CN109632360B - Functional sofa fatigue detection device and detection method thereof - Google Patents

Abstract

The invention discloses a functional sofa fatigue detection device and a detection method thereof. The main function of the functional sofa design is multi-position and multi-angle adjustment based on ergonomics, and the simple impact detection of heavy objects can no longer meet its fatigue detection requirements. The present invention includes an electromagnetic chuck and a detection robot. The inspection robot includes a head substrate, a back substrate, a hip substrate, a leg substrate, a headrest drive component, a back-hip-leg linkage component, and a hand simulation mechanism. The back-hip-leg linkage assembly includes a first linear motion driving member, a third link and a fourth link. The push-pull rod of the first linear motion driving member is hinged with one end of the third link. The other end of the third link is hinged with the middle of the hip base plate. The middle of the third link is hinged with one end of the fourth link. The other end of the fourth link is hinged with the middle of the back base plate. The present invention directly performs the fatigue test on the functional sofa product. Compared with the method of only testing the sofa frame, the method also tests the sofa skin material.

Description

A functional sofa fatigue detection device and detection method thereof

technical field

The invention belongs to the technical field of sofa detection and evaluation, and in particular relates to a functional sofa fatigue detection device and a detection method thereof.

Background technique

Unreasonably designed seats not only fail to relieve fatigue, but may also lead to health problems such as low back pain and cumulative trauma disorders. Therefore, the seat is more and more inclined to the design based on the ergonomic health function of sitting posture. At present, the multifunctional sofa has broad development prospects in this field. The main function of the functional sofa design is multi-position and multi-angle adjustment based on ergonomics, and the simple impact detection of heavy objects can no longer meet its fatigue detection requirements. Therefore, designing a functional sofa fatigue detection device and its method can provide feedback reference for the design improvement of functional sofa. And at present, there is no relevant patent disclosure in China, and this field has a broad space for development.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a functional sofa fatigue detection device and a detection method thereof.

The present invention is a functional sofa fatigue detection device, comprising an electromagnetic sucker and a detection robot. The detection robot includes a head substrate, a back substrate, a buttocks substrate, a leg substrate, a headrest driving component, a back-hip-leg linkage component, and a hand simulation mechanism. The top end of the back base plate is hinged with the bottom end of the head base plate, and the bottom end is hinged with one end of the hip base plate. The other end of the hip base is hinged to the inner end of the leg base. The outer end of the leg base plate is provided with a foot plate. The feet are made of magnetic material. The head base plate is driven by the headrest driving assembly.

The back-hip-leg linkage assembly includes a first linear motion driving member, a third connecting rod and a fourth connecting rod. The first linear motion driving member is fixed on the leg base plate. The push-pull rod of the first linear motion driving member is hinged with one end of the third link. The other end of the third link is hinged with the middle of the hip base plate. The middle of the third link is hinged with one end of the fourth link. The other end of the fourth link is hinged with the middle of the back base plate.

The hand simulation mechanism includes a second linear motion driving member, a bracket and a mechanical gripper. The second linear motion driving member is fixed on the mounting side of the back substrate. The push-pull rod of the second linear motion driving member is fixed with the bracket. Mechanical grippers are installed on both sides of the bracket.

Further, a first pressure sensor is embedded in the working side of the hip base plate. A second pressure sensor is embedded on the working side of the back substrate.

Further, the working side surface of the buttock base plate is uneven.

Further, the robotic gripper includes a third linear motion driving member, a fixed frame, a second sliding block, a first half-claw, a second half-claw, a third pressure sensor, a fifth link and a sixth link. The fixing frame is fixed with the bracket. Both the first half claw and the second half claw and the fixed frame form a sliding pair with the same sliding direction. The second sliding block and the fixed frame form a sliding pair. The sliding direction of the sliding pair formed by the second sliding block and the fixing frame is perpendicular to the sliding direction of the sliding pair formed by the first half claw and the fixing frame. One end of the fifth link and the sixth link is hinged with the second sliding block, and the other end is hinged with the first half claw and the second half claw respectively. The third linear motion driving member is fixed with the fixing frame. The push-pull rod of the third linear motion driving member is fixed with the first half claw. The third pressure sensor is fixed with the middle of the fixing frame, and the detection surface faces away from the bracket.

