CN218444497U

CN218444497U - Anthropomorphic mechanical arm based on treadmill test system

Info

Publication number: CN218444497U
Application number: CN202222300549.5U
Authority: CN
Inventors: 金天; 王国辉; 方腾; 徐科; 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: 2022-08-30
Publication date: 2023-02-03
Anticipated expiration: 2032-08-30
Also published as: CN218297601U; CN218211962U; CN115326446A; CN116337496B; CN219404327U; CN114813179A; CN218381637U; CN218211961U; CN116337496A; CN218211963U; CN115468787A; CN115372041A; CN218211960U; CN219404287U; CN218956109U; CN115266177A

Abstract

The utility model discloses a anthropomorphic mechanical arm based on treadmill test system relates to anthropomorphic robot technical field, an anthropomorphic mechanical arm based on treadmill test system, including the test machine, swing arm and third outer swing arm in the third, one side of test machine is provided with the support, is provided with drive mechanism on the support, and first swing arm is being connected respectively at drive mechanism's both ends, is equipped with the outer pole on the output of every first swing arm, and the outer pole rotates the one end that sets up at the second swing arm, and the second swing arm rotates and sets up between swing arm and third inner swing arm in the third, the utility model discloses circular motion is done to one side end that just can drive the second swing arm when first swing arm rotates to just can make the second swing arm horizontal direction's when rotating position change, thereby just can realize that the third swing arm wholly follows the second swing arm and swing, thereby just can simulate out people's running state, thereby just can be more accurate when testing.

Description

Anthropomorphic mechanical arm based on treadmill test system

Technical Field

The utility model belongs to the technical field of anthropomorphic robot, concretely relates to anthropomorphic mechanical arm based on treadmill test system.

Background

The traditional running method is outdoor, but the outdoor running is influenced by time and weather and cannot be performed as required, and the running machine just can overcome the influence factors, so that the requirement of people on indoor exercise is met; in addition, exercise on a treadmill looks like on the ground, but actually does not need to pedal and stretch a lot of actions, so people feel more labor-saving and easier, and therefore the treadmill is more and more favored by people.

Before the running machine comes into the market, a production enterprise of the running machine or a related detection department needs to test the power of the running machine, the temperature rise of a motor during working and the like; since the testing time is several hours, even up to ten and several hours, a device is needed to replace the human body acting on the treadmill, so that the testing by the anthropomorphic robot is needed.

However, the anthropomorphic robot has the following problems in the practical use process:

the traditional anthropomorphic robot tests the running machine through only one wheel capable of swinging up and down, but the test mode cannot simulate the actions of two legs of a human body, so that the test data is inaccurate, and whether the quality of the running machine is qualified cannot be ensured.

Therefore, there is a need to provide an anthropomorphic mechanical arm based on a treadmill test system to solve the above technical problems.

Disclosure of Invention

The to-be-solved technical problem of the utility model lies in, to prior art's above-mentioned defect, provide an anthropomorphic mechanical arm based on treadmill test system.

The utility model provides a technical scheme that its technical problem adopted is: the anthropomorphic mechanical arm based on the treadmill test system is constructed and comprises a test machine, a support, a transmission mechanism, a first swing arm, an outer rod, a second swing arm, a third inner swing arm and a third outer swing arm, wherein the support is arranged on one side of the test machine, the transmission mechanism is arranged on the support, two ends of the transmission mechanism are respectively connected with the first swing arms, the outer rod is arranged at the output end of each first swing arm, the outer rod is rotatably arranged at one end of the second swing arm, the second swing arm is rotatably arranged between the third outer swing arm and the third inner swing arm, the third swing arm can swing while keeping the original position when integrally rotating on a support rod, the second swing arm is rotatably arranged in the third swing arm, so that the second swing arm can pull the third swing arm to swing integrally, the second swing arm is arranged on the first swing arm, one end of the second swing arm can be driven to do circular motion when the first swing arm rotates, the position of the second swing arm in the horizontal direction can be changed, the third swing arm can be integrally swung, the third swing arm can be simulated, and the third swing arm can run accurately, so that a human body can run accurately.

