Firefighter uniform multi-joint resistance moment testing device and system thereof

Abstract

The invention discloses a firefighter uniform multi-joint resistance moment testing device and system. A multi-joint adjusting structure and a mannequin structure which are used for adjusting the firefighter uniform to be tested to a specified height position and / or angle position are adaptively arranged on an operation table of the device, a mechanical structure with vibration-proof stability is provided, and the resistance moment of each joint of the firefighter uniform can be accurately obtained and performance evaluation can be carried out by electrically and intelligently adjusting the angles and the rotating speeds of human joints; upper computer control software arranged corresponding to the system carries out instruction transmission with a hardware electric control and data acquisition assembly through a man-machine interaction module based on a Labview program, and modules in the hardware electric control and data acquisition assembly carry out event structure construction through electrical connection combination of a plurality of adapter lines, USB interfaces and HDMI interfaces, so that the system can be effectively simplified, and the cost is reduced. The system has the advantages of interference resistance and integration of various test requirements, and can improve the data processing speed and maintain the high accuracy of the collected data.

Description

Technical Field

[0001] The present invention relates to an instrument for testing the resistance moment of fire-fighting suits, in particular to a multi-joint resistance moment testing device and system for fire-fighting suits, belonging to the technical field of testing devices. Background Art

[0002] During the process of fire-fighting and rescue operations, due to factors such as flames, chemicals, and high-temperature steam in the rescue environment, firefighters must wear thick and stiff fire-fighting suits to resist the threats of external factors. However, at the same time, when firefighters carry out rescue and disaster relief activities, the fire-fighting suits will inevitably generate a relatively large resistance moment, increasing the effort of firefighters, accelerating the generation of body fatigue, and easily causing problems such as skeletal muscle injuries, decreased action efficiency, and increased physical energy consumption of personnel, and even may endanger life. Thus, it can be seen that the resistance moment of fire-fighting suits is directly related to the life safety of the firefighters wearing them. Therefore, it is necessary to evaluate the resistance moment and use the evaluation data to further guide the optimization and improvement of the fabric and structure design of fire-fighting suits.

[0003] However, currently, there is only a resistance moment testing device designed and developed for space suits. Due to the characteristics of space suits being stiff and airtight, the resistance moment is as high as 40 Nm, and the resistance moment of space suits and fire-fighting suits differs by an order of magnitude. Moreover, the resistance moment testing devices for space suits all use rigid dummies, which do not conform to the mechanical properties and distribution of real human skin, soft tissues, and bones. Therefore, this resistance moment testing device is not yet suitable for testing the resistance moment of fire-fighting suits, and there are deficiencies in terms of reliability and accuracy. Therefore, it is necessary to propose a multi-joint resistance moment testing device and system for fire-fighting suits to fill the gap in the testing and evaluation of the resistance moment of fire-fighting suits. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide a multi-joint resistance moment testing device and system for fire-fighting suits.

[0005] The technical solution of the present invention is: a multi-joint resistance moment testing device for a fire-fighting suit, including an operation table, on which a multi-joint adjustment structure and a mannequin structure for adjusting the fire-fighting suit to be tested to a specified height position and / or angle position are adaptively provided. The characteristics are as follows: The multi-joint adjustment structure includes a measurement support frame, an adjustment part, and a driving and sensing mechanism. The measurement support frame is fixedly arranged on the operation table, and on the measurement support frame, there is the adjustment part for positioning and connecting with the joint movable end of the fire-fighting suit, and the adjustment part is inductively connected with the driving and sensing mechanism; The driving and sensing mechanism includes a motor and a torque sensor. A first gear is arranged at the input end of the motor, the output end of the motor is connected with the torque sensor, and a speed reducer is arranged on one side of the motor. A second gear is arranged on the speed reducer, and the first gear and the second gear are connected by a synchronous belt transmission; The mannequin structure includes a mannequin support frame for fixing a dressed model. The mannequin support frame includes a positioning base, support rods, and a fixing plate. Fixed clamps are arranged at the four corners of the positioning base, and an adjustment base is arranged on the positioning base. The adjustment base and the positioning base are movably connected through a sliding structure. The sliding structure includes a sliding groove and a limiting post that are adaptively connected, with one of them arranged on the adjustment base and the other arranged on the positioning base; On one side of the upper part of the adjustment base, a support base is vertically arranged, and several fixed clamps are evenly distributed on the support base. The fixing plate is correspondingly inserted into the fixed clamps through several support rods.