Further, the headrest driving assembly includes a guide rail, a steering gear, a first connecting rod, a second connecting rod and a first sliding block. The guide rail is fixed on the installation side of the head base plate. The steering gear is fixed on the installation side of the back base plate; one end of the first connecting rod is fixed with the output shaft of the steering gear, and the other end is hinged with one end of the second connecting rod; the other end of the second connecting rod is fixed with the first sliding block; The first sliding block and the guide rail constitute a sliding pair.

Further, a functional sofa fatigue detection device of the present invention further includes a control module. The four control interfaces of the control module are respectively connected with the second linear motion driving member, the first linear motion driving member, and the two third linear motion driving members through electromagnetic reversing valves. The two signal receiving interfaces of the control module are respectively connected with the first pressure sensor and the second pressure sensor. The signal receiving interface of the control module is a digital-to-analog conversion interface.

Further, the electromagnetic suction cup is a pancake-shaped electromagnetic suction device.

The detection method of the functional sofa fatigue detection device is as follows:

Step 1. Power on the electromagnetic chuck, and attach the foot plate to the electromagnetic chuck. Place the functional sofa on the side of the leg base plate away from the first linear motion driver.

Step 2: Push out the first linear motion driving member so that the buttocks base plate is turned over to the functional sofa, and the first linear motion driving member stops moving until the buttocks base plate contacts with the functional sofa. The state of the first linear motion driving member at this time is taken as the initial state of the test. After that, the electromagnetic chuck is powered off, so that the foot plate is separated from the electromagnetic chuck.

Step 3: The first linear motion driving member continues to push out, so that the back base plate and the leg base plate are flipped synchronously until the angle between the back base plate and the buttock base plate reaches an angle of 100-120°; the first linear motion driving member stops moving ; In the process of turning over the back substrate, after the back substrate is in contact with the backrest of the functional sofa, the backrest of the functional sofa is turned synchronously.

Step 4. The two manipulator claws are opened to the limit position. The second linear motion driving member is pushed out, so that the two mechanical grippers are respectively placed on the two armrests of the functional sofa. After that, the two mechanical grippers respectively grab the two armrests of the functional sofa.

Step 5: The headrest drives the assembly to move, so that the head base plate reciprocates around the back base plate a times, 1≤a≤50; when the head base plate is at the first limit position during the rotation process, the head base plate is flush with the back base plate ; When the head base plate is in the second limit position during the rotation process, the head base plate and the back base plate form an angle of 30-60°, and the outer end of the head base plate faces the side away from the hand simulation mechanism.

Step 6. Both the two manipulator claws release the corresponding armrests. The second linear motion driving member retracts and returns to its original position. The first linear motion driving member continues to push out, so that the back base plate and the leg base plate are turned over synchronously, until the angle between the back base plate and the hip base plate reaches an angle of 160-180°; the first linear motion driving member stops moving; When the base plate is turned over, the backrest of the functional sofa and the back base plate keep moving synchronously.

Step 7: The first linear motion driving member is retracted to the initial test state. In the process of turning the back base plate over, the backrest of the functional sofa keeps moving synchronously with the back base plate.

Step 8: The electromagnetic suction cup is energized, and the bottom ends of the two foot plates are adsorbed on the electromagnetic suction cup, and at the same time, the first linear motion driving part is retracted to the limit position. Then go to step nine.

Step 9. If the detection experiment needs to be continued, repeat steps 2 to 8; if the detection experiment has been completed, remove the detection robot and check the fatigue state of the functional sofa.

Further, in step 2, when the first pressure sensor detects the pressure, it is considered that the buttocks base plate and the functional sofa have been in contact.

Further, in step 3, when the pressure detected by the second pressure sensor is greater than the threshold value, it is considered that the back substrate and the backrest of the functional sofa have been in contact.

The beneficial effects that the present invention has are:

1. The present invention directly tests the fatigue test of the functional sofa product, compared with the existing method of only testing the sofa frame, and also tests the sofa skin material.

