A humanoid robot arm lifting structure of a treadmill testing device and a treadmill testing device

Abstract

The application provides a humanoid mechanical arm lifting structure of a treadmill testing device, which solves the technical problem that the mechanical arm lifting in the prior art needs to be manually operated. The humanoid mechanical arm lifting structure of the treadmill testing device is arranged between a humanoid mechanical arm and a main frame of the treadmill testing device, comprises a transmission belt with one end connected to the humanoid mechanical arm, a middle wheel rotatably arranged on the main frame, and a winding and unwinding wheel connected to the other end of the transmission belt after the transmission belt passes through the middle wheel, and the winding and unwinding wheel is connected to a winding and unwinding driving motor. The advantage is that the winding and unwinding driving motor drives the winding and unwinding wheel to rotate, so that the transmission belt is tightened or loosened, and the lifting of the humanoid mechanical arm is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of treadmill testing device, in particular to a humanoid robot arm lifting structure of a treadmill testing device and the treadmill testing device. BACKGROUND

[0002] Before the treadmill is put on the market, the production enterprises or related detection departments of the treadmill need to test the power of the treadmill, the temperature rise of the motor during operation and the like. Since the test time needs several hours, even up to several dozen hours, a set of device must be used to replace the human body to act on the treadmill.

[0003] A kind of electric treadmill life test device is disclosed in Chinese patent document [application number: CN201821267475.7], including power transmission rear flywheel, power transmission front flywheel, power transmission rear flywheel is connected with power transmission front flywheel by power transmission chain,

[0004] power transmission front flywheel is connected with crank guide rod, both ends of crank guide rod are connected with swing arm guide rod through rotating shaft, one end of swing arm guide rod is connected with cantilever guide rod, top of cantilever guide rod is connected in front end of counterweight fixed frame through rotating shaft, counterweight is arranged on counterweight fixed frame, counterweight fixed frame is supported on lifting rod, bottom of swing arm guide rod is installed ankle guide rod, mechanical foot is installed in bottom end of ankle guide rod, sensor is installed on mechanical foot, sensor is connected with transmitter through line, transmitter is connected with man-machine interface through PLC.

[0005] The above scheme can realize the lifting of the humanoid robot arm, but the scheme still has the problems that the lifting of the humanoid robot arm needs to be manually operated. SUMMARY

[0006] The present application aims at the above problems, and provides a humanoid robot arm lifting structure of a treadmill testing device, which is reasonable in design, simple in structure and capable of automatically lifting the humanoid robot arm.

[0007] Another object of the present application is to provide a treadmill testing device, which is reasonable in design, simple in structure and capable of automatically lifting the humanoid robot arm.

[0008] To achieve the above object, the present application adopts the following technical scheme: the humanoid robot arm lifting structure of the present treadmill testing device is arranged between the humanoid robot arm and the main frame of the treadmill testing device, and includes a transmission belt connected with the humanoid robot arm at one end, an intermediate wheel rotatably arranged on the main frame, the other end of the transmission belt is connected with a take-up wheel after passing through the intermediate wheel, and the take-up wheel is connected with a take-up drive motor. The take-up drive motor drives the take-up wheel to rotate, so as to tighten or loosen the transmission belt, and then the lifting of the humanoid robot arm is realized.

[0009] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the number of the intermediate wheels, the transmission belt, the retractable wheels and the retractable drive motor is three, and the three intermediate wheels are distributed in a triangular shape. The triangular distribution of the intermediate wheels is conducive to the stable lifting of the anthropomorphic robot arm.

[0010] In the anthropomorphic robot arm lifting structure of the treadmill testing device, when it is necessary to adjust the center of gravity of the anthropomorphic robot arm to the middle, the retractable drive motor is actuated to make the length of the transmission belt between the intermediate wheels and the anthropomorphic robot arm consistent, so as to simulate the action when a normal person runs; when it is necessary to deviate the center of gravity of the anthropomorphic robot arm from the middle, the retractable drive motor is actuated to make the length of the transmission belt between the intermediate wheels and the anthropomorphic robot arm inconsistent, so as to simulate the action when a person runs with one foot higher or one foot injured.

[0011] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the three intermediate wheels are distributed in an isosceles triangle, and the three retractable wheels are distributed in a straight line, the retractable drive motor is connected with the retractable wheels through a first speed reducer, and the first speed reducer and the retractable drive motor are arranged in the main frame. The isosceles triangular distribution of the intermediate wheels is conducive to calculating the center of gravity position of the anthropomorphic robot arm, and the straight line distribution of the retractable wheels is conducive to saving the storage space.

