CN110812786A - A ladder-level duplex VR all-around exercise and universal treadmill - Google Patents

Abstract

The invention discloses a ladder-level duplex VR all-round motion and universal treadmill. A load-bearing turntable is arranged at the center of the inner bottom end of the base, an arc guide rail is arranged on the base part below the load-bearing turntable; and a conductive slip ring is arranged in the center of the load-bearing turntable. ;The outermost bottom end of the load-bearing turntable is fixed with a gear ring, and the bottom end of the gear ring is evenly provided with a plurality of guide rail sliders, and the guide rail sliders are installed on the top of the arc guide rail; the two ends of the connecting shaft of each pedal base drive chain are installed. A pedal base drive chain is provided, and the teeth of the chain drive gear penetrate between two adjacent pedal base drive chain connecting shafts. The invention can realize the adaptive conversion of two kinds of road surfaces from the plane to the ladder through the treadmill pushing device, and can also adjust the height and angle of the pedal through the pedal pushing device to form an uneven walking surface, which is used for simulating the rough road and stone in the VR world. piers and bridge decks and other discontinuous pavements, and can reflect the motion effect of real lateral movement.

Description

A ladder-level duplex VR all-around exercise and universal treadmill

technical field

The invention belongs to the technical field of treadmills, and in particular relates to a ladder-level duplex VR all-around motion and universal treadmill.

Background technique

In the VR field, the applied treadmills include sliding reset universal treadmill and active reset universal treadmill.

The sliding reset universal treadmill does not conform to the habit and physiology of human walking and running: after millions of years of evolution, human beings have formed the physiological movement law of bipedal upright walking, including the forefoot touching the ground, the rear sole pedaling and The two feet alternately change the center of gravity and other motion modes, and the sliding reset motion mode, no matter how it is designed and simulated, cannot reach the level of natural walking and running of human beings. In addition, the surface of the slide-type treadmill is a concave surface. , which is completely different from the feeling that the human body is used to standing on two feet and walking on the flat ground, so that the user is always reminded in the virtual space that he is moving in an "abnormal" way, which may easily lead to the immersive experience "playing" at any time.

2) Lack of natural sense of balance: under normal conditions, vision is the most important feedback channel for balance information of the human body. After wearing VR glasses, the visual connection between the human body and the real space is cut off, and the sense of touch between the soles of the feet and the ground becomes the only one. The most important control is balanced feedback. The ground that is always in a sliding state, the concave shape and the sole equipped with hard rollers cannot give the human body the correct information of contact with the ground - the human foot has three main contact points, the heel, the heel of the big toe and the little toe. A mechanical structure that forms a triangular support with the ground. The sole equipped with hard rollers destroys the mechanical structure of this triangular support, resulting in a lack of natural balance. Relying on tools such as waist rings and slings to balance external forces not only cannot replace the sense of balance obtained by the human body itself through the contact between the soles of the feet and the ground, but also further deteriorates the tendency of the human body to regain the sense of balance through practice after using VR glasses (similar to closed Eye and one foot balance training).

3) Actions that rely on the soles of the feet to exert force are severely limited: Since the surface in contact with the soles of the feet is always in a sliding state, there is a lack of friction between the soles of the feet and the ground, and the entire surface is a concave surface, which leads to severe limitations in the actions that rely on the soles of the feet to exert force , including but not limited to running, jumping, squatting, sitting, crawling, etc.

4) Then the upper limbs cannot perform large-scale and vigorous movements due to the difficulty of exerting force on the lower limbs, the blocking of waist rings and slings, etc., such as running and swinging arms, waving up and down, bending over to pick up, punching and kicking , tender guns, etc.

The active reset universal treadmill has a complex mechanism: it needs to use a large number and small size of reset devices (such as rollers, or running belts) with active driving functions, which makes it difficult to implement in terms of reliability, practicability and economy. .

Limited movement: At present, only the human-computer interaction function of walking slowly can be provided experimentally, and high-frequency and large-scale movements such as running and jumping cannot be performed.

Poor balance: There is always a dynamic synchronization problem between the mechanical motion of the active reset universal treadmill and the motion of the human body. Any synchronization difference may cause the user to lose balance.

Therefore, the treadmills currently used in the VR field cannot form stepped, rugged and intermittent road surfaces in the real world, and cannot achieve side-shifting effects, which affect the overall experience in the virtual space.