The utility model provides a pair of among anthropomorphic machine arm based on treadmill test system, be provided with first shadoof and second shadoof in the first swing arm, the third shadoof is being inserted between second shadoof and the first shadoof, inner panel and planking are being connected to one side end of third shadoof, the below of third shadoof is provided with the gangbar, the gangbar is being connected to first shadoof and second shadoof, inner panel and planking are being connected to the one end of gangbar, inner panel and planking below are provided with the sole board.

The utility model provides a pair of in anthropomorphic mechanical arm based on treadmill test system, the one end of first shadoof and second shadoof rotates the both sides that set up in first swing arm, first shadoof and second shadoof correspond each other, the other end of first shadoof and second shadoof rotates the setting on the gangbar, third shadoof and gangbar all rotate the setting between inner panel and planking, the third shadoof sets up the top at the gangbar, all be provided with the movable head on the both sides end of first shadoof and second shadoof, be equipped with first bull stick on the first swing arm that first shadoof and second shadoof movable head correspond, the movable head articulates on the first bull stick that corresponds be provided with the convex seat on the gangbar, be provided with the second bull stick on the convex seat, be provided with the bulb on the end of second bull stick, articulate on the movable head on the second bull stick on the opposite side end of first shadoof and second shadoof.

The utility model provides a pair of among anthropomorphic machine arm based on treadmill test system, all be provided with the connector on the both sides end of third shadoof, be provided with the third bull stick on the inner panel that one side connector of third shadoof corresponds, the third shadoof rotates through the connector that corresponds on the end and sets up on the third bull stick of inner panel, inner panel and planking inboard are provided with a plurality of dead levers, the both sides end of dead lever is dismantled respectively and is connected on the inner wall of inner panel and planking.

In the anthropomorphic mechanical arm based on the treadmill test system, one side of the transmission mechanism is provided with a bearing platform, one side of the bearing platform is provided with a front seat, a support rod is arranged on the front seat, a first rotating head is rotatably arranged on the outer end head of the support rod, the first rotating head is respectively arranged on the end heads of a third outer swing arm and a third inner swing arm, the third inner swing arm and the third outer swing arm can realize position limitation after being arranged on the support rod, can not generate displacement and can only rotate around the support rod, a second rotating head is arranged on the end head of one side of the first swing arm, the second rotating head is rotatably arranged at the output end of the transmission mechanism, the other end head of the first swing arm is connected with an outer rod, the outer rod is rotatably arranged on a movable seat, the movable seat is arranged on the end head of one side end of the second swing arm, and one end of the second swing arm can be driven to do circular motion when the first swing arm rotates, so that the horizontal position of the second swing arm can be changed; the fixing rod is arranged at the joint of the support and the transmission mechanism, the fixing rod is arranged in the vertical direction of the support in a sliding mode, the transmission mechanism is provided with a clamping seat in the position facing the fixing rod, the clamping seat is detachably connected to the fixing rod of the support, the transmission box can be integrally fixed after the clamping seat is fixed to the fixing rod, the output end of the first swing arm is reversely arranged, the second rotating head and the rotating shaft on the first swing arm are detachably arranged, and the third swing arm on one side can be integrally retracted when the third swing arm on the other side is integrally stepped out through the arrangement, so that the running state can be simulated.

The utility model provides a pair of among anthropomorphic machine arm based on treadmill test system, the other end of second swing arm is provided with the connector, the connector is pegged graft in the vacancy between third outer swing arm and third inner swing arm, be provided with the gangbar on the connector position that third inner swing arm and third outer swing arm correspond, the connector rotates and sets up on the gangbar, just can drive the interior outer swing arm of third and swing when second swing arm horizontal position changes to simulate out the running state, be provided with the horizontal pole on swing arm and the third outer swing arm in the third, the both sides end of horizontal pole is dismantled respectively and is connected between third outer swing arm and third inner swing arm, be provided with the extension bar between third inner swing arm and the third outer swing arm, the both sides end of extension bar is rotated and is set up on swing arm and third inner swing arm and third outer swing arm, and the same fixing between can be realized through just having regard to the horizontal pole of swing arm shape in the third, thereby realize the installation of subassembly.