[0006] Further, in the above multi-joint resistance moment testing device for a fire-fighting suit, wherein: A guide rail base for carrying the measurement support frame is fixedly arranged on the upper surface of the operation table, and universal wheels are arranged at the four corners of the lower surface of the operation table.

[0007] Further, in the above multi-joint resistance moment testing device for a fire-fighting suit, wherein: The measurement support frame includes four cylindrical guide rails, and the four cylindrical guide rails are distributed in a quadrilateral shape on the guide rail base for carrying the measurement support frame.

[0008] Further, in the above multi-joint resistance moment testing device for a fire-fighting suit, wherein: The adjustment part includes a first adjustment component and a second adjustment component, and the first adjustment component and the second adjustment component are movably connected through the driving and sensing mechanism.

[0009] Furthermore, for the above-mentioned multi-joint resistance torque testing device for fire-fighting suits, where: the first adjustment component includes a bearing frame and a mounting frame. The bearing frame is rectangularly arranged, and box-type linear bearings for sliding connection with the measurement support frame are provided on both sides along the length direction of the bearing frame; the mounting frame is used to fix the driving sensing mechanism and is arranged inside the bearing frame, and the mounting frame is rotationally connected to the bearing frame through a rotating shaft. The mounting frame includes a first U-shaped mounting frame for positioning the motor and the reducer and a second U-shaped mounting frame for positioning the torque sensor, which are nested with each other.

[0010] Furthermore, for the above-mentioned multi-joint resistance torque testing device for fire-fighting suits, where: the second adjustment component includes a mounting plate, a connecting round rod, a length adjustment clamp, and a fixture. The mounting plate is circularly arranged, and one side of the mounting plate is connected to the torque sensor. The other side of the mounting plate is movably connected to the length adjustment clamp through the connecting round rod, and the fixture is arranged on the length adjustment clamp through a spacing adjustment clamp.

[0011] Specifically, for the above-mentioned multi-joint resistance torque testing device for fire-fighting suits, where: the motor is a servo motor with an encoder inside.

[0012] Specifically, for the above-mentioned multi-joint resistance torque testing device for fire-fighting suits, where: the mannequin for wearing the suit is a real person mannequin or a dummy mannequin.

[0013] The present invention also provides a multi-joint resistance torque testing system for fire-fighting suits, including a host computer control software, a hardware electronic control, and a data acquisition component. It is characterized in that: the host computer control software includes a human-computer interaction module, a data acquisition and alignment module, a torque data conversion module, and a data display module. The data acquisition and alignment module is used to acquire angle data and torque data. The torque data conversion module is used to convert the torque data readable by the user. The data display module is used to realize the real-time display and recording function of the acquired data in the multi-joint resistance torque testing device for fire-fighting suits; the hardware electronic control and data acquisition component includes a motion control module, a data acquisition module, and a power supply module. The host computer control software transmits instructions to the hardware electronic control and data acquisition component through the human-computer interaction module based on the Labview program. Each module in the hardware electronic control and data acquisition component builds an event structure through the electrical connection combination of multiple adapter cables, USB interfaces, and HDMI interfaces.

[0014] Compared with the prior art, after adopting the technical solution of the present invention, the multi-joint resistance moment testing device for fire-fighting suits has a vibration-proof and stable mechanical structure. By electrically and intelligently controlling the height and angle adjustment of the human joints, it can accurately obtain the resistance moments of each joint of the fire-fighting suit and conduct performance evaluation. Moreover, the streamlined multi-joint resistance moment testing system for fire-fighting suits has the advantages of anti-interference and integrating various testing requirements, effectively improving the data processing speed while maintaining the high accuracy of the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention;

[0016] Figure 2 is Figure 1 the front view of

[0017] Figure 3 is a schematic structural diagram of the present invention in the state of assembling and dressing a mannequin;

[0018] Figure 4 is a schematic structural diagram of the operation table and the measurement support frame of the present invention;

[0019] Figure 5 is a three-dimensional structural diagram of the first adjustment component of the present invention;

[0020] Figure 6 is a structural diagram of the first adjustment component of the present invention;