SUMMARY OF THE INVENTION

Aiming at the technical problems existing in the prior art, the present invention provides a ladder-level duplex VR all-around motion and universal treadmill, which can achieve self-adaptive conversion of two road surfaces from plane to ladder, and can reflect the real side-shifting motion. The beneficial effect of the effect.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: a ladder-level duplex VR all-around motion and universal treadmill, including a horizontal rotation structure and a longitudinal motion structure;

The horizontal rotation structure includes a base;

A load-bearing turntable is arranged at the center of the inner bottom end of the base, and a circular arc guide rail is arranged on the base part below the load-bearing turntable; a conductive slip ring is arranged in the center of the load-bearing turntable; the outermost bottom end of the load-bearing turntable is fixedly provided with teeth The bottom end of the ring gear is evenly provided with a plurality of guide rail sliders, the guide rail sliders are installed on the top of the arc guide rail; a buffer is fixed between the guide rail slider and the gear ring; the base A rotary drive device is installed at the inner bottom end of the arc guide rail;

The rotary drive device includes a rotary drive gear and a motor, and the rotary drive gear is meshed with the ring gear; the load-bearing turntable is driven by the rotary drive device to rotate 360°;

The longitudinal motion structure includes a plurality of pedal structures, a main roller guide rail of the pedal base, a secondary roller guide rail of the pedal base, and the treadmill load-bearing brackets on both sides;

The center of the load-bearing turntable is connected to the treadmill load-bearing bracket through a plurality of symmetrically arranged treadmill pushing devices; a driving wheel structure is arranged between the two treadmill load-bearing brackets;

The drive wheel structure includes a drive servo motor and a chain drive gear; the drive wheel structure is mounted on the treadmill load-bearing bracket through a flange bearing; the drive servo motor is drivably connected to the chain drive gear;

The main roller guide rail of the pedal base and the auxiliary roller guide rail of the pedal base are sequentially fixed and installed on the treadmill load-bearing bracket from top to bottom;

Each of the pedal structures includes a pedal and a pedal base, the pedal is mounted on a connecting frame, and the bottom of the connecting frame is provided with a pedal base; the bottom end of the pedal base is fixed with a pedal base support frame; the bottom of the pedal base support frame The main roller of the pedal base and the auxiliary roller of the pedal base are arranged at the end, and are installed on the main roller guide rail of the pedal base through the main roller of the pedal base at the bottom end, and the auxiliary roller guide of the pedal base is installed through the auxiliary roller of the pedal base at the bottom end. Form load-bearing and rolling relationship;

A plurality of the pedal structures are connected by the pedal base connecting pins provided at both ends of the pedal base to form a closure;

The main rollers of the pedal base are all provided with a pedal base drive chain connection shaft, the two ends of each pedal base drive chain connection shaft are provided with a pedal base drive chain, and the teeth of the chain drive gears penetrate into two adjacent adjacent pedals. The base drive chain connects between the shafts.

Preferably, both ends of the treadmill pushing device are respectively connected to the load-bearing turntable and the treadmill load-bearing bracket through hinge shafts.

Preferably, the connecting frame and the pedal base are connected by two sets of multiple pedal pushing devices.

Preferably, the treadmill pushing device adopts a hydraulic push rod, a pneumatic push rod or an electric push rod, so that the treadmill can obtain different postures: horizontal, front and rear inclination, and left and right inclination.

Preferably, the pedal pushing device adopts a hydraulic push rod, a pneumatic push rod or an electric push rod.

Preferably, both ends of the pedal are provided with pedal running belt rollers, and the pedal running belt rollers are provided with a closed-loop pedal running belt surrounding the pedal.

Preferably, a film pressure sensor is installed on the surface of the pedal away from the connecting frame, and the film pressure sensor is located between the surface of the pedal running belt and the opposite surface of the pedal; the surface of the pedal close to the connecting frame is installed with a data transmission device, a wireless charging device A low-friction coefficient slip film is laid on the outer surface of the membrane pressure sensor and the inner surface of the pedal running belt.

