CN114813179A

CN114813179A - AI anthropomorphic arm treadmill test system

Info

Publication number: CN114813179A
Application number: CN202210252295.6A
Authority: CN
Inventors: 金天; 王国辉; 方腾; 徐科; 邹新富; 章四青
Original assignee: Jinhua Huaqiang Electronic Technology Co ltd
Current assignee: Jinhua Huaqiang Electronic Technology Co ltd
Priority date: 2022-03-15
Filing date: 2022-03-15
Publication date: 2022-07-29
Also published as: CN115266177A; CN115326446A; CN218956109U; CN218211962U; CN116337496A; CN218444497U; CN219404287U; CN218211963U; CN218211961U; CN218211960U; CN218381637U; CN219404327U; CN115372041A; CN218297601U; CN115468787A

Abstract

The invention relates to a treadmill test system, and discloses an AI anthropomorphic arm treadmill test system, which comprises a chassis and a suspension, wherein the chassis is of a frame structure, the middle part of the chassis forms a placing part for placing a treadmill, the chassis is provided with a clamping mechanism for fixing the treadmill, and the suspension is provided with an anthropomorphic mechanical arm which can run on the treadmill and can move up and down along the height direction of the suspension; the device is characterized by further comprising a control system and an information acquisition system, wherein the information acquisition system comprises a tension sensor, a speed sensor, a distance sensor and a displacement sensor, and is connected with the control system and transmits acquired signals to the control system. The invention can simulate the test of a real person on various performances of the treadmill, controls the output of the AI anthropomorphic arm moment and the output of the pace in a closed loop manner, has the speed which is synchronous and consistent with the running belt as far as possible, has better treadmill test effect, provides more accurate test data and improves indirect product quality.

Description

AI anthropomorphic arm treadmill test system

Technical Field

The invention relates to a treadmill test system, in particular to an AI anthropomorphic arm treadmill test system.

Background

With the continuous improvement of living standard of substances, people have higher and higher requirements on living quality, pay more and more attention to the health condition of people, like to take part in various physical exercises to strengthen the physique, and the fitness equipment is rapidly developed in the fitness hot tide.

The traditional running can be outdoors, but the outdoor running is influenced by time and weather and often cannot be performed as expected, and the treadmill can just overcome the influence factors, thereby meeting the requirement of people for indoor exercise. In addition, the exercise on the running machine looks like the exercise on the ground, but actually does not need to pedal and extend a lot of actions, so people feel more labor-saving and relaxed. Therefore, the treadmill is more and more favored.

Before the treadmill comes to the market, a manufacturing enterprise of the treadmill or a related detection department needs to test the power of the treadmill, the temperature rise of the motor during working and the like. Since the test takes several hours, even up to a dozen hours, a device is necessary to replace the action of the human body on the treadmill, and the existing human body replacement device is simple and is provided with a plurality of rotatable rollers below a metal plate. When the test, fix the metal sheet on the treadmill, put a heavy object that is close to people's weight on the metal sheet, the area of running on a plurality of cylinders and the treadmill is the front contact, when the area of running removes under the rotation of motor, the cylinder can be because of the frictional force with the area of running and rotate, and this frictional force can produce certain reaction force to the removal of running the area equally, has played the effect of simulation human body on the area of running. Therefore, the related test equipment can test various performance indexes of the treadmill, such as the temperature of the motor, the wear degree of the running belt and the like.

The device brings certain convenience to the test of the treadmill. However, there are some disadvantages: 1. the roller continuously rubs against the running belt for a long time, so that the running belt is seriously worn and simultaneously generates a great noise. 2. The action difference of the device and a person on the treadmill is larger, and the test condition is too harsh, so that components such as a motor and the like are easy to heat, thereby causing misjudgment on whether the treadmill is qualified or not and influencing the accuracy of the test; 3. in the test process, the current and the voltage of the treadmill are constant and different from the current and the voltage which are suddenly increased and suddenly decreased when a person actually runs, so that the damage verification of the electric appliance part caused by the continuous change of the current and the voltage in the use process of the person cannot be completely simulated; 4. when the tire is used for testing one part of the running plate of the running belt at a high speed for a long time, permanent damage to parts can be caused, and the damage to the parts caused by running of a person is different from the damage caused by running of the person, so that the purpose of testing cannot be achieved.

Disclosure of Invention

The invention provides a treadmill test system with an AI anthropomorphic arm, aiming at the problems of the treadmill test system in the prior art.