The utility model provides a pair of among anthropomorphic mechanical arm based on treadmill test system, drive mechanism includes transmission case, motor and pivot, the transmission case is fixed on the cassette, the outside of transmission case is provided with the motor, the output of motor stretches into in the transmission case, the output of motor and the pivot intermeshing in the transmission case, the pivot end in the transmission case all is located the outside of transmission case, the pivot output end in the transmission case outside links to each other with the first swing arm that corresponds respectively, and when the motor drove the pivot and rotates, the pivot just can drive the first swing arm of both sides end and rotate.

The utility model provides a pair of among anthropomorphic machine arm based on treadmill test system, the sole board includes preceding sole portion and back sole portion, preceding sole portion rear side has preceding sole coupling groove, back sole portion front side is equipped with back foot coupling groove, is provided with the elastic connection board between preceding foot coupling groove and back foot coupling groove. The front sole part and the rear sole part are connected through the elastic connecting plate, so that the mutual movement between the front sole part and the rear sole part of a human can be simulated; when the user runs, the rear sole of the user hardly falls to the ground, and an elastic buffer effect exists between the front sole and the rear sole, so that the state of the sole of the user in a running state can be further simulated; the elastic connecting plate is arranged in the front foot connecting groove and the rear foot connecting groove, and the lower side of the elastic connecting plate cannot be in contact with other objects, so that the abrasion of the elastic connecting plate in the running state of the dummy is prevented.

The utility model provides a pair of among anthropomorphic machine arm based on treadmill test system, the below of inner panel and planking is provided with the draw-in groove, sole board upside is provided with the fixed block, the fixed block passes through sliding construction and slides the setting in the draw-in groove, is equipped with the elastic buffer cover between the both ends of fixed block and draw-in groove respectively. Through the sliding connection of the foot bottom plate and the buffering of the elastic buffering sleeve, the impact force between the foot bottom plate and the running belt of the running machine is reduced, so that the testable duration of the running belt is prolonged.

The utility model provides a pair of among anthropomorphic mechanical arm based on treadmill test system, sliding structure includes the logical groove of upwards seting up along the length of draw-in groove horizontal direction, it wears to be equipped with the inserted bar to lead to the inslot, be equipped with the socket that corresponds each other with logical groove on the fixed block, the inserted bar is pegged graft in the socket, the elastic buffer cover sets up between planking and the fixed block and the cover is established on the inserted bar.

Compared with the prior art, the utility model provides a pair of anthropomorphic machine arm based on treadmill test system has following beneficial effect:

the utility model provides a humanoid mechanical arm based on treadmill test system, which is provided with a first swing arm, a second swing arm and other components, a traditional treadmill test robot cannot simulate a running state of a person so as to cause inaccurate test data, the first swing arm drives the second swing arm, the second swing arm drives a third inner swing arm and a third outer swing arm so as to simulate the running state of the person, and therefore, the detection data is more accurate; the first swing arm is arranged on the rotating shaft, one end of the second swing arm is connected with the first swing arm, and the other end of the second swing arm is connected between the third inner swing arm and the third outer swing arm; one end of the third inner and outer swing arm is connected to the support rod, and the first swing arm can swing around the support rod by linking the third inner and outer swing arm when rotating, so that the running state can be simulated; the front sole part and the rear sole part are connected through the elastic connecting plate, so that the mutual movement between the front sole part and the rear sole part of a human can be simulated; when the user runs, the rear sole of the user hardly falls to the ground, and an elastic buffering function exists between the front sole and the rear sole, so that the state of the sole of the user in a running state can be further simulated; the elastic connecting plate is arranged in the front foot connecting groove and the rear foot connecting groove, and the lower side of the elastic connecting plate cannot be contacted with other objects, so that abrasion is prevented when the running state of a human is simulated; through the sliding connection of the foot bottom plate and the buffering of the elastic buffering sleeve, the impact force between the foot bottom plate and the running belt of the running machine is reduced, so that the testability duration of the running belt is improved.