Compared with the prior art, the present invention has the beneficial effects as follows: the present invention can realize the adaptive conversion of two kinds of road surfaces from plane to step, and can also adjust the height and angle of the pedal to form an uneven walking road surface, which can be used for simulation. In the VR world, discontinuous roads such as rough roads and stone pier bridge decks can reflect the real side-shifting motion effect.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the top view of the present invention;

Fig. 3 is the partial schematic diagram of A-A of Fig. 2 of the present invention;

Fig. 4 is the partial schematic diagram of B-B of Fig. 2 of the present invention;

Fig. 5 is the structural representation of the pedal base drive chain part of the present invention;

Figure 6 is a side view of the present invention;

Fig. 7 is the front view of the present invention;

8 is a schematic diagram of the internal structure of the base part of the present invention;

Fig. 9 is the schematic diagram when the present invention is applied to go up step;

Fig. 10 is the schematic diagram when the present invention is applied to the lower step;

FIG. 11 is a schematic diagram of the present invention applied to uneven, rough and intermittent road surfaces;

12-13 are schematic diagrams of the present invention when it is applied to fall.

In the figure 1-load-bearing turntable, 2-treadmill pusher, 3-treadmill load-bearing bracket, 4-pedal structure, 5-pedal pusher, 6-pedal running belt, 7-pedal running belt roller, 8-pedal body, 9-Pedal base, 10-Pedal base support frame, 11-Pedal base main roller, 12-Pedal base auxiliary roller, 13-Pedal base connecting pin, 14-Pedal base drive chain, 15-Pedal base drive chain connecting shaft, 16 -Pedal base main roller guide rail, 17- pedal base auxiliary roller guide rail, 18- drive wheel structure, 19- base, 20- guide rail slider, 21- arc guide rail, 22- conductive slip ring, 23- slewing drive device, 24 - Chain drive gear, 25- flange bearing, 26- ring gear, 27- connecting frame.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The embodiment of the present invention discloses a ladder-level duplex VR all-around motion and universal treadmill. As shown in the figure, it includes a horizontal rotation structure and a longitudinal motion structure;

The horizontal rotation structure includes a base 19;

The center of the inner bottom end of the base 19 is provided with a load-bearing turntable 1, and the part of the base 19 under the load-bearing turntable 1 is provided with a circular arc guide rail 21; the center of the load-bearing turntable 1 is provided with a conductive slip ring 22; There is a gear ring 26, the bottom end of the gear ring 26 is evenly provided with a plurality of guide rail sliders 20, the guide rail sliders 20 are installed on the top of the arc guide rail 21; a buffer is fixed between the guide rail slider 20 and the gear ring 26; A rotary drive device 23 is installed on the inner bottom end of the base 19 on the inner side of the arc guide rail 21;

The rotary drive device 23 includes a rotary drive gear and a motor, and the rotary drive gear is meshed with the ring gear 26; the load-bearing turntable 1 is driven by the rotary drive device 23 to rotate 360°;

The longitudinal motion structure includes a plurality of pedal structures 4, the main roller guide rail 16 of the pedal base, the auxiliary roller guide rail 17 of the pedal base, and the treadmill load-bearing brackets 3 on both sides;

The center of the load-bearing turntable 1 is connected to the treadmill load-bearing bracket 3 through a plurality of treadmill pushing devices 2 arranged symmetrically; a driving wheel structure 18 is arranged between the two treadmill load-bearing brackets 3;

The drive wheel structure 18 includes a drive servo motor and a chain drive gear 24; the drive wheel structure 18 is mounted on the treadmill bearing bracket 3 through a flange bearing 25; the drive servo motor is drivingly connected with the chain drive gear 24;

The main roller guide rail 16 of the pedal base and the auxiliary roller guide rail 17 of the pedal base are sequentially fixed and installed on the treadmill bearing bracket 3 from top to bottom;

Each pedal structure 4 includes a pedal 8 and a pedal base 9. The pedal 8 is mounted on a connecting frame 27, and the bottom of the connecting frame 27 is provided with a pedal base 9; the bottom end of the pedal base 9 is fixedly provided with a pedal base support frame 10; The bottom end of the support frame 10 is provided with the main roller 11 of the pedal base and the auxiliary roller 12 of the pedal base, and is installed on the main roller guide rail 16 of the pedal base through the main roller 11 of the pedal base provided at the bottom end, and the auxiliary roller of the pedal base is provided at the bottom end. 12 is installed on the auxiliary roller guide rail 17 of the pedal base to form a bearing and rolling relationship;

The plurality of pedal structures 4 are connected by the pedal base connecting pins 13 provided at both ends of the pedal base 9 to form a closure;

The main rollers 11 of the pedal base are all provided with a pedal base driving chain connecting shaft 15, and the two ends of each pedal base driving chain connecting shaft 15 are provided with a pedal base driving chain 14, and the teeth of the chain driving gear 24 penetrate into the adjacent two phases. Adjacent pedal base drive chains are connected between shafts 15 .