In order to solve the technical problem, the invention is solved by the following technical scheme:

the AI anthropomorphic arm treadmill test system comprises a chassis and a suspension which is vertically arranged on the chassis and can move along the length direction of the chassis, wherein the chassis is of a frame structure, a placing part for placing the treadmill is formed in the middle of the chassis, a clamping mechanism for fixing the treadmill is arranged on the chassis, and an anthropomorphic mechanical arm which can run on the treadmill and can move up and down along the height direction of the suspension is arranged on the suspension;

the device comprises a treadmill, and is characterized by further comprising a control system and an information acquisition system, wherein the information acquisition system comprises a tension sensor used for detecting the bearing weight of the treadmill, a speed sensor used for detecting the speed of the treadmill and controlling the movement of the anthropomorphic mechanical arm according to the speed of the treadmill, a distance sensor used for detecting the movement distance of the anthropomorphic mechanical arm and a displacement sensor used for detecting the deformation of the running plate of the treadmill, and the information acquisition system is connected with the control system and transmits acquired signals to the control system.

On the one hand, the running of a human body is simulated to obtain accurate and real test data, the effect that the current voltage of the treadmill is suddenly high and suddenly low when the person runs is achieved, the damage of the current voltage of the person to the electric appliance part is verified in the using process of the person, the test effect of the test machine is enabled to be close to the running effect of the person, and the test effect is better.

On the other hand, all data such as bionic weight, speed, moment and the like of the exercise test on the treadmill can be fed back in real time by arranging various sensors, closed-loop control and data acquisition are realized, the speed and weight curve drawing of the exercise equipment test is realized through the various acquired data, data analysis is provided for the quality control and the process performance of the treadmill product, the test basis is improved, the anthropomorphic running and indirect product quality improvement are realized.

Meanwhile, the whole testing system is reasonable in position distribution and integral assembly structure among the underframe, the suspension and the anthropomorphic mechanical arm, the suspension forms a portal structure and is symmetrically stressed in a matching mode with two sides of the underframe, the anthropomorphic mechanical arm is distributed in the center of the suspension, and the two mechanical legs are symmetrically distributed on two sides of the whole testing system, so that stress and force application of the suspension and the underframe are uniform in the running process of the anthropomorphic mechanical leg, the service life is prolonged, force transmitted to the anthropomorphic mechanical leg can be uniformly distributed to the two mechanical arms, the influence of external factors on a testing result can be fully reduced, and the testing result is more accurate; form the portion of placing on the chassis and be used for placing the treadmill for whole test system compact structure, place the side face and form the clamp of treadmill tightly, guarantee the stability of running test process.

Preferably, the information acquisition system further comprises a noise sensor and a temperature sensor which are arranged on the underframe and are respectively used for detecting the noise and the temperature of the treadmill, and further comprises an amplitude sensor arranged on a driving motor of the treadmill. The noise, temperature and amplitude information of the characteristic parts in the test process of the treadmill can be collected in real time through the noise sensor, the temperature sensor and the amplitude sensor, and whether the performance of the treadmill meets the standard or not is judged according to the collected information.

Preferably, the clamping mechanism comprises at least one clamping assembly arranged on the underframe, and the clamping assembly comprises two clamping pieces which have the same structure and are oppositely arranged on two sides of the treadmill to clamp and fix the outer side surface of the treadmill.

Preferably, the clamping piece comprises a first clamping piece, the first clamping piece comprises a fixing part fixed on the underframe, a limiting hole is formed in the middle of the fixing part, a limiting column penetrates through the limiting hole, the limiting column can move axially along the limiting hole in the limiting hole, the end face of the limiting column can be abutted against the outer side face of the treadmill, a clamping gap communicated with the limiting hole is formed in the upper end face of the fixing part, and a limiting bolt for adjusting the gap width of the clamping gap is further arranged on the fixing part.

Preferably, the clamping piece comprises a second clamping piece, the second clamping piece comprises an installation part installed on the underframe and a clamping part used for clamping the treadmill, and the end face of the clamping part is vertically clamped on the side face of the treadmill; the clamping part is arranged on the mounting part, the clamping part is arranged on the clamping part, and the clamping part is arranged on the clamping part; the adjusting portion can rotate around the rotating shaft connected with the mounting portion relatively, the clamping portion can rotate around the rotating shaft connected with the adjusting portion relatively, a thread limiting part for limiting rotation of the rotating shaft is arranged on the rotating shaft, and a toggle handle for releasing limiting of the thread limiting part is arranged on the thread limiting part.

The treadmill that the centre gripping subassembly of both isostructures can be applicable to different specifications according to actual need selection, all has loading and unloading convenient and fast's characteristics, can change the test to the treadmill high-efficiently.

Preferably, a sliding block is arranged on the side surface of the mounting part far away from the running machine, a sliding groove for the sliding block to slide is arranged on the side surface of the underframe, and the length direction of the sliding groove is arranged along the length direction of the underframe. The installation department can be along chassis length direction motion under the mating reaction of spout and slider, then can adjust fixture's position as actual need to make its better press from both sides tightly the treadmill of different specifications.