[0021] Figure 7 is a three-dimensional structural diagram of the driving and sensing mechanism of the present invention;

[0022] Figure 8 is a structural diagram of the driving and sensing mechanism of the present invention;

[0023] Figure 9 is a three-dimensional structural diagram of the second adjustment component of the present invention;

[0024] Figure 10 is a structural diagram of the second adjustment component of the present invention;

[0025] Figure 11 is a three-dimensional structural diagram of the mannequin support frame of the present invention;

[0026] Figure 12 is a framework diagram of the multi-joint resistance moment testing system for fire-fighting suits of the present invention;

[0027] Figure 13 is a sensing circuit diagram of the multi-joint resistance moment testing system for fire-fighting suits of the present invention;

[0028] Figure 14 is an electrical circuit diagram of the multi-joint resistance moment testing system for fire-fighting suits of the present invention;

[0029] Figure 15 This is the program operation flowchart before the design of the host computer control software of the present invention;

[0030] Figure 16 This is the schematic diagram of angle data acquisition in the data acquisition and alignment module of the present invention;

[0031] Figure 17 This is the schematic diagram of the merger of real-time angle and torque data in the data acquisition and alignment module of the present invention;

[0032] Figure 18 This is the schematic diagram of the torque data conversion module of the present invention;

[0033] Figure 19 This is the schematic diagram of the data display module of the present invention;

[0034] Figure 20 This is the torque-time curve, angle-time curve and torque-angle data curve graph of the test of the present invention.

[0035] The meanings of the reference numerals in the figure are as follows: 1 - operating table, 11 - universal wheel, 12 - guide rail base, 2 - measuring support frame, 3 - first adjusting component, 31 - carrying frame, 32 - box-type linear bearing, 33 - first U-shaped mounting bracket, 34 - second U-shaped mounting bracket, 35 - rotating shaft, 4 - driving and sensing mechanism, 41 - motor, 42 - reducer, 43 - first gear, 44 - second gear, 45 - synchronous belt, 46 - torque sensor, 5 - second adjusting component, 51 - mounting plate, 52 - connecting round rod, 53 - length adjusting clamp, 54 - spacing adjusting clamp, 55 - fixture, 6 - mannequin support frame, 61 - positioning base, 62 - fixed clamp, 63 - adjusting base, 631 - sliding groove, 64 - limiting post, 65 - support base, 66 - fixed clamp, 67 - support rod, 68 - fixing plate, 7 - dressed mannequin. Detailed implementation manners

[0036] The technical solution of the present invention will be further elaborated below with reference to the drawings to make it easier to understand and master. Among them, components such as the universal wheel 11, reducer 42, gear, synchronous belt and fixed clamp 62 involved are all commonly known and used by those of ordinary skill in the art, and there are no special requirements for them in this case.

[0037] As Figure 1 and Figure 2 shown, a multi-joint resistance torque test device for a fire-fighting suit in this embodiment includes an operating table 1, and a multi-joint adjustment structure and a mannequin structure adapted to be provided on the operating table 1 to adjust the fire-fighting suit to be tested to a specified height position and / or angle position.

[0038] According to the technical solution of the present invention: on the one hand, as Figure 4 、Figures 7 to 8 As shown, the multi-joint adjustment structure includes a measuring support frame 2, an adjustment part and a driving sensor mechanism 4. The measuring support frame 2 is fixed on the operating table 1, and the measuring support frame 2 is provided with the adjustment part for positioning and connecting with the joint movable end of the fire suit, and the adjustment part is inductively connected with the driving sensor mechanism 4; the driving sensor mechanism 4 includes a motor 41 and a torque sensor 46. The motor 41 is a servo motor with an encoder inside. The pid parameters of the servo motor system are reasonably adjusted. Siemens PLC, servo motor and driver are used, so the configuration adjustment can be combined without separate settings on the driver. The specific measures include but are not limited to appropriately increasing the gains of the servo position loop and the speed loop, reducing the speed integral time constant, or reasonably setting the cutoff frequency of the filter and other parameters. During the adjustment process, the principle of small amplitude and gradual adjustment is followed, and the vibration changes during the actual operation of the equipment are closely observed to ensure that the adjustment can effectively suppress the vibration and will not cause other adverse effects on the normal operation of the equipment; the servo motor uses communication to directly assign the rotation speed and displacement of the motor, and the encoder equipped can monitor the position, speed and torque of the motor in real time. In order to ensure that the equipment can stably lift the limbs of the dummy and improve the stability and accuracy of data acquisition, a servo motor is selected as the power device of the equipment. The input end of the servo motor is provided with a first gear 43, and the output end of the servo motor is connected to the torque sensor 46. A reducer 42 is provided on one side of the servo motor, and a second gear 44 is provided on the reducer 42. The first gear 43 and the second gear 44 are connected by a synchronous belt 45. A synchronous belt 45 (i.e., a rubber toothed synchronous belt) is used between the servo motor and the reducer 42 for transmission connection. Compared with the gear transmission and chain transmission structure, the synchronous belt 45 has better transmission stability, low error rate, is not easy to slip, and is basically noiseless and has very little vibration.