In this embodiment, both ends of the treadmill pushing device 2 are respectively connected with the load-bearing turntable 1 and the treadmill load-bearing bracket 3 through hinge shafts.

In this embodiment, the connecting frame 27 and the pedal base 9 are connected by two sets of multiple pedal pushing devices 5 .

In this embodiment, the treadmill pushing device 2 adopts a hydraulic push rod, a pneumatic push rod or an electric push rod, so that the treadmill can obtain different postures: horizontal, front and rear inclination, and left and right inclination.

In this embodiment, the pedal pushing device 5 adopts a hydraulic push rod, a pneumatic push rod or an electric push rod.

In this embodiment, both ends of the pedal 8 are provided with pedal running belt rollers 7 , and the pedal running belt roller 7 is provided with a closed-loop pedal running belt 6 surrounding the pedal 8 .

In this embodiment, a film pressure sensor is installed on the surface of the pedal 8 away from the connection frame 27, and the film pressure sensor is located between the opposite surfaces of the pedal running belt 6 and the pedal 8; the surface of the pedal 8 close to the connection frame 27 is installed with a data transmission device, wireless charger, battery; a low friction coefficient slip film is laid on the outer surface of the membrane pressure sensor and the inner surface of the pedal running belt 6 .

The conductive slip ring 22 is electrically connected to the treadmill pushing device 2 . The conductive slip ring 22 can be used in any electromechanical system that requires continuous rotation while transmitting power and signals from a fixed position to a rotating position. The system performance can be improved, the system structure can be simplified, and the wire can be prevented from being sprained during the rotation process.

Both the horizontal rotation structure and the longitudinal motion structure are connected to external control devices.

The rotary drive device 23 drives the ring gear 26 to rotate, which can drive the load-bearing turntable 1 to rotate horizontally. The treadmill pushing device 2 can be stretched to different lengths, so as to drive the longitudinal motion structure to present different postures. The pedal 8 of the pedal structure 4 is also pushed by the pedal pushing device 5, so that the pedal structure 4 presents different postures.

The chain drive gear 24 drives the pedal base to drive the chain connecting shaft 15 to move, so that the main roller 11 of the pedal base moves along the main roller guide 16 of the pedal base and the auxiliary roller 12 of the pedal base moves along the auxiliary roller guide 17 of the pedal base.

A plurality of running pedals, such as 12 running pedals, are connected by pins to form a running track that rolls and rotates in the x-axis direction (around the y-axis). The x-axis refers to the forward direction, and the y-axis refers to the left-right direction. The human body drives the running track to realize the real movement and relative displacement in the x-axis direction through the lower limbs (walking and running movements) or the elbow and knee joints (crawling and crawling movements) by pedaling the running pedal;

Each running pedal is covered with a running belt that rolls and rotates in the y-axis direction (left and right, around the x-axis). The left and right lateral movement is achieved through the mechanical limit of the human body motion positioning cantilever on the y-axis to achieve the in-situ reset of the left and right lateral movement, so as to obtain an important foot lateral movement function;

In addition to the rotation of the running track driven by human pedaling, the running track can also be driven by a servo motor through a chain drive. Under the running belt, there is a thin film pressure sensor on the top of the pedal, which can monitor the gait of the human body in real time, and automatically control the servo motor of the treadmill to drive the running crawler according to the signal of the external control device. The adaptive speed and direction (front and rear) run to achieve the purpose of reducing human exercise consumption and reducing human exercise injury, so it is called gait adaptive ladder-level duplex treadmill;

The walking surface has two working conditions: flat road surface and stepped road surface. A walking gradient of 0-45° is formed by the treadmill pushing device, and a step pedal parallel to the ground is formed by the pedal pushing device and the mechanical locking device;

You can also adjust the height and angle of the pedals to form uneven walking surfaces, which can be used to simulate discontinuous roads such as rugged roads and stone pier bridge decks in the VR world;

Push the device through the treadmill to obtain experience functions such as falling, incline, and earthquake.