Preferably, the suspension includes the portal and sets up the crossbeam frame on the portal, be equipped with the connecting plate on the crossbeam frame, be equipped with the slide rail of vertical setting on the connecting plate, anthropomorphic machine arm includes the link and sets up the mechanical leg on the link, the link is connected on the connecting plate and can be followed the slide rail and slided from top to bottom, the upper end of portal is equipped with the elevating system who is used for controlling anthropomorphic machine arm up-and-down motion, elevating system is including fixing the motor mounting bracket on the portal, be fixed with elevator motor on the motor mounting bracket, be connected with the drive wheel in elevator motor's the drive shaft, be equipped with drive chain on the drive wheel, drive chain's one end is passed through tension sensor and is connected with the link, the other end is connected at the tip of portal through an extension spring, still be equipped with the take-up pulley that carries out the tensioning to the chain on the motor mounting bracket. The lifting mechanism can adjust the pressure of the mechanical arm on the treadmill within a certain range, so that the lifting mechanism is matched with the tension sensor to simulate the test result of the crowd with different weights on the treadmill, the test result is more real, and the running machine is more in line with the actual situation.

Preferably, the connecting frame is provided with a mechanical arm driving motor, the mechanical leg comprises a mechanical thigh part and a mechanical shank part which are formed by a plurality of connecting rods and a mechanical foot part, and the mechanical arm driving motor controls the mechanical leg to simulate the human leg movement tension sensor through a gear. The mechanical legs are designed into a human leg structure, so that the human body running can be simulated more truly, the pressure of the mechanical feet on the running machine can be detected through the arrangement of the tension sensors, and the pressure monitoring can be realized through the closed-loop control between the mechanical legs and the upper computer.

Preferably, the mechanical foot part comprises a mechanical foot connecting seat and a roller arranged on the mechanical foot connecting seat, and the roller is made of polyurethane. The gyro wheel of polyurethane material can simulate human foot and run on the treadmill, has certain buffering during running, and the impact to the treadmill race area mutually supports with mechanical leg application of force, receipts power in-process to make the testing result more true.

Preferably, an adjusting groove with an opening facing the mechanical foot is formed in the end face, connected with the mechanical foot, of the mechanical lower leg, the upper end portion of the mechanical foot connecting seat can extend into the adjusting groove and can slide along the depth direction of the adjusting groove, an elastic piece is arranged between the mechanical foot connecting seat and the adjusting groove, and the elastic piece is compressed when the mechanical foot steps on the treadmill. The setting up of elastic component can cooperate with the gyro wheel on the one hand for mechanical foot has certain buffering when running on the treadmill, and better simulation human foot runs, and when on the other hand mechanical foot stepped on, the elastic component can give a reaction force of mechanical foot, compensates the impact force of mechanical foot to the area of running, makes the human running of simulation that the arm can be more true, obtains more accurate test result.

As preferred, the chassis is including the rectangular frame and the cross mounting bracket that are the level and place, place the portion and set up in the rectangular frame middle part, the cross mounting bracket supports in the rectangular frame top and can follow vertical direction up-and-down motion through four support columns, the cross mounting bracket includes the horizontal pole that sets up the montant and set up along chassis width direction along chassis length direction, the montant sets up in the central point department of putting of chassis, noise sensing, temperature sensor and displacement sensor all set up on the montant. The setting of cross mounting bracket can evenly detect the capability test of two arms of treadmill both sides at the in-process treadmill of running for the test result is more accurate.

Drawings

Fig. 1 is a schematic structural view of embodiment 1 of the present invention.

Fig. 2 is a schematic view of a connection structure between the suspension and the anthropomorphic robot arm in fig. 1.

Fig. 3 is a schematic view of the suspension of fig. 1.

Fig. 4 is a schematic structural view of the chassis in fig. 1.

Fig. 5 is a schematic structural view of the anthropomorphic mechanical arm of fig. 1.

Fig. 6 is a schematic view of a connection structure between the chassis and the clamp of fig. 4.

Fig. 7 is a schematic structural view of the first clamping member in fig. 6.

Fig. 8 is a schematic structural view of the second clamping member in fig. 6.

Fig. 9 is a schematic view of the connection structure of the mechanical foot of fig. 5.