2. The present invention applies the ergonomic detection method, which can better simulate the usage of people.

3. The detection device of the present invention has a high degree of automation in the detection process and saves manpower.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

2 is a schematic structural diagram of a detection robot in the present invention;

Fig. 3 is a partial enlarged view of part A in Fig. 2;

4 is a schematic diagram of the movement of the head base plate and the headrest drive assembly in the present invention;

Fig. 5 is a partial enlarged view of part B in Fig. 2;

6 is a schematic diagram of the motion of the detection robot in the present invention before starting detection;

Fig. 7 is the motion diagram of the detection robot in the sitting posture state in the present invention;

8 is a schematic diagram of the motion of the detection robot in the lying posture state in the present invention;

Fig. 9 is the perspective view of the manipulator claw in the present invention;

FIG. 10 is a schematic diagram of the movement of the manipulator in the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in FIGS. 1 and 2 , a functional sofa fatigue detection device includes an electromagnetic chuck 2 and a detection robot 3 . The electromagnetic suction cup 2 is a round cake-shaped electromagnetic suction device with a diameter of 500 mm. The inspection robot 3 includes a head substrate 10 , a back substrate 9 , a hip substrate 5 , a leg substrate 4 , a headrest drive assembly 6 , a back-hip-leg linkage assembly 8 , a hand simulation mechanism 7 and a control module. The size of the head board 10 is 200 mm×150 mm×30 mm. The size of the back substrate 9 is 700 mm×300 mm×30 mm. The top end of the back base plate 9 is hinged to the bottom end of the head base plate 10 , and the bottom end is hinged to one end of the hip base plate 5 . The other end of the hip base plate 5 is hinged to the inner end of the leg base plate 4 . The outer end of the leg base plate 4 is provided with two foot plates. The feet are made of magnetic material (iron alloy is used in this embodiment). The working side surface of the buttock base 5 is uneven, and a first pressure sensor is embedded. A second pressure sensor is embedded on the working side of the back substrate. The uneven working side surface of the buttocks base plate 5 is beneficial to increase the friction between itself and the functional sofa, and avoid the relative displacement of the buttocks base plate 5 and the functional sofa during the test.

As shown in FIGS. 2 , 3 and 4 , the headrest driving assembly 6 includes a guide rail 11 , a steering gear 12 , a first connecting rod 13 , a second connecting rod 14 and a first sliding block 15 . The guide rails 11 are fixed on the mounting side surface of the head substrate 10 . The steering gear 12 is fixed on the top of the installation side of the back base plate 9; one end of the first connecting rod 13 is fixed with the output shaft of the steering gear 12, and the other end is hinged with one end of the second connecting rod 14; the other end of the second connecting rod 14 is connected to the The first sliding block 15 is fixed; the first sliding block 15 and the guide rail 11 constitute a sliding pair. By the rotation of the steering gear, the head board 10 can be driven to rotate around the back board 9 .

As shown in FIGS. 2 , 5 , 6 , 7 and 8 , the back-hip-leg linkage assembly 8 includes a first linear motion driving member 28 , a third link 29 and a fourth link 30 . The first linear motion driving member 28 is fixed on the leg base plate 4 . The outer end of the push-pull rod of the first linear motion driving member 28 is hinged with one end of the third link 29 . The other end of the third link 29 is hinged to the middle of the hip base plate 5 . The middle of the third link 29 is hinged with one end of the fourth link 30 . The other end of the fourth link 30 is hinged to the middle of the back base plate 9 .

When any one of the back substrate 9 , the hip substrate 5 , and the leg substrate 4 is fixed to the sofa under test, the back substrate 9 , the hip substrate 5 , the leg substrate 4 , and the back-hip-leg linkage assembly 8 can be formed with a degree of freedom of 1 and A definite motion system with a number of power elements of 1, that is, degrees of freedom = 5 × 3-7 × 2 (the five moving elements are the push-pull rod, the third link 29, the fourth link 30 and two substrates, seven motions The bottom pair is six rotating pairs and one sliding pair). Therefore, the present invention can be achieved by adjusting one of the back base plate 9 , the hip base plate 5 and the leg base plate 4 to be fixedly connected to the sofa, so as to only rely on the power source of the first linear motion driving member 28 , respectively. The synchronous movement of the back and hip (thigh), the synchronous movement of the back leg (calf), and the synchronous movement of the hip (thigh) and the leg (calf) of the robot 3 are detected.

As shown in FIGS. 2 , 9 and 10 , the hand simulation mechanism 7 includes a second linear motion driving member 26 , a bracket 27 and a mechanical gripper. The second linear motion driving member 26 is fixed on the mounting side surface of the back substrate 9 . The outer end of the push-pull rod of the second linear motion driving member 26 is fixed to the bracket 27 . Both sides of the bracket 27 are installed with mechanical grippers.