The film pressure sensor adopts the RX-M3232L type on the market to monitor the foot movement in real time; the pressure sensor matrix collects the pressure exerted on the pedal by the human body movement in real time (including the body part applying pressure, the pressure level, the start and end time of the pressure point, the pressure The body parts that can apply pressure include the sole of the foot (which can be subdivided into several different pressure points such as the heel, the root of the big toe, the heel of the little toe, the lateral edge of the sole of the foot, etc.), knee joint, palm, elbow Joints, etc.; driven by the power of the lower limbs of the human body to kick back and forth or the upper limbs to do crawling motion, the running track passively moves forward or backward in a straight line, so as to send a human motion start/stop signal to the control system through the pressure sensor matrix; according to the footsteps Motion data, according to the operation mode set by the host system, control the drive servo motor to run according to the given start and stop time, rotation direction and rotation frequency, and drive the running track shoes through the drive gear and drive chain according to the direction suitable for the movement of the human body, Speed and time to do linear motion, thereby reducing the overall energy consumption of the human body during running, preventing human running injury; and at the same time controlling the gait and movement of the user's mapped character in the virtual space.

Steering function description: Control the load-bearing turntable 1 to rotate through the control system to follow and match the user's travel direction.

Slope function description: Enter the slope road mode, the treadmill pusher 2 drives the entire longitudinal motion structure to form a slope of 1 to 45° relative to the (x, y) plane, which is used to simulate uphill, downhill, left and right slopes.

Step function description: In the slope road mode, the pedal push device 5 pushes the front end or rear end of the pedal structure 4 to rise up until the plane of the pedal 8 is parallel to the (x, y) plane, that is, the horizontal plane, forming a ladder, so as to obtain ascending and descending ladder.

Interrupted pavement function description: The pedal push device 5 pushes the front and rear ends of the pedal structure 4 to rise up, forming a raised structure higher than the entire running plane, which is used to simulate intermittent pavement, rugged pavement, bridge pier road, hurdles, etc. pavement structure.

Running instructions:

1) The stride triggers the treadmill to run

Whether the user moves forward or backward, after the pressure sensor detects the pressure, direction and size of the foot movement, the servo motor is driven to drive the pedal structure 4 to run in accordance with the user's gait, thereby reducing the user's running physical energy consumption and improving comfort and game use time. ;

In the case of sudden stop or sudden start of the user, the pedal structure 4 can be operated in the best buffer and protection mode, so as to reduce sports injuries and improve the level of sports health management;

2) The stride triggers the turning of the rotary treadmill

The direction of the sole of the foot moves obliquely for one stride to trigger the turning of the treadmill until the direction of the sole of the foot returns to the front (the direction of the sole of the foot is detected by the pressure sensor matrix)

3) Traverse

The pedal running belt 6 is driven to move left and right along the y-axis through the side pedaling of the legs; since the human body motion positioning cantilever provides a force-generating support point at the root of the thigh, there is a low friction coefficient between the bottom of the pedal running belt 6 and the top of the pedal 8 The synovial membrane makes the lateral movement easy to exert force and requires less force. Therefore, the left and right lateral movement is carried out in the way of full passive movement and reset, and the overall performance is better than other omnidirectional treadmills that also require active drive and reset in the y-axis direction.

4) Drop

Through the treadmill pushing device 2, the longitudinal motion structure is pulled down vertically by 10-40 cm, so that the human body is suspended in the air instantly, and then descends the road for a distance of 5-30 cm, so as to obtain a real falling experience. Then you can choose the running belt board to catch the user's feet (you can also change the body posture to be level, so that both hands and feet are on the ground) to simulate falling to the ground; you can choose an external human motion positioning cantilever to bear the weight, let the whole body hang in the air, and simulate skydiving ;Due to the existence of the external human motion positioning cantilever, the impact of falling to the ground is actually very slight;

5) Automatic run

With your feet on the back of the track, perform a forward automatic run;

With your feet on the front of the track, perform a backward automatic run.

The present invention has been described in detail above through the embodiments, but the content is merely an exemplary embodiment of the present invention, and cannot be considered to limit the scope of implementation of the present invention. The protection scope of the present invention is defined by the claims. Anyone who uses the technical solutions described in the present invention, or those skilled in the art, under the inspiration of the technical solutions of the present invention, design similar technical solutions within the spirit and protection scope of the present invention to achieve the above-mentioned technical effects, or to Equivalent changes and improvements made in the scope of the application shall still fall within the scope of protection covered by the patent of the present invention. It should be noted that, for the sake of clarity, the description of the present invention omits some descriptions of components and processes that are not directly and obviously related to the protection scope of the present invention but are known to those skilled in the art.