[0012] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the main frame includes a frame body, the main frame includes a frame body, and the upper side of the frame body is provided with a top frame extending towards the length direction of the frame body, the lower side of the top frame is provided with a wheel frame, and the intermediate wheels are rotatably arranged on the wheel frame.

[0013] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the top frame includes a cuboid part, an isosceles triangle part and a straight rod part, the side of the cuboid part away from the frame body is connected with the bottom side of the isosceles triangle part, the top corner of the isosceles triangle part is connected with one end of the straight rod part, and the straight rod part extends along the length direction of the frame body.

[0014] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the three wheel frames are arranged on the three corners of the isosceles triangle part respectively, the outer sides of the three corners of the isosceles triangle part are respectively provided with guide rails, and the anthropomorphic robot arm is provided with sliding blocks connected with the guide rails in sliding mode. By arranging the guide rails and the sliding blocks, the lifting of the anthropomorphic robot arm is more stable.

[0015] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the section of the transmission belt between the intermediate wheels and the anthropomorphic robot arm is vertically arranged, and the section of the transmission belt between the intermediate wheels and the retractable wheels is horizontally arranged. The anthropomorphic robot arm is lifted straight up and straight down, so as to facilitate the control of the height of the lifting.

[0016] In the anthropomorphic robot arm lifting structure of the treadmill testing device, one end of the transmission belt is connected to the anthropomorphic robot arm through a tension sensor. The tension sensor can measure the tension on the anthropomorphic robot arm, and the weight of the anthropomorphic robot arm is known. The difference between the weight of the anthropomorphic robot arm and the tension is the gravity of the anthropomorphic robot arm applied to the treadmill running belt. Three tension sensors can calculate the center of gravity offset of the anthropomorphic robot arm in motion.

[0017] In the anthropomorphic robot arm lifting structure of the treadmill testing device, the other end of the transmission belt passes through the intermediate wheel and the retractable wheel in turn and is connected to the main frame through the tension elastic element. The other end of the transmission belt is tensioned by the tension elastic element to avoid random swinging of the other end of the transmission belt.

[0018] The treadmill testing device using the anthropomorphic robot arm lifting structure of the treadmill testing device, the retractable drive motor is arranged in the main frame, the anthropomorphic robot arm includes a support, one end of the transmission belt is connected to the support, the support is provided with a running drive motor, the running drive motor is connected to two mechanical legs through a running transmission structure, and the two mechanical legs are rotatably arranged on the left and right sides of the support. The running drive motor drives the running transmission structure to make the two mechanical legs swing in opposite directions to simulate the human running posture, so that the test result is more accurate.

[0019] In the treadmill testing device, the running transmission structure can make the two mechanical legs swing in opposite directions under the drive of the running drive motor, the running transmission structure includes a second speed reducer, the running drive motor is connected to the second speed reducer, the second speed reducer is provided with two output shafts arranged in parallel, one end of the output shaft is fixedly connected to one end of a first connecting rod, the other end of the first connecting rod is hingedly connected to one end of a second connecting rod, the other end of the second connecting rod is hingedly connected to the middle part of the mechanical leg, and the first connecting rod connected to one of the output shafts is arranged in line with the first connecting rod connected to the other output shaft.

[0020] In the treadmill testing device, the retractable drive motor and the running drive motor are connected to the controller; and the controller controls the retractable drive motor in the following manner:

[0021] S1: the controller receives the signal of the running drive motor;

[0022] S2: when the running drive motor is in a motion state and the position is within the set range, the controller controls the retractable drive motor to be stationary; when the running drive motor is in a motion state and the position exceeds the set range, the controller controls the retractable drive motor to rotate by a first angle;

[0023] S3: Jump to step S1.

[0024] The left and right mechanical legs are continuously moving under the driving of the running driving motor, which is different from the movement state of the human body when running. The difference causes the impact force generated when the mechanical legs fall on the running belt to be greater than the impact force generated when the human body with the same weight falls on the running belt, which will cause errors in the test results of the treadmill. The way in which the controller controls the retracting and releasing driving motor can overcome the errors to a certain extent.