Fig. 10 is a cross-sectional view of fig. 9.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Example 1

An AI anthropomorphic arm treadmill test system, as shown in figures 1-10, comprises an underframe 1 and a suspension 2 vertically mounted on the underframe 1 and capable of moving along the length direction of the underframe 1, wherein the underframe 1 is of a frame structure, the middle part of the underframe 1 forms a placing part 3 for placing a treadmill, a clamping mechanism for fixing the treadmill is arranged on the underframe 1, and an anthropomorphic mechanical arm 4 capable of running on the treadmill and moving up and down along the height direction of the suspension 2 is arranged on the suspension 2;

still include control system and information acquisition system, control system in this embodiment includes DCS distributed control end, DCS distributed control end includes the host computer, information acquisition system is including being used for detecting the pulling force sensor 12 that the treadmill bore weight, a speed sensor for detecting treadmill speed and according to the motion of treadmill speed control anthropomorphic mechanical arm 4, a displacement sensor 8 for detecting anthropomorphic mechanical arm 4 movement distance and being used for detecting treadmill running plate shape change, information acquisition system and control system are connected and transmit the signal of gathering for control system. The closed-loop control of AI anthropomorphic arm moment output and step output is realized by the information acquisition system and the control system, and the speed is synchronous and consistent with the running belt as far as possible.

In this embodiment, the anthropomorphic robot arm 4 is used for testing the treadmill, the anthropomorphic robot arm 4 includes a mechanical leg 402, the mechanical leg 402 includes a mechanical thigh 404 and a mechanical shank 405 formed by a crankshaft connecting rod mechanism and a mechanical foot 406, the mechanical arm driving motor 403 controls the mechanical leg 402 to simulate the movement of the human body leg through a gear, the mechanical foot 406 includes a mechanical foot connecting seat 407 and a roller 408 arranged on the mechanical foot connecting seat 407, and the roller 408 is made of polyurethane.

Therefore can make whole mechanical leg 402 have comparatively nimble joint, the shank is crooked when the human running of simulation that can the higher degree, simultaneously at the gyro wheel 408 that machinery foot 406 made through the polyurethane material, make its human foot of simulation that can be better in the process of running, utilize polyurethane gyro wheel 408 to realize the buffering of foot on the treadmill, receive power through bent axle link mechanism in joint department to the impact process of falling foot when the human running of simulation that can the higher degree.

Wherein the bottom of the mechanical foot part 406 is provided with a roller mechanism to enable the mechanical foot part to rotate in the running process, which mainly can effectively eliminate the following difference between the sole and the running belt in the running process of the mechanical arm, in particular the running speed of a real person which can actively follow the running belt in the running process of the running machine, so that the sole part and the running belt are as synchronous as possible, the mechanical foot can change the running speed according to the real-time speed feedback of the running belt, but in the actual running process, the sole of the mechanical foot still has a certain speed difference in the transient process of stepping down the running belt, and the speed difference can change the friction force between the sole and the running belt, and then the new impact force of the mechanical foot on the running belt can be introduced, and the wheels can relatively rotate in the running process of the mechanical foot on the running belt by additionally arranging the wheels, so that the following difference between the mechanical foot and the running belt can be effectively eliminated, the running of the mechanical foot on the treadmill is real, and finally, the data of the treadmill test is more accurate.

The tension sensor 12 is arranged through the tension sensor 12, when the anthropomorphic mechanical arm runs on the running machine, the gravity of the treading of the mechanical foot 406 can be fed back to the upper computer in real time, a certain pressure range value is set in the upper computer according to the pressure of the running machine in the real running process of a human body, the upper computer compares the received gravity signal with the set pressure range value according to the received gravity signal, the force applied to the running machine by the mechanical arm can be controlled within the set range, once the force exceeds the set range or the force of breakage of the running belt is fed back, the system immediately gives out a corresponding alarm prompt and controls the closed-loop control of a mechanical arm driving motor 403 for driving the mechanical arm to move, and real-time detection and monitoring are achieved.

As shown in fig. 9 and 10, in the present embodiment, an adjusting groove 409 with an opening facing the machine foot 406 is disposed on an end surface of the machine lower leg 405 connected to the machine foot 406, an upper end of the machine foot connecting seat 407 can extend into the adjusting groove 409 and can slide along a depth direction of the adjusting groove 409, an elastic member 410 is disposed between the machine foot connecting seat 407 and the adjusting groove 409, and the elastic member 410 is compressed when the machine foot 406 steps on the treadmill.

In this embodiment, the adjustment slot 409 is a T-shaped slot, the upper end of the mechanical foot connecting seat 407 is provided with a T-shaped protrusion 411 matched with the T-shaped slot, the two can slide relatively and mutually limit in the depth direction of the adjustment slot 409 to prevent the T-shaped protrusion 411 from falling off the T-shaped slot, the elastic member 410 in this embodiment is a spring, wherein the end surface of the T-shaped protrusion 411 facing the T-shaped slot is provided with a sliding column 412, the end of the sliding column 412 penetrates the T-shaped slot and the penetrating end is connected with an adjustment block 413 by a screw thread, the spring is sleeved on the sliding column 412, one end of the spring abuts against the end surface 411 of the T-shaped protrusion, the other end abuts against the bottom surface of the T-shaped slot, when the roller of the mechanical foot 406 is treaded on the running belt, the T-shaped protrusion 411 drives the sliding column 412 to further extend outwards towards the extending end to press the spring, the spring is pressed, and the elastic force generated by the pressed spring acts on the mechanical foot 406, so that the mechanical foot 406 has an impact force provided by the spring towards the running machine, this impact force can be used for compensating the arm and can't simulate human running in-process foot and step on the time whole focus and have certain decline and the impact force that brings for the treadmill, thereby can make the arm accord with the real person more and run in the test to the treadmill through this mechanism, make test result more accurate, the setting of spring also can cooperate with the gyro wheel simultaneously, make the mechanical foot have better buffering when running on the treadmill, better simulation human foot runs, strengthen the authenticity of the foot impact process that polyurethane gyro wheel 408 simulation real person ran.

