;
the top of the upright post is provided with a vertical driving cylinder;
the top of the vertical driving cylinder supports the longitudinal adjusting device.
3. The exercise simulation test apparatus for a legged walking device according to claim 1, wherein:
the longitudinal adjustment device includes: the device comprises a rodless cylinder body and a rodless cylinder sliding block, wherein two ends of the rodless cylinder body are fixed on the vertical adjusting device, and the rodless cylinder sliding block is arranged on the rodless cylinder body in a sliding mode.
4. The exercise simulation test apparatus for a legged walking device according to claim 3, wherein:
the vehicle body simulation device includes: the guide post, the limiting block and the vehicle body connecting device;
the guide post is connected with a rodless cylinder slide block of the longitudinal adjusting device;
the limiting block is arranged at the top of the guide post;
the vehicle body connecting device is sleeved on the guide post and is connected with the leg and foot walking device.
5. The motion simulation test device suitable for the legged walking device according to claim 4, characterized in that:
the vehicle body connecting device includes: the device comprises a vehicle body frame, a guide hole, a mounting seat, a connecting pin, a counterweight mounting shaft, a counterweight block and a counterweight fixing stop block;
two fork arms are arranged on the vehicle body frame;
the guide hole is formed in the bottom position between the two fork arms and matched with the guide column;
the mounting seat is arranged in the middle between the two fork arms and is connected with a side swing driving cylinder of the leg and foot walking device;
a connecting pin is arranged at the top between the two fork arms and is connected with a hip joint of the leg and foot walking device; the side swing driving cylinder is in driving connection with the hip joint;
the counterweight mounting shaft is arranged on the outer side of the two fork arms, and the counterweight block is mounted on the counterweight mounting shaft;
the counterweight fixing stop block is arranged on the outer side of the counterweight block.
6. The exercise simulation test apparatus for a legged walking device according to claim 1, wherein:
the obstacle simulation device includes: a rotor and a stator;
the two rotors are arranged on a hinge shaft of a thigh rod and a hip joint of the leg and foot walking device, and rotate along with the thigh rod; the other one is arranged on a hinged shaft of the thigh rod and the shank rod and rotates along with the shank rod;
the two stators are arranged, one stator is arranged on a hip joint of the leg and foot walking device and is positioned near a hinge joint of the thigh rod and the hip joint; the other is arranged on the thigh rod of the leg-foot walking device and is positioned near the hinge point of the thigh rod and the shank rod.
7. The exercise simulation test apparatus for a legged walking device according to claim 1, wherein:
the ground simulation apparatus includes: the ground simulation driving cylinder and the simulation ground;
the simulated ground includes: the device comprises a ground panel, an independent longitudinal guide rail, a transverse guide rail and a composite longitudinal guide rail;
four ground simulation driving cylinders are arranged at four corners of the bottom surface of the ground panel, wherein,
the movable end of the ground simulation driving cylinder is connected to one corner on one side of the ground panel through a connecting block spherical hinge;
the movable end of the other ground simulation driving cylinder is in spherical hinge connection with a sliding block, the sliding block is arranged on the independent longitudinal guide rail, and the independent longitudinal guide rail is arranged on the other corner on one side of the ground panel;
the movable ends of the other two ground simulation driving cylinders are respectively connected with a sliding block in a spherical hinge mode, the two sliding blocks are respectively installed on a transverse guide rail, the transverse guide rail is installed on a composite longitudinal guide rail and slides along the composite longitudinal guide rail, and the two composite longitudinal guide rails are respectively installed on two corners of the other side of the ground panel.
8. The motion simulation test device for a legged walking device according to claim 1 or 7, characterized in that:
a specific area is defined on the ground simulation device to serve as a simulated obstacle area, and when the foot end of the leg and foot walking device touches the obstacle area, the obstacle is simulated to touch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210932645.3A CN115290366A (en) | 2022-08-04 | 2022-08-04 | Motion simulation test device suitable for leg-foot type walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210932645.3A CN115290366A (en) | 2022-08-04 | 2022-08-04 | Motion simulation test device suitable for leg-foot type walking device |
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