CN106363606A - Humanoid robot capable of accurately simulating human body form, operating method and system - Google Patents
Humanoid robot capable of accurately simulating human body form, operating method and system Download PDFInfo
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- CN106363606A CN106363606A CN201610857406.0A CN201610857406A CN106363606A CN 106363606 A CN106363606 A CN 106363606A CN 201610857406 A CN201610857406 A CN 201610857406A CN 106363606 A CN106363606 A CN 106363606A
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- humanoid robot
- model
- telescopic component
- muscle
- human body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The invention relates to a humanoid robot capable of accurately simulating the human body form, an operating method and a system. The humanoid robot comprises a stretchable framework, and the stretchable framework is used for controlling all part muscle models constituting a humanoid robot body to stretch or contract. According to the humanoid robot, through stretchable moving steel rails and corresponding mechanisms, accurate body and muscle states of a testee can be constructed and simulated, and the humanoid robot is superior to a traditional adjustable robot in the aspects of structure and transforming method and principle; and the humanoid robot is divided into a plurality of layers of stretchable assemblies according to the structure of human bodies and combined and matched with a cut plastic human body model to represent a human body fitting result jointly, and an accurate and rapid transformation effect is achieved.
Description
Technical field
The present invention relates to a kind of fitting robot, more particularly to a kind of class robot that can accurately simulate human body type
People, more can accurately deform and simulate the physical trait of measured, and then completes to replace the function of people's fitting.
Background technology
In recent years, ecommerce is extremely hot, and the turnover having expert's conservative estimation ecommerce in 2016 is up to 22
Hundred million yuan, and with lasting the developing of annual 5 percent rate of increase.In many cyber, the proportion that dress ornament class accounts for is
In all kinds of commodity at most, about 1/3rd.These phenomenons are undivided with the advantage of electric business, because people are several on network
It is available from anything that oneself wants, it is convenient, economical, convenient.
Although the proportion of dress ornament class is very big, the return of goods rate (all trade companies averagely reach 15.07%) being under not is clothes
Decorations class commodity in the very important problem of one of ecommerce it is believed that a lot of people both know about " buyer's show " and " buyer's show " this
Two words, this two words illustrate buying dress ornament class commodity problem encountered, and model is fit, buys and misfits, Taobao
On dress ornament class return of goods rate be up to 30%, and the money of return goods time used and extra consumption makes electric business with respect to entity business
The advantage in shop is simultaneously inconspicuous, and the cost of shopping also greatly increases.
Presently, there are the analogy method of some simulations human body type, such as Chinese patent " the class people of energy matching trunk form
Humanoid robot 201510765615.8 " disclose a kind of adjustable robot, using three connecting rod frame for movements and customization shoulder
Matching mechanism member trunk form matching robot；Chinese patent " adjustable type clothing cutting cloth anthropometric dummy
201220138974.2 " disclose a kind of adjustable type clothing cutting cloth anthropometric dummy, human body is layered, by controlling bracing ring long
Degree, realizes the regulation of human figure.
Content of the invention
It is an object of the invention to provide a kind of humanoid robot, method of work and system, it is suitable to accurately simulate to construct
The fitting humanoid robot of human body type, meets the clothes effect of various builds.
In order to solve above-mentioned technical problem, the invention provides a kind of humanoid robot, comprising: flexible skeleton, described stretch
Contracting skeleton is used for controlling each position muscle model constituting class robot body to stretch or shrink.
Further, described flexible skeleton includes: the telescopic component of some vertical pile, and each telescopic component is all by corresponding
Vertical support column supports；And described telescopic component be suitable to drive respective muscle model at least forward, rear stretched or received
Contracting.
Further, in described telescopic component, front is connected with chest or abdominal muscleses model, and rear then connects back
Or buttocks muscles model.
Further, described telescopic component is further adapted for stretching to both sides or shrinking, and that is, side connects flank muscle model.
Further, described telescopic component includes: substrate, and the upper and lower end face of substrate be separately installed with left and right for connecting
Symmetrical chest or the telescoping mechanism of abdominal muscleses model and back or buttocks muscles model；Wherein
Described telescoping mechanism includes: motor, and described motor is suitable to carry carry-over bar to be moved forward or rearward to control
The supporting mechanism that system is located at telescopic slide rail front end stretches or shrinks；
And, for controlling left and right symmetrical chest or the stretching, extension of abdominal muscleses model or two tooth bars shrinking slightly to open.