Drawings

Fig. 1 is a schematic structural view of a treadmill test system provided by the present invention after being fixed with a treadmill;

fig. 2 is a schematic connection diagram of a support rod in an anthropomorphic mechanical arm based on a treadmill test system according to the present invention;

fig. 3 is a schematic connection diagram of a linkage rod in the anthropomorphic mechanical arm based on the treadmill test system provided by the present invention;

fig. 4 is a schematic connection diagram of a motor in the anthropomorphic mechanical arm based on a treadmill test system according to the present invention;

FIG. 5 is a schematic view of the connection of the middle rotating shaft of the anthropomorphic mechanical arm based on the treadmill test system provided by the present invention;

fig. 6 is a first schematic connection diagram of a first swing arm in the anthropomorphic mechanical arm based on a treadmill test system provided by the present invention;

fig. 7 is a second schematic connection diagram of a first swing arm in the anthropomorphic mechanical arm based on the treadmill test system provided by the present invention;

FIG. 8 is a schematic view of the connection of the ball head in the anthropomorphic mechanical arm based on the treadmill test system provided by the present invention;

fig. 9 is a schematic connection diagram of a third rotary rod in the anthropomorphic mechanical arm based on the treadmill test system.

The reference numbers in the figures: 1. a testing machine; 2. a second swing arm; 3. a third outer swing arm; 4. a fixing rod; 5. a support; 6. a front seat; 7. a support bar; 8. a first rotating head; 9. a linkage rod; 10. a connector; 11. a card holder; 12. a transmission mechanism; 121. A transmission case; 122. a motor; 123. a rotating shaft; 13. a bearing platform; 14. a first swing arm; 15. an outer pole; 16. a movable seat; 17. a second rotating head; 18. a cross bar; 19. an external connecting rod; 20. a third inner swing arm; 21. a movable head; 22. a first rotating lever; 23. a first lifting rod; 24. a second lifting rod; 25. a third lifting rod; 26. a linkage rod II; 27. a boss; 28. a second rotating lever; 29. an inner plate; 30. an outer plate; 31. a foot plate; 32. a ball head; 33. a third rotating rod; 34. a second fixing rod; 35. A card slot; 36. a through groove; 37. inserting a rod; 38. a socket; 39. a fixed block; 40. a second connector; 41. a protrusion; 42. a transmission belt; 43. a lifting drive motor; 44. an intermediate wheel; 45. a retracting wheel; 46. a speed reducer; 47. tensioning the elastic member; 51. A front sole part; 52. a rear sole portion; 53. an elastic connecting plate.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Exemplary embodiments of the present invention are shown in the drawings.

The first embodiment is as follows:

as shown in fig. 1, the utility model discloses an anthropomorphic mechanical arm based on treadmill test system, including test machine 1, support 5, drive mechanism 12, first swing arm 14, outer pole 15, second swing arm 2, swing arm 20 and third outer swing arm 3 in the third, one side of test machine 1 is provided with support 5, be provided with drive mechanism 12 on the support 5, first swing arm 14 is being connected respectively at drive mechanism 12's both ends, be equipped with outer pole 15 on every first swing arm 14's the output, outer pole 15 rotates the one end that sets up at second swing arm 2, second swing arm 2 rotates and sets up between swing arm 20 in third outer swing arm 3 and the third.

As shown in fig. 2, 3, 4, 5, 6, 7, 8 and 9, a bearing platform 13 is arranged on one side of the transmission mechanism 12, a front seat 6 is arranged on one side of the bearing platform 13, a support rod 7 is transversely arranged on the front seat 6, a first rotating head 8 is rotatably arranged on the outer end head of the support rod 7, the first rotating head 8 is respectively arranged on the end heads of a third outer swing arm 3 and a third inner swing arm 20, and the third inner swing arm and the third outer swing arm can realize position limitation after being arranged on the support rod 7, can not generate displacement and can only rotate around the support rod 7;

a second rotating head 17 is arranged on one side end of the first swing arm 14, the second rotating head 17 is rotatably arranged at the output end of the transmission mechanism 12, the other end of the first swing arm 14 is connected with an outer rod 15, the outer rod 15 is rotatably arranged on a movable seat 16, the movable seat 16 is arranged on one side end of the second swing arm 2, and when the first swing arm 14 rotates, one end of the second swing arm 2 can be driven to do circular motion, so that the horizontal position of the second swing arm 2 can be changed;