[0039] On the other hand, Figure 3 , Figure 11As shown, the mannequin structure includes a mannequin support frame 6 for fixing the dressed model 7, the mannequin support frame 6 includes a positioning base 61, a support rod 67 and a fixing plate 68, the four corners of the positioning base 61 are provided with a fixing clamp 62, and the positioning base 61 is provided with an adjustment base 63, the adjustment base 63 and the positioning base 61 are movably connected through a sliding structure, the sliding structure includes a sliding groove 631 and a limiting column 64 adapted to be connected, wherein the sliding groove 631 is provided on the adjusting base 63, and the limiting column 64 is provided on the positioning base 61. On the base 61, there are several sliding grooves 631, each of which is equidistantly arranged on the adjustment base 63, and the limiting pillars 64 are arranged on the positioning base 61. Each of the sliding grooves 631 is set as a long strip structure, and the number of the sliding grooves 631 is set to correspond to the number of the limiting pillars 64. A support base 65 is vertically arranged on one side of the upper part of the adjustment base 63, and several fixing clamps 66 are evenly distributed on the support base 65. The fixing plate 68 is correspondingly inserted into the fixing clamps 66 through several support rods 67. A multi-point fixing clamp 62 is used to fix the dress model 7 through each fixing clamp 62 to reduce the shaking of the human body during the test. The bottom of a part of the fixing clamp 62 is fixed to the operating table 1 by a long screw, and the fixing clamp 62 clamps the positioning base 61 to ensure a stable combination between the two; two support rods 67 are used to reduce the left and right shaking of the dummy, and the distance between the two support rods 67 is close to avoid hindering the leg bending movement of the dress model 7. The fixing plate 68 includes a metal cylindrical rod for accurately positioning the connecting plate, and a square plastic plate for increasing the contact area between the fixing plate 68 and the mannequin 7, so as to ensure the relative stability of the connection between the mannequin 7 and the mannequin support frame 6. When testing the resistance torque of the mannequin top wearing a fire suit, the fixing plate 68 is connected to the buttocks of the mannequin 7, and the square plate fits the shape of the rear groove of the buttocks; when testing the resistance torque of the mannequin bottom wearing a fire suit, the fixing plate 68 is connected to the back of the mannequin 7, and the square plate fits the shape of the rear groove of the back.

[0040] Among them, the positioning base 61 adopts a double fixing measure to optimize the efficiency of the positioning operation of the dressed model 7. First, a fixing clamp 62 is used. After the joint position of the test is determined, the fixing clamp 62 can be loosened and the positioning base 61 can be moved to preliminarily determine the fuzzy position of the dressed model 7; secondly, the adjustment base 63 adopts a combination design of slide rails and screws. In the lifting test before the formal test, the position of the dressed model 7 can be fine-tuned within the range of the slide rail, so as to achieve precise alignment of the joints of the dressed model 7 and other accessories.

[0041] Preferably, in the above structure: the dressing model 7 is a real person model or a dummy model. When the dressing model 7 is a dummy model, it can complete various basic actions and can efficiently simulate the situation where the human body activities are restricted in the dressed state; during the process of the dummy model performing actions, the corresponding multi-joint resistance torque test system for the fire-fighting suit can complete the resistance torque measurement function of each joint, and can adjust parameters such as the rotation speed, movement angle and starting position of the measured joint according to the target action.