Claims (7)

1. a ladder-level duplex VR all-around motion and universal treadmill, is characterized in that, comprises horizontal rotation structure and longitudinal motion structure; The horizontal rotation structure includes a base (19); A load-bearing turntable (1) is arranged at the center of the inner bottom end of the base (19), and a circular arc guide rail (21) is arranged on the part of the base (19) below the load-bearing turntable (1); A conductive slip ring (22) is provided; the outermost bottom end of the load-bearing turntable (1) is fixedly provided with a gear ring (26), and the bottom end of the gear ring (26) is evenly provided with a plurality of guide rail sliders (20) , the guide rail slider (20) is installed on the top of the arc guide rail (21); a buffer is fixed between the guide rail slider (20) and the gear ring (26); the inner bottom of the base (19) A rotary drive device (23) is installed on the inner side of the arc guide rail (21); The rotary drive device (23) includes a rotary drive gear and a motor, and the rotary drive gear is meshed with the ring gear (26); The longitudinal motion structure includes a plurality of pedal structures (4), a main roller guide rail (16) of the pedal base, a secondary roller guide rail (17) of the pedal base, and treadmill load-bearing brackets (3) on both sides; The center of the load-bearing turntable (1) is connected to the treadmill load-bearing bracket (3) through a plurality of treadmill pushing devices (2) arranged symmetrically; a drive wheel structure is arranged between the two treadmill load-bearing brackets (3). (18); The drive wheel structure (18) includes a drive servo motor and a chain drive gear (24); the drive wheel structure (18) is mounted on the treadmill load-bearing bracket (3) through a flange bearing (25); the drive servo motor drivingly connected with the chain drive gear (24); The main roller guide rail (16) of the pedal base and the auxiliary roller guide rail (17) of the pedal base are sequentially fixed and installed on the treadmill load-bearing bracket (3) from top to bottom; Each of the pedal structures (4) includes a pedal (8) and a pedal base (9), the pedal (8) is mounted on a connecting frame (27), and the bottom of the connecting frame (27) is provided with a pedal base (9); The bottom end of the pedal base (9) is fixedly provided with a pedal base support frame (10); the bottom end of the pedal base support frame (10) is provided with a pedal base main roller (11) and a pedal base auxiliary roller (12), and The pedal base main roller (11) provided at the bottom end is installed on the pedal base main roller guide rail (16), and the pedal base auxiliary roller (12) provided at the bottom end is installed on the pedal base auxiliary roller guide rail (17) to form a load bearing. relationship with rolling; The plurality of pedal structures (4) are connected by pedal base connecting pins (13) provided at both ends of the pedal base (9) to form a closure; The pedal base main rollers (11) are all provided with pedal base drive chain connection shafts (15), and pedal base drive chains (14) are installed at both ends of each pedal base drive chain connection shaft (15), and the chain drive gears The teeth of (24) protrude between two adjacent pedal base drive chain connecting shafts (15). 2. A ladder-level duplex VR all-around motion and universal treadmill according to claim 1, wherein the two ends of the treadmill pushing device (2) pass through the hinge shaft and the load-bearing turntable (1) respectively. , The treadmill load-bearing bracket (3) is connected. 3. A ladder-level duplex VR all-around motion and universal treadmill according to claim 1, wherein the connecting frame (27) and the pedal base (9) are pushed by two sets of multiple pedals The device (5) is connected. 4. a kind of ladder-level duplex VR all-around motion and universal treadmill according to claim 1, is characterized in that, described treadmill pusher (2) adopts hydraulic push rod, pneumatic push rod or electric push rod, The treadmill can get different postures: horizontal, front and rear incline, left and right incline. 5. A ladder-level duplex VR all-around motion and universal treadmill according to claim 3, characterized in that, the pedal pushing device (5) adopts a hydraulic push rod, a pneumatic push rod or an electric push rod. 6. A ladder-level duplex VR all-around exercise and universal treadmill according to claim 1, characterized in that, both ends of the pedal (8) are provided with pedal running belt rollers (7), and the pedal running The belt roller (7) is provided with a closed-loop pedal running belt (6) surrounding the pedal (8). 7. A ladder-level duplex VR all-around motion and universal treadmill according to claim 6, wherein a film pressure sensor is installed on the surface of the pedal (8) away from the connecting frame (27), and the film The pressure sensor is located between the opposite surfaces of the pedal running belt (6) and the pedal (8); the surface of the pedal (8) close to the connecting frame (27) is installed with a data transmission device, a wireless charger, and a battery; The outer surface of the pressure sensor and the inner surface of the pedal running belt (6) are coated with a low friction coefficient slip film.

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