The gripper includes a third linear motion driving member 22 , a fixed frame 24 , a second slider 19 , a third slider 17 , a fourth slider 21 , a first half-claw 16 , a second half-claw 23 , and a third pressure sensor 25 , the fifth link 18 and the sixth link 20 . The fixing frame 24 is fixed to the bracket 27 . Both the third sliding block 17 and the fourth sliding block 21 and the fixed frame 24 form a sliding pair with the same sliding direction. The second sliding block 19 and the fixed frame form a sliding pair. The sliding direction of the sliding pair formed by the second sliding block 19 and the fixing frame 24 is perpendicular to the sliding direction of the sliding pair formed by the third sliding block 17 and the fixing frame 24 . The first half claw 16 and the second half claw 23 are respectively fixed to the third sliding block 17 and the fourth sliding block 21 . One end of the fifth link 18 and the sixth link 20 is hinged with the second slider, and the other end is hinged with the first half claw 16 and the second half claw 23 respectively. The symmetry planes of the fifth link and the sixth link coincide with the symmetry planes of the first half claw 16 and the second half claw 23 . The third linear motion driving member 22 is fixed with the fixing frame. The push-pull rod of the third linear motion driving member 22 is fixed to the third sliding block 17 . The third pressure sensor 25 is fixed to the middle of the fixing frame 24 , and the detection surface faces away from the bracket 27 . The third pressure sensor 25 is used to detect whether the manipulator claw is against the handrail. In this embodiment, the space size of the functional sofa subjected to fatigue detection is 800 mm×1240 mm×600 mm, and the length of the footrest is 440 mm, which is not included in the total length of the functional sofa 1 .

The control module adopts single chip microcomputer. The four control interfaces of the control module are respectively connected with the second linear motion driving element, the first linear motion driving element, and the two third linear motion driving elements through electromagnetic reversing valves. The two signal receiving interfaces of the control module are respectively connected with the first pressure sensor and the second pressure sensor. The signal receiving interface of the control module is a digital-to-analog conversion interface.

The first linear motion driving member, the second linear motion driving member and the third linear motion driving member all use air cylinders, electric cylinders or hydraulic cylinders.

The detection method of the functional sofa fatigue detection device is as follows:

Step 1. The electromagnetic chuck 2 is powered on, and the two foot plates are adsorbed on the electromagnetic chuck, so that the functional sofa fatigue detection device presents a state of "standing" on the electromagnetic chuck. The functional sofa is placed on the side of the leg base 4 away from the first linear motion driving member 28 , so that the inner side of the backrest of the functional sofa faces the leg base 4 .

Step 2, the first linear motion driving member 28 is pushed out, so that the buttocks base plate 5 is turned over to the functional sofa around the leg base plate 4, until the buttocks base plate 5 is in contact with the functional sofa (when the first pressure sensor detects the pressure, it is regarded as the buttocks). After the base plate 5 has been in contact with the functional sofa), the first linear motion driving member 28 stops moving. The state of the first linear motion driving member 28 at this time is taken as the initial state of the test. This process is the process of FIGS. 6 to 7 .

After that, the electromagnetic chuck is powered off, so that the two feet are separated from the electromagnetic chuck; at this time, the simulation of a person sitting on the sofa is completed; the detection robot 3 is similar to a person sitting on a functional sofa; The components are not fixed to the ground and the functional sofa, and the center of gravity of the detection robot 3 is located within the range of the hip base plate 5 at this time; therefore, if the first linear motion driving member 28 moves at this time, the hip base plate 5 remains in a static state, and the back The base plate and the leg base plate 4 are respectively turned over.

Step 3, the first linear motion driving member 28 continues to be pushed out, so that the back base plate and the leg base plate 4 are flipped synchronously until the angle between the back base plate and the buttock base plate 5 reaches 110°; the first linear motion driving member 28 Stop movement; in the process of turning the back base plate, after the back base plate and the backrest of the functional sofa are in contact, the backrest of the functional sofa is turned backward, so that the backrest of the functional sofa and the back base plate of the functional sofa keep moving synchronously. When the pressure detected by the second pressure sensor is greater than the threshold, it is considered that the back substrate and the backrest of the functional sofa have been in contact, so as to realize the follow-up of the backrest of the functional sofa to the back substrate. The backrest of the functional sofa is turned over as the function of the functional sofa itself.