the other end of the second swing arm 2 is provided with a connecting head 10, the connecting head 10 is inserted into a vacant position between the third outer swing arm 3 and the third inner swing arm 20, a linkage rod 9 is arranged at the connecting head 10 position corresponding to the third inner swing arm 20 and the third outer swing arm 3, the connecting head 10 is rotatably arranged on the linkage rod 9, and the third inner swing arm can be driven to swing when the horizontal position of the second swing arm 2 is changed, so that the running state can be simulated;

the third inner swing arm 20 and the third outer swing arm 3 are provided with cross rods 18, the end heads of the two sides of each cross rod 18 are respectively detachably connected between the third outer swing arm 3 and the third inner swing arm 20, an external connecting rod 19 is arranged between the third inner swing arm 20 and the third outer swing arm 3, the end heads of the two sides of the external connecting rod 19 are rotatably arranged on the third inner swing arm 20 and the third outer swing arm 3, the third inner swing arm and the third outer swing arm are identical in shape, and the fixing between the third inner swing arm and the third outer swing arm can be realized through the cross rods 18, so that the assembly is installed;

a fixed rod 4 is arranged at the joint of the support 5 and the transmission mechanism 12, the fixed rod 4 is arranged in the vertical direction of the support 5 in a sliding manner, a clamping seat 11 is arranged at the position, facing the fixed rod 4, of the transmission mechanism 12, the clamping seat 11 is detachably connected to the fixed rod 4 of the support 5, and after the clamping seat 11 is fixed on the fixed rod 4, the integral fixation of the transmission case 121 can be realized;

the transmission mechanism 12 includes a transmission case 121, a motor 122 and a rotating shaft 123, the transmission case 121 is fixed on the card seat 11, the motor 122 is disposed outside the transmission case 121, an output end of the motor 122 extends into the transmission case 121, an output end of the motor 122 is engaged with the rotating shaft 123 in the transmission case 121, ends of the rotating shaft 123 in the transmission case 121 are all located outside the transmission case 121, output ends of the rotating shaft 123 outside the transmission case 121 are respectively connected with the corresponding first swing arms 14, and when the motor 122 drives the rotating shaft 123 to rotate, the rotating shaft 123 can drive the first swing arms 14 at the ends of both sides to rotate.

A first lifting rod 23 and a second lifting rod 24 are arranged on the first swing arm 14, a third lifting rod 25 is inserted between the second lifting rod 24 and the first lifting rod 23, one end of the third lifting rod 25 is connected with an inner plate 29 and an outer plate 30, a linkage rod II 26 is arranged below the third lifting rod 25, the first lifting rod 23 and the second lifting rod 24 are connected with a linkage rod II 26, one end of the linkage rod II 26 is connected with the inner plate 29 and the outer plate 30, a foot bottom plate 31 is arranged below the inner plate 29 and the outer plate 30, the first swing arm 14 is arranged to move circularly to drive the height of the first lifting rod 23 and the height of the second lifting rod 24 to change, the linkage rod II 26 can be driven to move up and down when the first lifting rod 23 and the second lifting rod 24 move up and down, the linkage rod II 26 can drive the sole to lift, so that the height is adjusted, few linkage structures are arranged in the sole lifting process, and therefore the production cost is reduced;