In addition, in the embodiment, the elastic force of the spring can be adjusted according to the sliding column 412 and the adjusting block 413, and the elastic force of the spring is adjusted by controlling the extending length of the sliding column 412, so that impact forces with different sizes are provided, and the spring can be suitable for different people.

In the embodiment, the coding wheel is arranged at the edge of the roller at the tail end of the running machine to rotate along with the running belt of the running machine, thereby realizing the acquisition of the speed signal of the treadmill and feeding the acquired speed signal back to the upper computer, the upper computer controls the mechanical arm driving motor 403 for driving the mechanical arm to move according to the received speed signal, thereby realizing the work test of the anthropomorphic motion arm, keeping the speed synchronization with the electric running machine in real time, feeding the speed of the running machine back to the AI anthropomorphic motion arm through the speed sensor to make the AI anthropomorphic motion arm run like a real person in real time, can be fast or slow, always keep consistent speed, avoid the situation that the running belt is scratched or the anthropomorphic arm is injured due to speed mismatch, simultaneously effectively eliminate the following difference between arm and the area of running for its more real simulation true man runs. When the arm simulator and the running machine are at the same speed, the distributed central control system can compare the target set speed, if the target set speed exceeds the range, the test is stopped immediately, and an alarm prompt is given.

In addition, the distance and mileage of the movement are collected by the distance sensor and fed back to the system, and if the deviation of the distance and the target mileage is not up to the standard, the experiment and the alarm are also stopped.

The information acquisition system in the embodiment further comprises a noise sensor 9 and a temperature sensor 10 which are arranged on the underframe 1 and are respectively used for detecting the noise and the temperature of the treadmill, an amplitude sensor 11 arranged on a driving motor of the treadmill and a tension sensor 12 arranged on the suspension bracket 2 and used for detecting the weight applied on the treadmill by the anthropomorphic mechanical arm 4.

In the process of testing the anthropomorphic motion arm, abnormal sounds are generated at certain specific positions, when the abnormal sound decibels exceed a set value, the abnormal sounds are serious, products are unqualified, the noise sensor 9 can collect sounds of the characteristic parts in the running machine testing process in real time, the precision is high, the collection range is 30-120db +/-1, the volume is digitized through networking and is sent to an upper computer, and whether the abnormal sounds of the running machine exceed the standard or not is judged.

The temperature sensor 10 and the amplitude sensor 11 can effectively collect the temperature signal and the amplitude signal of the treadmill in the process of testing the anthropomorphic moving arm.

The weight that tension sensor 12 can effectively monitor the arm and will detect feeds back to the host computer to weight information, the host computer comes the position of reasonable adjustment arm according to received information control elevator motor 212, thereby control the pressure of arm to the treadmill to a certain extent, the different weight crowds of simulation department are to the test effect of treadmill, but make this test system can be with the linear adjustment adaptive control of gravity load, adjust the different moment weight pressure range of output 30KG-80KG and be linear weight gain or subtract heavy output control.

In addition, a limit sensor is further arranged on the suspension 2 in the embodiment, the ascending or descending amplitude of the mechanical arm can be effectively controlled, and the mechanical arm is prevented from running over the running machine or completely pressing the running belt of the running machine.

Meanwhile, the information acquisition system is also provided with electrical performance sensors, and aiming at measuring the load current and power of the treadmill and other electrical parameters when the treadmill moves, an international first-line brand electronic sensor is adopted, the precision can reach 0.01%, the treadmill is networked through a communication bus, and the real-time electrical performance parameters of the treadmill are sent to an upper computer. And the relationship between the weight and the distance information can be obtained to make the anthropomorphic mechanical arm 4 obtain calorie information, that is, after the weight of the anthropomorphic mechanical arm is set, the anthropomorphic mechanical arm moves by N distance, and the calorie is the weight x the distance x the index k, wherein k is 1.036.