Step 4. The third linear motion driving members in the two manipulator claws are pushed out to the limit position, so that the two manipulator claws are opened to the limit position. The second linear motion driving member 26 is pushed out, so that the two manipulator claws are respectively placed on the two armrests of the functional sofa, so that the two single claw blocks in the hand simulation mechanism are located on both sides of the corresponding armrests (the third pressure sensor detects When the pressure is applied, the second linear motion driving member 26 stops moving). Afterwards, the third linear motion driving member in the two hand simulation mechanisms retracts, so that the manipulator claw grasps the armrest of the functional sofa, so as to realize the fatigue detection of the armrest of the functional sofa.

Step 5: The steering gear 12 reciprocates a times, so that the head base plate 10 reciprocates around the back base plate a times, a=5; when the head base plate 10 is at the first limit position during the rotation process, the head base plate 10 and the back The base plate is flush; when the head base plate 10 is at the second limit position during the rotation, the head base plate 10 and the back base plate form a 45° angle, and the outer end of the head base plate 10 faces the side away from the hand simulation mechanism. At this time, the simulation of the human head tilting back is completed, and the test of the functional sofa headrest is realized.

Step 6. The third linear motion driving members in the two manipulator claws are pushed out to the limit position, so that the two manipulator claws release the corresponding armrests. The second linear motion driving member 26 retracts and returns to its original position. The first linear motion driving member 28 continues to be pushed out, so that the back base plate and the leg base plate 4 are turned over synchronously until the included angle between the back base plate and the buttock base plate 5 reaches an angle of 170°; the first linear motion driving member 28 stops moving; In the process of turning the back base plate over, the backrest of the functional sofa keeps moving synchronously with the back base plate. This process is the process of FIGS. 7 to 8 .

Step 7: The first linear motion driving member 28 is retracted to the initial state of the test in the second step. In the process of turning the back base plate over, the backrest of the functional sofa keeps moving synchronously with the back base plate.

Step 8: The electromagnetic chuck is energized, and the bottom ends of the two foot plates are adsorbed on the electromagnetic chuck. At the same time, the first linear motion driving member 28 is retracted to the limit position, so that the detection robot stands up. Then go to step nine.

Step 9. If the number of detections does not reach the target (that is, the detection experiment needs to be continued), repeat steps 2 to 8; if the number of detections reaches the target (that is, the detection experiment has been completed), remove the detection robot, and check the fatigue of the functional sofa. status is checked.

Claims (10)