[0025] In the above-mentioned treadmill test device, one end of the transmission belt is connected to the support through a tension sensor, and the tension sensor is connected to the controller. The value of the first angle is calculated by the following steps:

[0026] S21: Calculate the difference between the tension sensor and the set value;

[0027] S22: The difference is calculated to the first angle by a control algorithm. The control algorithm is preferably a PID control algorithm.

[0028] In the above-mentioned treadmill test device, in step S2, when the running driving motor is in a moving state and the position exceeds the set range and one of the two mechanical feet located in the front side is in a falling state, the controller controls the retracting and releasing driving motor to rotate to make the humanoid robot arm rise; in step S2, when the running driving motor is in a moving state and the position exceeds the set range and one of the two mechanical feet located in the front side is in a rising state, the controller controls the retracting and releasing driving motor to rotate to make the humanoid robot arm fall.

[0029] Compared with the prior art, the humanoid robot arm lifting structure of the present treadmill test device and the treadmill test device have the following advantages:

[0030] 1. The retracting and releasing driving motor drives the retracting and releasing wheel to rotate, thereby tensioning or relaxing the transmission belt, and achieving the lifting of the humanoid robot arm;

[0031] 2. When it is necessary to adjust the center of gravity of the humanoid robot arm to the middle, the retracting and releasing driving motor acts to make the length of the transmission belt between the middle wheel and the humanoid robot arm consistent, thereby simulating the action of a normal person running; when it is necessary to deviate the center of gravity of the humanoid robot arm from the middle, the retracting and releasing driving motor acts to make the length of the transmission belt between the middle wheel and the humanoid robot arm inconsistent, thereby simulating the action of running with high or low feet or with an injured foot;

[0032] 3. The isosceles triangle distribution of the middle wheels facilitates the calculation of the center of gravity position of the humanoid robot arm, and the straight line distribution of the retracting and releasing wheels is conducive to saving storage space;

[0033] 4. By setting guide rail and sliding block, the lifting of the humanoid robot arm is more stable;

[0034] 5. By tension sensor, the tension of the humanoid robot arm can be measured, and the weight of the humanoid robot arm is known, so the difference between the weight and the tension is the gravity of the humanoid robot arm applied to the running belt of the treadmill; and by three tension sensors, the center of gravity offset of the humanoid robot arm in motion can be calculated;

[0035] 6. By the elastic member, the other end of the transmission belt is pulled tight, so as to avoid the other end of the transmission belt from shaking randomly;

[0036] 7. By the running drive motor, the running transmission structure is driven to make the two mechanical legs swing in opposite directions, so as to simulate the human running posture, and make the test result more accurate;

[0037] 8. The left and right mechanical legs are continuously moving under the driving of the running drive motor, which is different from the motion state of the human body when running, and this difference causes the impact force generated by the mechanical legs falling on the running belt to be greater than the impact force generated by the human body of the same weight when running on the running belt, which will cause errors in the test result of the treadmill, and the way in which the controller controls the retracting and extending drive motor can overcome this error to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The structural schematic diagram of the lifting structure of the humanoid robot arm of the present application is provided.

[0039] Figure 2 The structural schematic diagram of the treadmill test device of the present application is provided.

[0040] Figure 3 The structural schematic diagram of the humanoid robot arm of the present application is provided.

[0041] In the figure, the humanoid robot arm 1, the support 11, the running drive motor 12, the mechanical leg 13, the second speed reducer 14, the first connecting rod 15, the second connecting rod 16, the main frame 2, the frame body 21, the cuboid part 22, the isosceles triangle part 23, the straight rod part 24, the wheel frame 25, the transmission belt 31, the intermediate wheel 32, the retracting and extending wheel 33, the first speed reducer 34, the retracting and extending drive motor 35, the tension sensor 36, the tensioning elastic member 37, the guide rail 41, and the sliding block 42. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described below in combination with the drawings and specific embodiments, but the present application is not limited to the described embodiments, on the contrary, the present application includes all modifications, variations and equivalents falling within the scope of the appended claims.