one end of the first lifting rod 23 and one end of the second lifting rod 24 are rotatably arranged at two sides of the first swing arm 14, the first lifting rod 23 and the second lifting rod 24 correspond to each other, the other end of the first lifting rod 23 and the other end of the second lifting rod 24 are rotatably arranged on the linkage rod II 26, the third lifting rod 25 and the linkage rod II 26 are both rotatably arranged between the inner plate 29 and the outer plate 30, the third lifting rod 25 is arranged above the linkage rod II 26, the ends at two sides of the first lifting rod 23 and the second lifting rod 24 are both provided with movable heads 21, the first swing arm 14 corresponding to the movable heads 21 of the first lifting rod 23 and the second lifting rod 24 is provided with a first rotating rod 22, the movable head 21 is hinged on the corresponding linkage rod II 26 on the first rotating rod 22 and is provided with a convex seat 27, the convex seat 27 is provided with a second rotating rod 28, the end head of the second rotating rod 28 is provided with a ball head 32, the movable rods on the other side ends of the first lifting rod 23 and the second lifting rod 24 are hinged on the ball head 32 on the second rotating rod 28, one ends of the first lifting rod 23 and the second lifting rod 24 are respectively arranged on two sides of the first swing arm 14, and the other ends of the first lifting rod 23 and the second lifting rod 24 are arranged on two sides of the linkage rod II 26, so that the connection of the first lifting rod 23 and the second lifting rod 24 is more stable, and the movement of the assembly cannot be influenced through the vacant position between the first lifting rod 23 and the second lifting rod 24; two connectors two 40 are arranged on the two side ends of the third lifting rod 25, a third rotating rod 33 is arranged on the inner plate 29 corresponding to the connectors two 40 on one side of the third lifting rod 25, the third lifting rod 25 is rotatably arranged on the third rotating rod 33 of the inner plate 29 through the connectors two 40 on the corresponding ends, a plurality of fixing rods two 34 are arranged on the inner sides of the inner plate 29 and the outer plate 30, the two side ends of the fixing rods two 34 are respectively detachably connected on the inner walls of the inner plate 29 and the outer plate 30, and the linkage rod two 26 can be driven to move up and down when circular motion is carried out through the first swing arm 14, so that the height adjustment of the sole is realized.

The sole plate 31 comprises a front sole part 51 and a rear sole part 52, a front foot connecting groove is arranged at the rear side of the front sole part 51, a rear foot connecting groove is arranged at the front side of the rear sole part 52, an elastic connecting plate 53 is arranged between the front foot connecting groove and the rear foot connecting groove, and a bulge 41 is arranged at the lower side of the sole plate 31. The front sole part 51 and the back sole part 52 are connected through an elastic connecting plate 53, so that the mutual movement between the front sole and the back sole of a human can be simulated; when the user runs, the rear sole of the user hardly falls to the ground, and an elastic buffering function exists between the front sole and the rear sole, so that the state of the sole of the user in a running state can be further simulated; the elastic connection plate 53 is provided in the front foot connection groove and the rear foot connection groove, and the lower side thereof is not in contact with other objects, thereby preventing abrasion in the running state of the dummy.

Clamping grooves 35 are formed below the inner plate 29 and the outer plate 30, fixing blocks 39 are arranged on the upper side of the foot bottom plate 31, the fixing blocks 39 are arranged in the clamping grooves 35 in a sliding mode through sliding structures, and elastic buffer sleeves are arranged between the two ends of the fixing blocks 39 and the clamping grooves 35 respectively; the sliding structure comprises a through groove 36 formed in the horizontal direction of the clamping groove 35, an inserting rod 37 penetrates through the through groove 36, a socket 38 corresponding to the through groove 36 is formed in the fixing block 39, the inserting rod 37 is inserted into the socket 38, and an elastic buffer sleeve is arranged between the outer plate 30 and the fixing block 39 and sleeved on the inserting rod 37. Through the sliding connection of the sole plate 31 and the buffering of the elastic buffering sleeve, the impact force between the sole plate 31 and the running belt of the running machine is reduced, so that the testable duration of the running belt is prolonged.

Further, in the first embodiment of the present invention, as shown in fig. 6, the output ends of the first swing arms 14 on both sides are reversely arranged, the second rotating head 17 and the rotating shaft 123 on the first swing arm 14 are detachably arranged, so that the third swing arm on one side can be integrally retracted when the third swing arm on the other side is integrally stepped out, thereby simulating a running state; according to the scheme, the first swing arm 14 drives the second swing arm 2, and the second swing arm 2 drives the third inner and outer swing arms, so that the running state of a person is simulated, and the detection data is more accurate; the first swing arm 14 is arranged on the rotating shaft 123, one end of the second swing arm 2 is connected with the first swing arm 14, and the other end of the second swing arm is connected between the third inner swing arm and the third outer swing arm; one end of the third inner and outer swing arm is connected to the support rod 7, and the first swing arm 14 can swing around the support rod 7 by linking the third inner and outer swing arm when rotating, so that the running state can be simulated.