1. a functional sofa fatigue detection device, comprising an electromagnetic chuck and a detection robot; it is characterized in that: the described detection robot comprises a head substrate, a back substrate, a buttocks substrate, a leg substrate, a headrest drive assembly, a back-hip-leg linkage Assembly, hand simulation mechanism; the top end of the back base plate is hinged with the bottom end of the head base plate; the bottom end of the back base plate is hinged with one end of the hip base plate; the other end of the hip base plate is hinged with the inner end of the leg base plate hinged; the outer end of the leg base plate is provided with a foot plate; the foot plate is made of magnetic material; the head base plate is driven by the headrest driving component; The back-hip-leg linkage assembly includes a first linear motion driving member, a third connecting rod and a fourth connecting rod; the first linear motion driving member is fixed on the leg base plate; the first linear motion driving member The push-pull rod of the piece is hinged with one end of the third link; the other end of the third link is hinged with the middle of the hip base plate; the middle of the third link is hinged with one end of the fourth link; the other end of the fourth link is hinged with The middle hinge of the back base plate; The hand simulation mechanism includes a second linear motion driving member, a bracket and a mechanical gripper; the second linear motion driving member is fixed on the installation side of the back substrate; the push-pull rod of the second linear motion driving member is fixed with the bracket; Mechanical grippers are installed on both sides of the bracket. 2 . The device for detecting fatigue of a functional sofa according to claim 1 , wherein a first pressure sensor is embedded on the working side of the hip base plate; and a second pressure sensor is embedded on the working side of the back base plate. 3 . 3 . The device for detecting fatigue of a functional sofa according to claim 1 , wherein the working side surface of the hip base plate is uneven. 4 . 4 . A functional sofa fatigue detection device according to claim 2 , wherein the mechanical gripper comprises a third linear motion driving member, a fixed frame, a second sliding block, a first half claw, a second half The claw, the third pressure sensor, the fifth link and the sixth link; the fixed frame is fixed with the bracket; the first half claw and the second half claw and the fixed frame form a sliding pair with the same sliding direction; the second The sliding block and the fixed frame form a sliding pair; the sliding direction of the sliding pair formed by the second sliding block and the fixing frame is perpendicular to the sliding direction of the sliding pair formed by the first half claw and the fixing frame; one end of the fifth link and the sixth link Both are hinged with the second sliding block, and the other end is hinged with the first half claw and the second half claw respectively; the third linear motion driving element is fixed with the fixing frame; the push-pull rod of the third linear motion driving element is fixed with the first half claw; The third pressure sensor is fixed with the middle of the fixing frame, and the detection surface faces away from the bracket. 5. A functional sofa fatigue detection device according to claim 1, characterized in that: the headrest drive assembly comprises a guide rail, a steering gear, a first connecting rod, a second connecting rod and a first sliding block; The guide rail is fixed on the installation side of the head base plate; the steering gear is fixed on the installation side of the back base plate; one end of the first connecting rod is fixed with the output shaft of the steering gear, and the other end is hinged with one end of the second connecting rod; The other end of the second connecting rod is fixed with the first sliding block; the first sliding block and the guide rail constitute a sliding pair. 6 . A functional sofa fatigue detection device according to claim 4 , further comprising a control module; the four control interfaces of the control module are connected to the second linear motion driving member and the first linear motion driving member. 7 . , The two third linear motion driving parts are respectively connected through the electromagnetic reversing valve; the two signal receiving interfaces of the control module are respectively connected with the first pressure sensor and the second pressure sensor; the signal receiving interface of the control module is a digital-to-analog conversion interface. 7 . A functional sofa fatigue detection device according to claim 1 , wherein the electromagnetic suction cup is a pancake-shaped electromagnetic suction device. 8 . 8. The detection method of a functional sofa fatigue detection device according to claim 2, wherein in step 1, the electromagnetic sucker is energized, and the foot plate is adsorbed on the electromagnetic sucker; the functional sofa is placed on the leg base plate away from the first One side of the linear motion drive; Step 2: Push out the first linear motion driving member, so that the buttocks base plate is turned over to the functional sofa, until the buttocks base plate is in contact with the functional sofa, the first linear motion driving member stops moving; The state is used as the initial state of the test; after that, the electromagnetic chuck is powered off, so that the foot plate is separated from the electromagnetic chuck; Step 3: The first linear motion driving member continues to push out, so that the back base plate and the leg base plate are turned over synchronously until the angle between the back base plate and the buttock base plate reaches an angle of 100-120°; the first linear motion driving member stops moving ; During the process of turning over the back substrate, after the back substrate is in contact with the backrest of the functional sofa, the backrest of the functional sofa is turned synchronously; Step 4. The two manipulator claws are opened to the limit position; the second linear motion driving part is pushed out, so that the two manipulator claws are placed on the two armrests of the functional sofa respectively; a handrail; Step 5. The head-rest drive assembly moves, so that the head base plate reciprocates around the back base plate a times, 1≤a≤50 ; when the head base plate is in the first limit position during the rotation process, the head base plate is flush with the back base plate ; When the head base plate is in the second limit position during the rotation process, the head base plate and the back base plate form an angle of 30~60°, and the outer end of the head base plate faces the side away from the hand simulation mechanism; Step 6. Both the two manipulator claws release the corresponding armrests; the second linear motion driving part retracts and returns to its original position; the first linear motion driving part continues to push out, so that the back base plate and the leg base plate are synchronously turned over until the back base plate and the buttocks After the included angle of the base plate reaches an angle of 160~180°; the first linear motion driver stops moving; in the process of turning over the back base plate, the backrest of the functional sofa and the back base plate keep moving synchronously; Step 7. The first linear motion driving member is retracted to the initial state of the test; in the process of turning over the back base plate, the backrest of the functional sofa and the back base plate keep moving synchronously; Step 8: The electromagnetic chuck is powered on, and the bottom ends of the two foot plates are adsorbed on the electromagnetic chuck, and at the same time, the first linear motion driving part is retracted to the limit position; then proceed to step 9; Step 9. If the detection experiment needs to be continued, repeat steps 2 to 8; if the detection experiment has been completed, remove the detection robot and check the fatigue state of the functional sofa. 9 . The detection method according to claim 8 , wherein in the second step, when the first pressure sensor detects the pressure, it is considered that the buttocks base plate and the functional sofa have been in contact. 10 . 10 . The detection method according to claim 8 , wherein in step 3, when the pressure detected by the second pressure sensor is greater than the threshold, it is considered that the back substrate and the backrest of the functional sofa have contacted. 11 .

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