[0043] AsFigures 1-2 As shown, the anthropomorphic robot arm lifting structure of the present running machine testing device is arranged between the anthropomorphic robot arm 1 and the main frame 2 of the running machine testing device, and includes a transmission belt 31 connected to the anthropomorphic robot arm 1 at one end, an intermediate wheel 32 rotatably arranged on the main frame 2, and a retraction wheel 33 connected to the other end of the transmission belt 31 after the other end of the transmission belt 31 passes through the intermediate wheel 32. Preferably, the other end of the transmission belt 31 passes through the intermediate wheel 32 and the retraction wheel 33 in sequence and is connected to the main frame 2 through a tensioning elastic member 37. The retraction wheel 33 is connected to a retraction drive motor 35, and the retraction drive motor 35 is preferably connected to the retraction wheel 33 through a first speed reducer 34. The retraction drive motor 35 drives the retraction wheel 33 to rotate, thereby tensioning or relaxing the transmission belt 31, and further achieving the lifting of the anthropomorphic robot arm 1. The tensioning elastic member 37 is used to tension the other end of the transmission belt 31, thereby avoiding the random swinging of the other end of the transmission belt 31.

[0044] The number of intermediate wheels 32, transmission belts 31, retraction wheels 33, and retraction drive motors 35 is three. The three intermediate wheels 32 are arranged in a triangular shape, the three intermediate wheels 32 are arranged in an isosceles triangle shape, the three retraction wheels 33 are arranged in a straight line, and the first speed reducer 34 and the retraction drive motor 35 are arranged in the main frame 2. When it is necessary to adjust the center of gravity of the anthropomorphic robot arm 1 to the middle, the retraction drive motor 35 is actuated to make the length of the transmission belt 31 between the intermediate wheel 32 and the anthropomorphic robot arm 1 consistent, thereby simulating the action of a normal person running. When it is necessary to deviate the center of gravity of the anthropomorphic robot arm 1 from the middle, the retraction drive motor 35 is actuated to make the length of the transmission belt 31 between the intermediate wheel 32 and the anthropomorphic robot arm 1 inconsistent, thereby simulating the action of running with one foot injured or with high or low feet. The triangularly arranged intermediate wheels 32 are conducive to the stable lifting of the anthropomorphic robot arm 1, the isosceles triangularly arranged intermediate wheels 32 are conducive to the calculation of the center of gravity of the anthropomorphic robot arm 1, and the linearly arranged retraction wheels 33 are conducive to the saving of storage space.

[0045] The main frame 2 includes a frame body 21, and the main frame 2 includes a frame body 21. An upper side of the frame body 21 is provided with a top frame extending in the length direction of the frame body 21, a lower side of the top frame is provided with a wheel frame 25, and the intermediate wheel 32 is rotatably arranged on the wheel frame 25. The top frame includes a cuboid portion 22, an isosceles triangle portion 23, and a straight rod portion 24. One side of the cuboid portion 22 away from the frame body 21 is connected to the bottom side of the isosceles triangle portion 23, the top corner of the isosceles triangle portion 23 is connected to one end of the straight rod portion 24, and the straight rod portion 24 extends in the length direction of the frame body 21. Three wheel frames 25 are arranged on the three corners of the isosceles triangle portion 23, respectively. The outer sides of the three corners of the isosceles triangle portion 23 are respectively provided with guide rails 41, and the anthropomorphic robot arm 1 is provided with sliding blocks 42 slidably connected to the guide rails 41. By arranging the guide rails 41 and the sliding blocks 42, the lifting of the anthropomorphic robot arm 1 is more stable.

[0046] The transmission belt 31 is a chain, the intermediate wheel 32 and the take-up wheel 33 are sprocket wheels. The cooperation between the sprocket wheels and the chain realizes the lifting transmission of the humanoid robot arm 1, and the gap between the sprocket wheels and the chain does not interfere with the fluctuation of the humanoid robot arm 1 in the vertical height during the test, so that the measurement result is more accurate.

[0047] The section of the transmission belt 31 between the intermediate wheel 32 and the humanoid robot arm 1 is vertically arranged, and the section of the transmission belt 31 between the intermediate wheel 32 and the take-up wheel 33 is horizontally arranged. The humanoid robot arm 1 goes up and down straightly, so that the height of the lifting is easy to control.

[0048] One end of the transmission belt 31 is connected with the humanoid robot arm 1 through the tension sensor 36. The tension sensor 36 can measure the tension on the humanoid robot arm 1, and the weight of the humanoid robot arm 1 is known. The difference between the weight and the tension is the gravity of the humanoid robot arm 1 applied to the running belt of the treadmill. Three tension sensors 36 can calculate the center of gravity offset of the humanoid robot arm 1 in motion.