The utility model provides a pair of anthropomorphic mechanical arm's theory of operation based on treadmill test system as follows:

the first innovation point implementation step:

the first step is as follows: according to the scheme, the first swing arm 14 drives the second swing arm 2, and the second swing arm 2 drives the third inner and outer swing arms, so that the running state of a person is simulated, and the detection data is more accurate;

the second step: the first swing arm 14 is arranged on the rotating shaft 123, one end of the second swing arm 2 is connected with the first swing arm 14, and the other end of the second swing arm is connected between the third inner swing arm and the third outer swing arm;

the third step: one end of the third inner and outer swing arm is connected to the support rod 7, and the first swing arm 14 can swing around the support rod 7 by linking the third inner and outer swing arm when rotating, so that the running state can be simulated.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an anthropomorphic mechanical arm based on treadmill test system which characterized in that: the anthropomorphic mechanical arm comprises a support (5), a transmission mechanism (12), a first swing arm (14), an outer rod (15), a second swing arm (2), a third inner swing arm (20) and a third outer swing arm (3), wherein the support (5) is arranged on one side of a testing machine (1), the transmission mechanism (12) is arranged on the support (5), the two ends of the transmission mechanism (12) are respectively connected with the first swing arm (14), the outer rod (15) is arranged on the output end of each first swing arm (14), the outer rod (15) is rotatably arranged at one end of the second swing arm (2), and the second swing arm (2) is rotatably arranged between the third outer swing arm (3) and the third inner swing arm (20).

2. The anthropomorphic mechanical arm for a treadmill test system as claimed in claim 1, wherein a first lifting rod (23) and a second lifting rod (24) are arranged on the first swing arm (14), a third lifting rod (25) is inserted between the second lifting rod (24) and the first lifting rod (23), an inner plate (29) and an outer plate (30) are connected to one end of the third lifting rod (25), a second linkage rod (26) is arranged below the third lifting rod (25), the first lifting rod (23) and the second lifting rod (24) are connected to the second linkage rod (26), one end of the second linkage rod (26) is connected to the inner plate (29) and the outer plate (30), and a foot bottom plate (31) is arranged below the inner plate (29) and the outer plate (30).

3. The anthropomorphic robotic arm of a treadmill test system as recited in claim 2, one end of the first lifting rod (23) and one end of the second lifting rod (24) are rotatably arranged at two sides of the first swing arm (14), the first lifting rod (23) and the second lifting rod (24) correspond to each other, the other ends of the first lifting rod (23) and the second lifting rod (24) are rotatably arranged on the linkage rod II (26), the third lifting rod (25) and the linkage rod II (26) are both rotationally arranged between the inner plate (29) and the outer plate (30), the third lifting rod (25) is arranged above the linkage rod II (26), the two side ends of the first lifting rod (23) and the second lifting rod (24) are respectively provided with a movable head (21), a first rotating rod (22) is arranged on the first swing arm (14) corresponding to the movable heads (21) of the first lifting rod (23) and the second lifting rod (24), the movable head (21) is hinged on the corresponding first rotating rod (22), a convex seat (27) is arranged on the linkage rod II (26), a second rotating rod (28) is arranged on the convex seat (27), a ball head (32) is arranged on the end head of the second rotating rod (28), the movable rods on the other side ends of the first lifting rod (23) and the second lifting rod (24) are hinged on a ball head (32) on the second rotating rod (28).

4. The anthropomorphic mechanical arm based on the treadmill test system as recited in claim 2, wherein the two side ends of the third lifting bar (25) are provided with second connectors (40), the inner plate (29) corresponding to the second connectors (40) on one side of the third lifting bar (25) is provided with a third rotating bar (33), the third lifting bar (25) is rotatably arranged on the third rotating bar (33) of the inner plate (29) through the second connectors (40) on the corresponding ends, the inner sides of the inner plate (29) and the outer plate (30) are provided with a plurality of second fixing bars (34), and the two side ends of the second fixing bars (34) are respectively detachably connected to the inner walls of the inner plate (29) and the outer plate (30).