In this embodiment, through each item performance data of all kinds of sensors real-time feedback treadmill test in-process, and feed back the data of gathering to control system, control system can realize the speed, the weight curve drawing of body-building apparatus test according to received data, if can produce the weight impact to mechanical foot when running on the running belt, the people is when moving, each foot falls and certainly has gravity to float and produce the shock wave, ACS is the curve with the shock wave fitting of 4 steps of anthropomorphic robot arm this moment, as far as near bionic motion real-time effect. And the quality of the treadmill product can be controlled according to the data collected in real time, if a test fault occurs or the test value exceeds the set range, the system immediately stops the test and jumps out of the prompt box to inform the alarm reason, and data analysis can be provided for the process performance, so that the test basis is improved.

Suspension 2 can move on 1 length direction of chassis in this embodiment, then can realize the regulation of arm position on the treadmill, can rationally adjust arm position according to actual need, because the people of difference is even when same people is run at every turn, the position that its foot stepped on also can not be the same completely, therefore can be better according to this adjustment be applicable to different people, and the fixed dynamics of running of fixed position, avoid long-time high-speed treadmill spare part that leads to testing a position of running the board of taking the running board and damaging permanently, this loss has great gap with the damage that the people run the spare part and cause, thereby can not reach the purpose of test.

As shown in fig. 7 and 8, the clamping mechanism in this embodiment includes two clamping assemblies disposed on the chassis 1, the clamping assemblies include two clamping members having the same structure and disposed on two sides of the treadmill relatively for clamping and fixing the outer side of the treadmill, the clamping members have two structural forms, which are a first clamping member 13 and a second clamping member 14, wherein the first clamping member 13 includes a fixing portion 131 fixed on the chassis 1, a limiting hole 132 is formed in the middle of the fixing portion 131, a limiting post 133 penetrates through the limiting hole 132, the limiting post 133 can move axially along the limiting hole 132 in the limiting hole 132, the end surface of the limiting post 133 can abut against the outer side of the treadmill, a clamping gap 134 communicated with the limiting hole 132 is disposed on the upper end surface of the fixing portion 131, and a limiting bolt 135 for adjusting the gap width of the clamping gap 134 is further disposed on the fixing portion 131.

The second clamping piece 14 comprises a mounting part 143 mounted on the underframe 1 and a clamping part 144 for clamping the treadmill, and the end surface of the clamping part 144 is vertically clamped on the side surface of the treadmill; the clamping device further comprises an adjusting part 145 which is arranged between the mounting part 143 and the clamping part 144 and used for adjusting the length of the first clamping piece 13, wherein U-shaped connecting lugs 146 are arranged on one end face of the mounting part 143, one end face of the clamping part 144 and two end faces of the adjusting part 145, and the U-shaped connecting lugs 146 at two ends of the adjusting part 145 are respectively connected with the mounting part 143 and the U-shaped connecting lugs 146 on the clamping part 144 through a rotating shaft 147 in a matching manner;

the adjusting portion 145 can rotate relatively around a rotating shaft 147 connected to the mounting portion 143, the clamping portion 144 can rotate relatively around the rotating shaft 147 connected to the adjusting portion 145, a thread limiting member 148 for limiting the rotation of the rotating shaft 147 is disposed on the rotating shaft 147, and a toggle handle 149 for releasing the limitation of the thread limiting member 148 is disposed on the thread limiting member 148.

A slider 1431 is provided on a side surface of the mounting portion 143 away from the treadmill, a slide groove 101 on which the slider 1431 slides is provided on a side surface of the base frame 1, and a longitudinal direction of the slide groove 101 is provided along a longitudinal direction of the base frame 1.

When the treadmill is tested, the treadmill can be clamped by two clamping components arranged at the front and the rear of the underframe 1 so as to ensure the stability of the treadmill in the testing process, the selection of the clamping components can be selected according to actual needs, wherein the limiting column 133 type clamping component has the advantages of simple structure, convenient adjustment and low manufacturing cost, so that the loading and unloading process of the treadmill is simple and rapid, the adjustable range in the clamping process is smaller, and the treadmill is suitable for the treadmill with smaller width difference of the placing part 3 of the underframe 1; the clamping assemblies with different structures on two sides can be adjusted conveniently and quickly, and the clamping part 144 can release the limit of the treadmill only by shifting the shifting handle on one side and releasing the limit of the thread limiting piece on the rotating shaft 147, so that the treadmill can be quickly assembled and disassembled, and the test efficiency of different treadmills is improved; and can adjust the distance between the first holder 13 of both sides through making the relative installation department 143 of regulation portion 145 rotate different angles in the adjustment process, then can be applicable to the centre gripping of the treadmill of wider range, when carrying out the centre gripping to the treadmill, the centre gripping terminal surface of clamping part 144 remains perpendicularly with the treadmill lateral surface all the time, guarantees the stability of centre gripping.