[0049] As shown in Figures 2-3 A treadmill test device using a humanoid robot arm lifting structure, the take-up drive motor 35 is arranged in the main frame 2, the humanoid robot arm 1 includes a support 11, one end of the transmission belt 31 is connected with the support 11, the support 11 is provided with a running drive motor 12, the running drive motor 12 is connected with two mechanical legs 13 through a running transmission structure, the two mechanical legs 13 are rotatably arranged on the left and right sides of the support 11, the running transmission structure can drive the two mechanical legs 13 to swing in opposite directions under the drive of the running drive motor 12. Specifically, the running transmission structure includes a second speed reducer 14, the running drive motor 12 is connected with the second speed reducer 14, the second speed reducer 14 is provided with two output shafts arranged in parallel, one end of the output shaft is fixedly connected with a first connecting rod 15, the other end of the first connecting rod 15 is hingedly connected with one end of a second connecting rod 16, the other end of the second connecting rod 16 is hingedly connected with the middle part of the mechanical leg 13, and the first connecting rod 15 connected with one of the output shafts is arranged in line with the first connecting rod 15 connected with the other output shaft. The running drive motor 12 drives the running transmission structure to make the two mechanical legs 13 swing in opposite directions, so as to simulate the human running posture, and make the test result more accurate.

[0050] The take-up drive motor 35 and the running drive motor 12 are connected with a controller; one way of the controller controlling the take-up drive motor 35 is as follows:

[0051] S1: the controller receives the signal of the running drive motor 12;

[0052] S2: when the running driving motor 12 is in motion and the position is within the set range, the controller controls the retracting driving motor 35 to be static; when the running driving motor 12 is in motion and the position is beyond the set range, the controller controls the retracting driving motor 35 to rotate the first angle; the set range can be directly written in the software program of the controller or input through the external signal input device connected with the controller; preferably, when the running driving motor 12 is in motion and the position is beyond the set range and one of the two mechanical legs located at the front side is in the falling state, the controller controls the retracting driving motor 35 to rotate so as to make the humanoid robot arm 1 rise; in step S2, when the running driving motor 12 is in motion and the position is beyond the set range and one of the two mechanical legs located at the front side is in the rising state, the controller controls the retracting driving motor 35 to rotate so as to make the humanoid robot arm 1 fall.

[0053] S3: jump to step S1.

[0054] One end of the transmission belt 31 is connected with the support 11 through the tension sensor 36, the tension sensor 36 is connected with the controller, and the value of the first angle is calculated through the following steps:

[0055] S21: calculate the difference between the tension sensor 36 and the set value; the set value is preferably input through the external signal input device connected with the controller;

[0056] S22: the difference is calculated to the first angle through the control algorithm.

[0057] The left and right mechanical legs 13 are continuously in motion under the driving of the running driving motor 12, which is different from the motion state of the human body when running, and this difference causes the impact force generated by the mechanical legs 13 falling on the running belt to be greater than the impact force generated by the human body with the same weight when running on the running belt, which will cause errors in the test results of the running machine, and the way in which the controller controls the retracting driving motor 35 can overcome this error to a certain extent.

[0058] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

[0059] Although the anthropomorphic robot arm 1, the support 11, the running driving motor 12, the mechanical leg 13, the second speed reducer 14, the first connecting rod 15, the second connecting rod 16, the main frame 2, the frame body 21, the cuboid part 22, the isosceles triangle part 23, the straight rod part 24, the wheel frame 25, the transmission belt 31, the intermediate wheel 32, the retractable wheel 33, the first speed reducer 34, the retractable driving motor 35, the tension sensor 36, the tension elastic member 37, the guide rail 41, the sliding block 42, and the like are used more frequently in the description, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the present application; any interpretation of them as an additional limitation is contrary to the spirit of the present application.

Claims

1. A humanoid robot arm lifting structure of a treadmill testing device, provided between a humanoid robot arm and a main frame of a treadmill testing device, characterized in that, The transmission belt is connected with the anthropomorphic robot arm at one end, and the middle wheel is rotatably arranged on the main frame, and the other end of the transmission belt is connected with the take-up wheel after passing through the middle wheel, and the take-up wheel is connected with the take-up drive motor; The number of the middle wheels, the transmission belts, the take-up wheels and the take-up drive motors is three, and the three middle wheels are distributed in a triangular shape; When it is needed to adjust the center of gravity of the anthropomorphic robot arm to the middle, the take-up drive motor is driven to make the length of the transmission belt between the middle wheel and the anthropomorphic robot arm consistent; When it is needed to adjust the center of gravity of the anthropomorphic robot arm to the middle, the take-up drive motor is driven to make the length of the transmission belt between the middle wheel and the anthropomorphic robot arm inconsistent; The three middle wheels are distributed in an isosceles triangular shape, the three take-up wheels are distributed in a straight line, the take-up drive motor is connected with the take-up wheel through the first speed reducer, and the first speed reducer and the take-up drive motor are arranged in the main frame.