[0042] Preferably, in the above structure: a guide rail base 12 for carrying the measurement support frame 2 is fixedly provided on the upper surface of the operation table 1, and universal wheels 11 are provided at the four corners of the lower surface of the operation table 1; the measurement support frame 2 includes four cylindrical guide rails, and the four cylindrical guide rails are distributed in a quadrilateral shape on the guide rail base 12 of the carrying measurement support frame 2.

[0043] Preferably, in the above structure: the adjusting part includes a first adjusting component 3 and a second adjusting component 5, and the first adjusting component 3 and the second adjusting component 5 are movably connected through a driving and sensing mechanism 4.

[0044] Specifically, as Figure 5 、 Figure 6 shown, in the above adjusting part structure, the first adjusting component 3 includes a carrying frame 31 and a mounting frame. The carrying frame 31 is rectangularly arranged, and box-type linear bearings 32 for slidingly connecting with the measurement support frame 2 are provided on both sides along the length direction of the carrying frame 31; the mounting frame is used to fix the driving and sensing mechanism 4 and is arranged inside the carrying frame 31, and the mounting frame is rotationally connected to the carrying frame 31 through a rotating shaft 35. The mounting frame includes a first U-shaped mounting frame 33 for positioning the servo motor and the reducer 42 and a second U-shaped mounting frame 34 for positioning the torque sensor 46 which are nested with each other. The orientation of the driving and sensing mechanism 4 (rotating from left to up or down) can be adjusted by loosening the screws on the rotating shaft 35, so that the first adjusting component 3 can not only rotate in the sagittal plane but also rotate in the horizontal plane, thereby realizing the horizontal abduction actions of the hip joint and shoulder joint of the dressing model 7.

[0045] Specifically, as Figure 9 、 Figure 10As shown in the figure, in the above-mentioned adjusting part structure, the second adjusting component 5 includes a mounting plate 51, a connecting round rod 52, a length adjusting clamp 53 and a fixture 55. The mounting plate 51 is circularly arranged, and one side of the mounting plate 51 is connected to the torque sensor 46. The other side of the mounting plate 51 is movably connected to the length adjusting clamp 53 through the connecting round rod 52. Therefore, the fixture 55 is arranged on the length adjusting clamp 53 through the spacing adjusting clamp 54. The center of the disc of the mounting plate 51 is aligned with the center of the joint to be measured of the dressing model 7. The end of the section to be measured is clamped by the fixture 55. The mounting plate 51 is used to accurately position the rotation angle of the joint. The length adjusting clamp 53 is used to adjust the length of the guide rail of the cylinder to make it conform to the length of the section to be measured. The spacing adjusting clamp 54 is used to adjust the spacing of the fixture 55 to make it conform to the thickness of the end of the section to be measured. Before the formal test, it is necessary to repeatedly adjust the position of the dressing model 7 and conduct multiple lifting tests to ensure that there is no relative sliding between the fixture 55 and the end of the section, so as to ensure the alignment between the center of the mounting plate 51 and the joint of the dressing model 7.

[0046] As Figures 12 to 19 shown, according to the multi-joint resistance torque test device for fire-fighting suits, a corresponding multi-joint resistance torque test system for fire-fighting suits is set up, including a host computer control software, a hardware electronic control and a data acquisition component. The host computer control software includes a human-computer interaction module, a data acquisition and alignment module, a torque data conversion module, and a data display module. The data acquisition and alignment module is used to acquire angle data and torque data. The torque data conversion module is used to convert the torque data readable by the user. The data display module is used to realize the real-time display and recording function of the acquired data in the multi-joint resistance torque test device for fire-fighting suits. The hardware electronic control and data acquisition component includes a motion control module, a data acquisition module and a power supply module. The host computer control software transmits instructions to the hardware electronic control and data acquisition component through the human-computer interaction module based on the Labview program. Each module in the hardware electronic control and data acquisition component builds an event structure through the electrical connection combination of multiple adapter lines, USB interfaces and HDMI interfaces.

[0047] Among them, the operation process of the host computer control software is planned to ensure the integrity of the program function and the correctness of the logic. Operation parameter input area: Users can input the motion parameters of the driving motor in this area, including the target angle and rotation speed. Operation status setting area: The operation status of the device can be set. By clicking the "Start operation", "Start acquisition", and "Stop acquisition" buttons, the start and stop status of the device can be set. After each test, click "Data save" to select the save path for the collected data results. After all tests are completed, click "Program exit" to terminate the test. Zero point setting area: The manual zero point setting mode and the jog zero point setting mode can be selected. In the manual zero point setting mode, click the motor enable button, and the button will turn gray, and the motor enable is interrupted. The user can manually rotate the robotic arm to the specified starting position. In the jog zero point setting mode, click the "Jog +" and "Jog -" buttons to gradually rotate the robotic arm to the specified starting position.