In this embodiment, the suspension 2 includes a door frame 201 and a cross beam frame 202 disposed on the door frame 201, a connecting plate 203 is disposed on the cross beam frame 202, a slide rail 204 vertically disposed is disposed on the connecting plate 203, the anthropomorphic robot arm 4 includes a connecting frame 401 and a robot leg 402 disposed on the connecting frame 401, the connecting frame 401 is connected to the connecting plate 203 and can slide up and down along the slide rail 204, an elevating mechanism 21 for controlling the up-and-down movement of the anthropomorphic robot arm 4 is disposed at an upper end of the door frame 201, the elevating mechanism 21 includes a motor mounting frame 211 fixed on the door frame 201, a lifting motor 212 is fixed on the motor mounting frame 211, a driving wheel 213 is connected to a driving shaft of the lifting motor 212, a transmission chain 214 is disposed on the driving wheel 213, one end of the transmission chain 214 is connected to the connecting frame 401 through a tension sensor 12, the other end of the transmission chain is connected to an end of the door frame 201 through a tension spring 216, and a tension wheel 217 for tensioning the chain is further disposed on the motor mounting frame 211.

Make elevating system 21 can rationally adjust the height of anthropomorphic machine arm 4 through tension sensor 12 to adjust the degree of compressing tightly of machinery foot to the treadmill running area, realize rationally changing the pressure of arm to the treadmill then, thereby realize that the different weight crowds of arm simulation run, reach the test of different weight crowds to the treadmill.

In this embodiment, the chassis 1 includes the rectangular frame 102 and the cross-shaped mounting bracket 103 that are horizontally placed, the placing portion 3 is disposed in the middle of the rectangular frame 102, the cross-shaped mounting bracket 103 is supported above the rectangular frame 102 through four support columns and can move up and down along the vertical direction, the cross-shaped mounting bracket 103 includes the cross rod 105 that is disposed along the length direction of the chassis 1 and is provided with the vertical rod 104 and the width direction of the chassis 1, the vertical rod 104 is disposed in the central position of the chassis 1, noise sensing is performed, the temperature sensor 10 and the displacement sensor 8 are disposed on the vertical rod 104. Through setting up of cross mounting bracket 103 can evenly detect the capability test of two arms of treadmill both sides at the in-process treadmill of running for the test result is more accurate, and this cross mounting bracket 103 also can regard as the chute in addition, is equipped with a lot of chutes on it, can make the more reasonable arrangement of connecting wire on whole test system and can not influence the arm and run on the treadmill.

In summary, the above description is only a preferred embodiment of the present invention, and all the equivalent changes and modifications made according to the claims of the present invention should be covered by the present invention.

Claims

AI anthropomorphic arm treadmill test system which characterized in that: the running machine comprises an underframe (1) and a suspension (2) which is vertically arranged on the underframe (1) and can move along the length direction of the underframe (1), wherein the underframe (1) is of a frame structure, a placing part (3) for placing a running machine is formed in the middle of the underframe, a clamping mechanism for fixing the running machine is arranged on the underframe (1), and a anthropomorphic mechanical arm (4) which can run on the running machine and can move up and down along the height direction of the suspension (2) is arranged on the suspension (2);

the treadmill with the automatic detection function further comprises a control system and an information acquisition system, wherein the information acquisition system comprises a tension sensor (12) used for detecting the weight borne by the treadmill, a speed sensor used for detecting the speed of the treadmill and controlling the movement of the anthropomorphic mechanical arm (4) according to the speed of the treadmill, a distance sensor used for detecting the movement distance of the anthropomorphic mechanical arm (4) and a displacement sensor (8) used for detecting the deformation of the running plate of the treadmill, and the information acquisition system is connected with the control system and transmits acquired signals to the control system.
2. The AI anthropomorphic arm treadmill test system of claim 1, wherein: the information acquisition system further comprises a noise sensor (9) and a temperature sensor (10) which are arranged on the underframe (1) and are respectively used for detecting the noise and the temperature of the treadmill, and further comprises an amplitude sensor (11) arranged on a driving motor of the treadmill.
3. The AI anthropomorphic arm treadmill test system of claim 1, wherein: the clamping mechanism comprises at least one clamping assembly arranged on the underframe (1), and the clamping assembly comprises two clamping pieces which have the same structure and are oppositely arranged on two sides of the running machine to clamp and fix the outer side surface of the running machine.
4. The AI anthropomorphic arm treadmill test system of claim 3, wherein: the clamping piece comprises a first clamping piece (13), the first clamping piece (13) comprises a fixing part (131) fixed on the bottom frame (1), a limiting hole (132) is formed in the middle of the fixing part (131) and a limiting column (133) penetrates through the limiting hole (132), the limiting column (133) can abut against the outer side face of the running machine along the end face of the limiting column (133) in the limiting hole (132) in an axial motion mode along the limiting hole (132), a clamping gap (134) communicated with the limiting hole (132) is arranged on the upper end face of the fixing part (131), and a limiting bolt (135) used for adjusting the gap width of the clamping gap (134) is further arranged on the fixing part (131).
5. The AI anthropomorphic arm treadmill test system of claim 3, wherein: the clamping piece comprises a second clamping piece (14), the second clamping piece (14) comprises an installation part (143) installed on the underframe (1) and a clamping part (144) used for clamping the treadmill, and the end face of the clamping part (144) is vertically clamped on the side face of the treadmill; the clamping device is characterized by further comprising an adjusting part (145) which is arranged between the mounting part (143) and the clamping part (144) and used for adjusting the length of the first clamping piece (13), U-shaped connecting lugs (146) are arranged on one end face of the mounting part (143), one end face of the clamping part (144) and two end faces of the adjusting part (145), and the U-shaped connecting lugs (146) at two ends of the adjusting part (145) are respectively connected with the mounting part (143) and the U-shaped connecting lugs (146) on the clamping part (144) in a matched mode through a rotating shaft (147);