Further, the upper and lower end face of described substrate is also separately installed with for connecting the flexible of both sides flank muscle model
Mechanism, and two telescoping mechanisms are connected with upper surface and/or lower surface by corresponding pad respectively；And the structure of each telescoping mechanism
All same.
Further, described supporting mechanism includes: for connecting the connector of telescopic slide rail one end, this connector is fixed
There is pedestal, and pedestal is connected with fork arm；
When described supporting mechanism supports chest or abdominal muscleses model, the associated end of described fork arm is connected to arc
Shape bar；The draw-in groove cooperation that wherein said bow is suitable to the medial surface with muscle or abdominal part model is slided；And
When described supporting mechanism support ribs muscle model, the associated end of described fork arm is adapted to flank muscle mould
Type.
Further, in described telescopic component each motor by control module control, and this control module connect upper
Machine, to receive deformation instruction.
Another aspect, present invention also offers a kind of method of work of humanoid robot.
The method of work of described humanoid robot is used for controlling each position constituting class robot body by flexible skeleton
Muscle model stretches or shrinks.
The third aspect, present invention also offers a kind of humanoid robot system.
Described humanoid robot system includes host computer, described humanoid robot；Described host computer is suitable to control class man-machine
Each position muscle model of device human body stretches or shrinks.
The invention has the beneficial effects as follows, the humanoid robot of the present invention by telescopic movable rail and corresponding each mechanism,
Can be with component and the accurate body and the muscular states that simulate tester, than traditional from structure and deformation method and principle
Adjustable robot is more superior, if this humanoid robot is divided into dried layer telescopic component according to organization of human body, with cutting
The combined cooperation of plastics anthropometric dummy, characterized human body fitting result, reach the effect of accurate rapid deformation.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the side view of the flexible skeleton of the humanoid robot of the present invention；
Fig. 2 is the partial illustrations of the flexible skeleton of the present invention；
Fig. 3 is the top view of the flexible skeleton of the present invention；
Fig. 4 is the configuration diagram of the supporting mechanism of the present invention.
In figure: flexible skeleton 1, vertical support column 101, telescopic component 110, substrate 111；Telescoping mechanism 112, motor
112a, tooth bar 112b, telescopic slide rail 112c, pad 112d；Supporting mechanism 113, connector 113a, pedestal 113b, fork arm
113c, bow 113d.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
Illustration illustrates the basic structure of the present invention, and therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in Figure 1 to Figure 3, the present embodiment 1 provides a kind of humanoid robot, comprising: flexible skeleton 1, described flexible
Skeleton 1 is used for controlling each position muscle model constituting class robot body to stretch or shrink.
Fig. 1 only shows the structure of flexible skeleton 1, does not show each position muscle model, and specifically, Fig. 1 is this flexible skeleton 1
Side view.
Described flexible skeleton 1 includes: the telescopic component 110 of some vertical pile, and each telescopic component 110 is all by vertical
Support column 101 supports；And described telescopic component 110 be suitable to drive respective muscle model at least forward, rear stretched or
Shrink.
In described telescopic component 110, front is connected with chest or abdominal muscleses model, and rear then connects back or buttockss
Portion's muscle model.
Described telescopic component 110 is further adapted for stretching to both sides or shrinking, and that is, side connects flank muscle model.
It is used for simulating multiple monolayer mechanisms of buttockss, breast, waist, shoulder positioned at different telescopic components 110, can more accurately control
Form with simulation human body.
Described telescopic component 110 includes: substrate 111, and the upper and lower end face of substrate 111 be separately installed with for connect a left side,
Right symmetrical chest or the telescoping mechanism 112 of abdominal muscleses model and back or buttocks muscles model；Wherein said telescoping mechanism
112 include: motor 112a, described motor 112a be suitable to carry carry-over bar 112b be moved forward or rearward with control be located at
The supporting mechanism 113 of telescopic slide rail 112c front end stretches or shrinks；And, it is used for controlling left and right symmetrical chest or abdominal part
Muscle model stretches or two tooth bar 112b of contraction slightly open, the interval that such as but not limited to 0-15 ° of opening angle.
Wherein, described substrate 111 such as but not limited to adopts acrylic board.Vertical support column 101 and substrate 111 for example but
It is not limited to be connected using triangle ironware.