[0048] Among them, an independent sub-module (i.e., angle data acquisition) is also added to the host computer control software. According to the sampling moments of the two types of data, the torque data with stable acquisition speed and the angle data with slower acquisition speed are integrated and paired one by one, so as to realize the synchronous acquisition and alignment operation of the two types of data.

[0049] In the technical solution of the present invention, the combination of the multi-joint resistance torque test device dedicated to the fire-fighting suit and the corresponding control system is the technical key of this case. Figure 3 What is mainly shown is the related components involved in the multi-joint resistance torque test device for the fire-fighting suit. Figure 12 What is shown is the module framework diagram of the multi-joint resistance torque test system for the fire-fighting suit. For components such as the universal wheel 11, the reducer 42, the gear, the synchronous belt, and the fixed clamp 62, those of ordinary skill in the art can make conventional settings according to the existing technology, and there are no special requirements for the model selection and combined use of them in this case.

[0050] In this way, by adopting the technical solution of the present invention, the operator makes manual settings for the host computer control software. The host computer software sends instructions to the servo motor PLC through the Ethernet. The servo motor PLC transmits the motion trajectory instructions to the servo driver, and the driver controls the motor. The driving force of the motor 41 is transmitted through the reducer 42 and the synchronous belt 45 to realize the motion of the entire mechanical system. At the same time, during the operation of the system, the torque sensor 46 will obtain corresponding feedback data, and the data is transmitted to the analog acquisition card in the form of analog quantity. The host computer control software is connected to the acquisition card through the USB interface (i.e., serial communication) and displays, records, and processes the obtained data.

[0051] Such as Figure 20As shown in the figure, the resistance torque of the knee joint is tested for three groups of samples, and the corresponding data are collected for curve comparison. The marked interval in the middle is the angular range where there is a significant difference between the resistance torque of loose +12 and the original two samples. It can be seen from this that the torque and angle sampling frequency of the present invention is 100 Hz. The upper computer of the device can directly output three graphs and data of torque-time curve, angle-time curve and torque-angle curve. The maximum repeatability error of the torque of the present invention is less than 5%, and the angle resolution is 0.01°; while for the existing space suit resistance torque testing equipment, the repeatability error of the torque is less than 10%, and the angle resolution is 0.1°. Therefore, the present invention has better performance than the current clothing resistance torque equipment.

[0052] Through the above description, it can be found that compared with the prior art, after adopting the technical solution of the present invention, the multi-joint resistance torque testing device for the fire-fighting suit has a vibration-proof and stable mechanical structure. By electrically and intelligently controlling the height and angle adjustment of the human joints, it can accurately obtain the resistance torque of each joint of the fire-fighting suit and conduct performance evaluation; moreover, the streamlined multi-joint resistance torque testing system for the fire-fighting suit has the advantages of anti-interference and integrating various testing requirements, effectively improving the data processing speed while maintaining the high accuracy of the measurement data.

[0053] The technical solution, working process and implementation effect of the present invention have been described in detail above. It should be noted that the described are only typical examples of the present invention. In addition, the present invention can also have many other specific implementation manners. Any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection required by the present invention.