the adjusting portion (145) can rotate relatively around a rotating shaft (147) connected with the mounting portion (143), the clamping portion (144) can rotate relatively around the rotating shaft (147) connected with the adjusting portion (145), a thread limiting piece (148) limiting the rotation of the rotating shaft (147) is arranged on the rotating shaft (147), and a toggle handle (149) releasing the limiting of the thread limiting piece (148) is arranged on the thread limiting piece (148).
6. The AI anthropomorphic arm treadmill test system of claim 5, wherein: the side surface of the mounting part (143) far away from the running machine is provided with a sliding block (1431), the side surface of the underframe (1) is provided with a sliding groove (101) for the sliding block (1431) to slide, and the length direction of the sliding groove (101) is arranged along the length direction of the underframe (1).
7. The AI anthropomorphic arm treadmill test system of claim 1, wherein: the suspension (2) comprises a door frame (201) and a cross beam frame (202) arranged on the door frame (201), a connecting plate (203) is arranged on the cross beam frame (202), a slide rail (204) which is vertically arranged is arranged on the connecting plate (203), the anthropomorphic mechanical arm (4) comprises a connecting frame (401) and mechanical legs (402) arranged on the connecting frame (401), the connecting frame (401) is connected on the connecting plate (203) and can slide up and down along the slide rail (204), a lifting mechanism (21) used for controlling the anthropomorphic mechanical arm (4) to move up and down is arranged at the upper end part of the door frame (201), the lifting mechanism (21) comprises a motor mounting frame (211) fixed on the door frame (201), a lifting motor (212) is fixed on the motor mounting frame (211), a driving wheel (213) is connected on a driving shaft of the lifting motor (212), a driving chain (214) is arranged on the driving wheel (213), one end of the driving chain (214) is connected with the connecting frame (401) through a sensor (12), the other end is connected with the end part of the door frame (201) through a tension spring (216), and a tension wheel (217) for tensioning the transmission chain (214) is also arranged on the motor mounting frame (211).
8. The AI anthropomorphic arm treadmill test system of claim 7, wherein: a mechanical arm driving motor (403) is arranged on the connecting frame (401), the mechanical leg (402) comprises a mechanical thigh part (404) and a mechanical small leg part (405) which are formed by a plurality of connecting rods and a mechanical foot part (406), and the mechanical arm driving motor (403) controls the mechanical leg (402) to simulate a human body leg movement tension sensor (12) through a gear; the mechanical foot part (406) comprises a mechanical foot connecting seat (407) and a roller (408) arranged on the mechanical foot connecting seat (407), wherein the roller (408) is made of polyurethane.
9. The AI anthropomorphic arm treadmill test system of claim 8, wherein: the end face, connected with the mechanical foot part (406), of the mechanical small leg part (405) is provided with an adjusting groove (409) with an opening facing the mechanical foot part (406), the upper end part of the mechanical foot connecting seat (407) can stretch into the adjusting groove (409) and can slide along the depth direction of the adjusting groove (409), an elastic part (410) is arranged between the mechanical foot connecting seat (407) and the adjusting groove (409), and the elastic part (410) is compressed when the mechanical foot part (406) steps on the treadmill.
10. The AI anthropomorphic arm treadmill test system of claim 1, wherein: chassis (1) is including rectangular frame (102) and cross mounting bracket (103) that are the level and place, place portion (3) and set up in rectangular frame (102) middle part, cross mounting bracket (103) support in rectangular frame (102) top and can follow vertical direction up-and-down motion through four support columns, cross mounting bracket (103) are including setting up montant (104) and horizontal pole (105) that set up along chassis (1) width direction along chassis (1) length direction, montant (104) set up in the central point department of putting of chassis (1), noise sensor (9), temperature sensor (10) and displacement sensor (8) all set up on montant (104).