Described motor 112a such as but not limited to adopts motor, and this motor is carried out admittedly by gripper shoe
Fixed, and engaged by driving tooth wheel and rack 112b, stretch or shrink to realize supporting mechanism 113.
The upper and lower end face of described substrate 111 is also separately installed with the telescoping mechanism for connecting both sides flank muscle model
112, and two telescoping mechanisms 112 are connected with upper surface and/or lower surface by corresponding pad 112d respectively；And each telescoping mechanism
Structure all same.
As shown in figure 4, described supporting mechanism 113 includes: for connecting the connector of telescopic slide rail 112c one end
113a, this connector 113a is fixed with pedestal 113b, and pedestal 113b is connected with fork arm 113c；When described supporting mechanism 113
When support chest or abdominal muscleses model, the associated end of described fork arm 113c is connected to bow 113d；Wherein said arc
The draw-in groove cooperation that shape bar 113d is suitable to the medial surface with muscle or abdominal part model is slided；And when described supporting mechanism 113 supports
During flank muscle model, the associated end of described fork arm 113c is adapted to flank muscle model.
Specifically, it is provided with center positioning hole in the middle part of described pedestal 113b, fix with connector 113a, and the four of pedestal 113b
Side is equipped with the installing hole of fork arm 113c.
In described telescopic component 110, each motor 112a is by control module control, and this control module connect upper
Machine, to receive deformation instruction.Described control module such as but not limited to adopts flush bonding processor module, and passes through motor
Driver is connected with motor, and described host computer such as but not limited to adopts pc machine, by serial ports by build instruction input extremely
Control module, and then realize the build control to humanoid robot.
Use when, motor upper electricity and after control module sends the signal of telecommunication, through step motor drive
Afterwards, drive driving gear rotation to carry carry-over bar 112b motion after meshed transmission gear, and then drive telescopic slide rail 112c
And supporting mechanism 113 above moves.When robot expands or shrinks figure, supporting mechanism 113 deforms, and arc therein is moulded
Material bar is slided with the draw-in groove cooperation of muscle or the medial surface of abdominal part model, to realize deforming.
As shown in figure 3, f1 is the front of robot, that is, correspond to chest and abdominal part；F2 is the rear of robot, i.e. the corresponding back of the body
Portion and buttocks；The left side of vertical support column 101 and right side are two flanks of robot, and multiple positions coordinate composition smart jointly
Really simulate the humanoid robot of human body type.
As can be seen here, this humanoid robot achieves escalation, accurately jointly by the corresponding telescoping mechanism 112 of each layer
The fast-changing humanoid robot characterizing human body special permit, obvious technical effects project.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of method of work of humanoid robot,
This method of work, is used for controlling each position muscle model constituting class robot body to stretch by flexible skeleton 1
Exhibition or contraction.
Embodiment 3
On the basis of embodiment 1, the present embodiment 3 provides a kind of humanoid robot system.
Described humanoid robot system includes host computer, humanoid robot as described in Example 1；Described host computer is suitable to
Each position muscle model of humanoid robot body is controlled to stretch or shrink.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely various change and modification can be carried out in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description it is necessary to determine its technical scope according to right.
Claims (10)
1. a kind of humanoid robot is it is characterised in that include: flexible skeleton, and described flexible skeleton is used for controlling composition class machine
Each position muscle model of human body stretches or shrinks.
2. humanoid robot according to claim 1 it is characterised in that
Described flexible skeleton includes: the telescopic component of some vertical pile, and each telescopic component is all by corresponding vertical support column
Support；And
Described telescopic component be suitable to drive respective muscle model at least forward, rear stretched or shunk.
3. humanoid robot according to claim 2 it is characterised in that
In described telescopic component, front is connected with chest or abdominal muscleses model, and rear then connects back or buttocks muscles
Model.
4. humanoid robot according to claim 3 it is characterised in that described telescopic component be further adapted for both sides stretch or
Shrink, that is,
Side connects flank muscle model.
5. humanoid robot according to claim 4 is it is characterised in that described telescopic component includes: substrate, and substrate
Upper and lower end face is separately installed with for connecting left and right symmetrical chest or abdominal muscleses model and back or buttocks muscles model
Telescoping mechanism；Wherein
Described telescoping mechanism includes: motor, and described motor is suitable to carry carry-over bar to be moved forward or rearward with control bit
Supporting mechanism in telescopic slide rail front end stretches or shrinks；
And, for controlling left and right symmetrical chest or the stretching, extension of abdominal muscleses model or two tooth bars shrinking slightly to open.