Claims

1. A fire suit multi-joint resistance torque test device, comprising an operating table (1), wherein the operating table (1) is equipped with a multi-joint adjustment structure and a mannequin structure for adjusting the fire suit to be tested to a specified height position and / or angle position, and characterized in that: The multi-joint adjustment structure comprises a measuring support frame (2), an adjustment part and a driving sensing mechanism (4); the measuring support frame (2) is fixedly mounted on the operating table (1), and the measuring support frame (2) is provided with the adjustment part for positioning and connecting with the joint movable end of the fire suit, and the adjustment part is inductively connected with the driving sensing mechanism (4); the driving sensing mechanism (4) comprises a motor (41) and a torque sensor (46); the input end of the motor (41) is provided with a first gear (43), the output end of the motor (41) is connected to the torque sensor (46), and a reducer (42) is provided on one side of the motor (41), and the reducer (42) is provided with a second gear (44), and the first gear (43) and the second gear (44) are connected by a synchronous belt (45); the mannequin structure comprises a fixing A mannequin support frame (6) for a dressed model (7), the mannequin support frame (6) comprising a positioning base (61), a support rod (67) and a fixing plate (68), the four corners of the positioning base (61) are each provided with a fixing clamp (62), and the positioning base (61) is provided with an adjusting base (63), the adjusting base (63) and the positioning base (61) are movably connected via a sliding structure, the sliding structure comprising a sliding groove (631) and a limiting column (64) adapted to be connected, one of which is arranged on the adjusting base (63) and the other is arranged on the positioning base (61); a supporting base (65) is vertically provided on one side of the upper part of the adjusting base (63), a plurality of fixing clamps (66) are evenly distributed on the supporting base (65), and the fixing plate (68) is correspondingly inserted into the fixing clamps (66) via a plurality of support rods (67).

2. The fire-fighting suit multi-joint resistance torque test device according to claim 1, characterized in that: A guide rail base (12) for carrying a measuring support frame (2) is fixedly provided on the upper surface of the operating table (1), and universal wheels (11) are provided at the four corners of the lower surface of the operating table (1).

3. The fire-fighting suit multi-joint resistance torque test device according to claim 1, characterized in that: The measuring support frame (2) comprises four cylindrical guide rails, and the four cylindrical guide rails are distributed in a quadrilateral on a guide rail base (12) that carries the measuring support frame (2).

4. The fire-fighting suit multi-joint resistance torque test device according to claim 1, characterized in that: The adjustment part comprises a first adjustment component (3) and a second adjustment component (5), and the first adjustment component (3) and the second adjustment component (5) are movably connected via a driving sensor mechanism (4).

5. The fire-fighting suit multi-joint resistance torque test device according to claim 4, characterized in that: The first adjustment component (3) comprises a load-bearing frame (31) and a mounting frame. The load-bearing frame (31) is arranged in a rectangular shape, and box-type linear bearings (32) for slidingly connecting with the measuring support frame (2) are arranged on both sides along the length direction of the load-bearing frame (31); the mounting frame is used to fix the driving sensor mechanism (4) and is arranged inside the load-bearing frame (31), and the mounting frame is rotatably connected with the load-bearing frame (31) through a rotating shaft (35), and the mounting frame comprises a first U-shaped mounting frame (33) for positioning the motor (41) and the reducer (42), and a second U-shaped mounting frame (34) for positioning the torque sensor (46).

6. The fire-fighting suit multi-joint resistance torque test device according to claim 4, characterized in that: The second adjustment component (5) comprises a mounting plate (51), a connecting round rod (52), a length adjustment clamp (53) and a clamp (55); the mounting plate (51) is arranged in a circular shape, and one side of the mounting plate (51) is connected to the torque sensor (46); the other side of the mounting plate (51) is movably connected to the length adjustment clamp (53) through the connecting round rod (52), so that the clamp (55) is arranged on the length adjustment clamp (53) through the spacing adjustment clamp (54).

7. The fire-fighting suit multi-joint resistance torque test device according to claim 1, characterized in that: The motor (41) is a servo motor with an encoder inside.

8. The fire-fighting suit multi-joint resistance torque test device according to claim 1, characterized in that: The dressing model (7) is a real person model or a dummy model.

9. A fire suit multi-joint resistance torque test system, including host computer control software, hardware electronic control and data acquisition components, characterized in that: The host computer control software includes a human-computer interaction module, a data acquisition and alignment module, a torque data conversion module, and a data display module. The data acquisition and alignment module is used to collect angle data and torque data, the torque data conversion module is used to convert user-readable torque data, and the data display module is used to realize the real-time display and recording function of the collected data in the fire suit multi-joint resistance torque test device; the hardware electronic control and data acquisition components include a motion control module, a data acquisition module and a power supply module. The host computer control software transmits instructions to the hardware electronic control and data acquisition components through the human-computer interaction module based on the Labview program, and each module in the hardware electronic control and data acquisition components is electrically connected through a combination of multiple adapter lines, USB interfaces and HDMI interfaces to build an event structure.

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