5. The anthropomorphic mechanical arm based on a treadmill test system as recited in claim 2, wherein a bearing platform (13) is arranged at one side of the transmission mechanism (12), a front seat (6) is arranged at one side of the bearing platform (13), a support rod (7) is transversely arranged on the front seat (6), a first rotating head (8) is rotatably arranged at the end of the outer side of the support rod (7), the first rotating head (8) is respectively arranged at the end of a third outer swing arm (3) and the end of a third inner swing arm (20), a second rotating head (17) is arranged at the end of one side of the first swing arm (14), the second rotating head (17) is rotatably arranged at the output end of the transmission mechanism (12), an outer rod (15) is connected at the other end of the first swing arm (14), the outer rod (15) is rotatably arranged on a movable seat (16), and the movable seat (16) is arranged at the end of one side of the second swing arm (2);

the connecting part of the support (5) and the transmission mechanism (12) is provided with a fixing rod (4), the fixing rod (4) is arranged in the vertical direction of the support (5) in a sliding mode, the transmission mechanism (12) is provided with a clamping seat (11) towards the fixing rod (4), the clamping seat (11) is detachably connected to the fixing rod (4) of the support (5), the output end of the first swing arm (14) is reversely arranged, and the second rotating head (17) on the first swing arm (14) and the rotating shaft (123) are arranged in a detachable mode.

6. The anthropomorphic mechanical arm based on a treadmill test system as recited in claim 2, wherein a connector (10) is arranged at the other end of the second swing arm (2), the connector (10) is inserted into a vacant position between the third outer swing arm (3) and the third inner swing arm (20), a linkage rod (9) is arranged at the position of the connector (10) corresponding to the third inner swing arm (20) and the third outer swing arm (3), the connector (10) is rotatably arranged on the linkage rod (9), a cross rod (18) is arranged on the third inner swing arm (20) and the third outer swing arm (3), two side ends of the cross rod (18) are respectively detachably connected between the third outer swing arm (3) and the third inner swing arm (20), an outer connecting rod (19) is arranged between the third inner swing arm (20) and the third outer swing arm (3), and two side ends of the outer connecting rod (19) are rotatably arranged on the third inner swing arm (20) and the third outer swing arm (3).

7. The anthropomorphic mechanical arm for a treadmill test system as claimed in claim 2, wherein the transmission mechanism (12) comprises a transmission case (121), a motor (122) and a rotating shaft (123), the transmission case (121) is fixed on the clamping base (11), the motor (122) is arranged outside the transmission case (121), an output end of the motor (122) extends into the transmission case (121), an output end of the motor (122) is engaged with the rotating shaft (123) in the transmission case (121), ends of the rotating shaft (123) in the transmission case (121) are all located outside the transmission case (121), and output ends of the rotating shaft (123) outside the transmission case (121) are respectively connected with the corresponding first swing arms (14).

8. The anthropomorphic mechanical arm for a treadmill test system according to any one of claims 2 to 7, wherein the foot plate (31) comprises a front sole portion (51) and a rear sole portion (52), wherein the front sole portion (51) has a front foot connection groove on the rear side, the rear sole portion (52) has a rear foot connection groove on the front side, and an elastic connecting plate (53) is arranged between the front foot connection groove and the rear foot connection groove.

9. The anthropomorphic mechanical arm for the treadmill test system as recited in any one of claims 2 to 7, wherein a slot (35) is arranged below the inner plate (29) and the outer plate (30), a fixing block (39) is arranged on the upper side of the foot bottom plate (31), the fixing block (39) is slidably arranged in the slot (35) through a sliding structure, and elastic buffer sleeves are respectively arranged between two ends of the fixing block (39) and the slot (35).

10. The anthropomorphic mechanical arm based on a treadmill test system as recited in claim 9, wherein the sliding structure comprises a through groove (36) formed along the horizontal direction of the clamping groove (35) in the upward direction, an insertion rod (37) penetrates through the through groove (36), a socket (38) corresponding to the through groove (36) is arranged on the fixing block (39), the insertion rod (37) is inserted into the socket (38), and the elastic buffer sleeve is arranged between the outer plate (30) and the fixing block (39) and sleeved on the insertion rod (37).