6. humanoid robot according to claim 5 it is characterised in that
The upper and lower end face of described substrate is also separately installed with the telescoping mechanism for connecting both sides flank muscle model, and two stretch
Contracting mechanism is connected with upper surface and/or lower surface by corresponding pad respectively；And
The structure all same of each telescoping mechanism.
7. humanoid robot according to claim 6 it is characterised in that
Described supporting mechanism includes: for connecting the connector of telescopic slide rail one end, this connector is fixed with pedestal, and base
Seat is connected with fork arm；
When described supporting mechanism supports chest or abdominal muscleses model, the associated end of described fork arm is connected to arc
Bar；The draw-in groove cooperation that wherein said bow is suitable to the medial surface with muscle or abdominal part model is slided；And
When described supporting mechanism support ribs muscle model, the associated end of described fork arm is adapted to flank muscle model.
8. humanoid robot according to claim 7 is it is characterised in that each motor is by control in described telescopic component
Molding block controls, and this control module connects host computer, to receive deformation instruction.
9. a kind of method of work of humanoid robot constitutes class robot originally it is characterised in that being used for controlling by flexible skeleton
Each position muscle model of body stretches or shrinks.
10. a kind of humanoid robot system is it is characterised in that include host computer, the class people as described in any one of claim 1-8
Robot；
Described host computer is suitable to control each position muscle model of humanoid robot body to stretch or shrink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857406.0A CN106363606B (en) | 2016-09-27 | 2016-09-27 | A kind of humanoid robot, working method and system that can accurately simulate human body type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610857406.0A CN106363606B (en) | 2016-09-27 | 2016-09-27 | A kind of humanoid robot, working method and system that can accurately simulate human body type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106363606A true CN106363606A (en) | 2017-02-01 |
| CN106363606B CN106363606B (en) | 2018-09-21 |
Family
ID=57897700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610857406.0A Expired - Fee Related CN106363606B (en) | 2016-09-27 | 2016-09-27 | A kind of humanoid robot, working method and system that can accurately simulate human body type |
Country Status (1)
| Country | Link |
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| CN (1) | CN106363606B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397310A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109397312A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN110570285A (en) * | 2019-09-12 | 2019-12-13 | 王春林 | Database building system and method for fitting clothes by fitting robot |
Citations (5)
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| US4493445A (en) * | 1982-06-01 | 1985-01-15 | A. E. Arthur Limited | Bodyforms |
| EP0143284A1 (en) * | 1983-10-31 | 1985-06-05 | Beatrice Y. Nishi | Garment pattern form |
| CN101961186A (en) * | 2009-07-24 | 2011-02-02 | 董珂 | Adjustable designed model |
| CN103564899A (en) * | 2012-08-07 | 2014-02-12 | 香港理工大学 | Intelligent adjustable human body model |
| CN204519459U (en) * | 2015-01-09 | 2015-08-05 | 耐德科技股份有限公司 | Adjusting device tried on by brassiere |
-
2016
- 2016-09-27 CN CN201610857406.0A patent/CN106363606B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4493445A (en) * | 1982-06-01 | 1985-01-15 | A. E. Arthur Limited | Bodyforms |
| EP0143284A1 (en) * | 1983-10-31 | 1985-06-05 | Beatrice Y. Nishi | Garment pattern form |
| CN101961186A (en) * | 2009-07-24 | 2011-02-02 | 董珂 | Adjustable designed model |
| CN103564899A (en) * | 2012-08-07 | 2014-02-12 | 香港理工大学 | Intelligent adjustable human body model |
| CN204519459U (en) * | 2015-01-09 | 2015-08-05 | 耐德科技股份有限公司 | Adjusting device tried on by brassiere |
Non-Patent Citations (1)
| Title |
|---|
| 何方: "虚拟试衣间演进史", 《科技创业》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109397310A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109397312A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN110570285A (en) * | 2019-09-12 | 2019-12-13 | 王春林 | Database building system and method for fitting clothes by fitting robot |
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| Publication number | Publication date |
|---|---|
| CN106363606B (en) | 2018-09-21 |
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