2. The anthropomorphic robotic arm lifting structure for a treadmill testing device of claim 1, wherein, The main frame comprises a frame body, a top frame extending towards the length direction of the frame body is arranged on the upper side of the frame body, a wheel frame is arranged on the lower side of the top frame, and the middle wheel is rotatably arranged on the wheel frame.

3. The anthropomorphic robotic arm lifting structure for a treadmill testing device of claim 2, wherein, The top frame comprises a cuboid part, an isosceles triangular part and a straight rod part, one side of the cuboid part away from the frame body is connected with the bottom side of the isosceles triangular part, the top corner of the isosceles triangular part is connected with one end of the straight rod part, and the straight rod part extends along the length direction of the frame body.

4. The anthropomorphic robotic arm lifting structure for a treadmill testing device of claim 3, wherein, The three wheel frames are arranged on the three corners of the isosceles triangular part respectively, guide rails are arranged on the outer sides of the three corners of the isosceles triangular part respectively, and the anthropomorphic robot arm is provided with sliding blocks connected with the guide rails in a sliding mode.

5. The anthropomorphic robotic arm lifting structure for a treadmill testing device according to any one of claims 1 to 4, wherein, The length of the transmission belt between the middle wheel and the anthropomorphic robot arm is arranged vertically, and the length of the transmission belt between the middle wheel and the take-up wheel is arranged horizontally.

6. The anthropomorphic robotic arm lifting structure for a treadmill testing device according to any one of claims 1 to 4, wherein, One end of the transmission belt is connected with the anthropomorphic robot arm through a tension sensor.

7. The anthropomorphic robotic arm lifting structure for a treadmill testing device according to any one of claims 1 to 4, wherein, The other end of the transmission belt passes through the middle wheel and the take-up wheel in sequence and is connected with the main frame through a tension elastic element.

8. A treadmill testing device according to any one of claims 1 to 4, wherein the anthropomorphic arm lifting structure of the treadmill testing device is a robotic arm. The take-up drive motor is arranged in the main frame, the anthropomorphic robot arm comprises a support, one end of the transmission belt is connected with the support, a running drive motor is arranged on the support, the running drive motor is connected with two mechanical legs through a running transmission structure, and the two mechanical legs are rotatably arranged on the left and right sides of the support.

9. The treadmill testing device of claim 8, wherein, The running transmission structure can drive the two mechanical legs to swing in opposite directions under the drive of the running drive motor, the running transmission structure comprises a second speed reducer, the running drive motor is connected with the second speed reducer, two output shafts arranged in parallel are arranged on the second speed reducer, one end of the output shafts is fixedly connected with a first connecting rod in a circumferential direction, the other end of the first connecting rod is hingedly connected with one end of a second connecting rod, the other end of the second connecting rod is hingedly connected with the middle part of the mechanical leg, and the first connecting rod connected with one output shaft is arranged in a straight line with the first connecting rod connected with the other output shaft.

10. The treadmill testing device of claim 8, wherein, The take-up drive motor and the running drive motor are connected with a controller, and the controller controls the take-up drive motor in the following mode: S1: the controller receives the signal of the running drive motor; S2: when the running driving motor is in motion and the position is within the set range, the controller controls the retractable driving motor to be static; when the running driving motor is in motion and the position is beyond the set range, the controller controls the retractable driving motor to rotate by a first angle; S3: jump to step S1.

11. The treadmill testing device of claim 10, wherein, One end of the transmission belt is connected with a support through a tension sensor, the tension sensor is connected with a controller, and the value of the first angle is calculated through the following steps: S21: calculate the difference between the tension sensor and the set value; S22: the difference is calculated to the first angle through a control algorithm.

12. The treadmill testing device of claim 10, wherein, In step S2, when the running driving motor is in motion and the position is beyond the set range and one of the two mechanical legs on the front side is in the falling state, the controller controls the retractable driving motor to rotate so that the humanoid robot arm rises; in step S2, when the running driving motor is in motion and the position is beyond the set range and one of the two mechanical legs on the front side is in the rising state, the controller controls the retractable driving motor to rotate so that the humanoid robot arm falls.

Images