CN106625599A - Robot model - Google Patents
Robot model Download PDFInfo
- Publication number
- CN106625599A CN106625599A CN201611190287.4A CN201611190287A CN106625599A CN 106625599 A CN106625599 A CN 106625599A CN 201611190287 A CN201611190287 A CN 201611190287A CN 106625599 A CN106625599 A CN 106625599A
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- Prior art keywords
- push rods
- waist
- frame
- tooth bars
- shoulder
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a robot model. The outermost layer of the robot model is a whole complete of elastic shell panels, and the elastic shell panels comprise a neck shell panel assembly, a shoulder shell panel assembly, a chest shell panel assembly, a waist shell panel assembly and a hip shell panel assembly which are sequentially connected from top to bottom; the robot model comprises a neck mechanical structure module, a shoulder mechanical structure module, a chest mechanical structure module, a waist mechanical structure module and a hip mechanical structure module which are sequentially connected from top to bottom; the neck mechanical structure module is installed in the neck shell panel assembly, shoulder mechanical structure module is installed in the shoulder shell panel assembly, the chest mechanical structure module is installed in the chest shell panel assembly, the waist mechanical structure module is installed in the waist shell panel assembly, and the hip mechanical structure module is installed in the hip shell panel assembly. According to the robot model, the body shape of a human body is accurately simulated, remote fitting is completed by replacing a real person, and the interactivity and the reality of virtual fitting are enhanced.
Description
Technical field
The present invention relates to a kind of model, more particularly to a kind of robot model.
Background technology
Nowadays, internet High-speed Development of Retail Trade.Clothes are produced as the consumer goods important in life, the retail in internet
Occupy very big proportion in product, but because on-line purchase clothes can not be tried in person, and the garment production mark of different manufacturers
Accurate different so that customer is difficult in online purchase to fit clothes, so as to cause higher return of goods rate, this causes to save originally
Money, labour-saving purchase clothing online become to spend high and waste time and energy.The present invention can replace true man remotely to be fitted and to examination
Clothing result is fed back, or matched the most to consumer's recommendation and its build by the fitting results repository of search previously foundation
Fitting result.
With the raising of people's quality of life, increasing consumer selects custom made clothing.In the process of custom made clothing
Middle to require that client carries out repeatedly fitting to determine the fit degree of clothes, then geographical position has become restriction custom made clothing industry and has sent out
One key factor of exhibition.The present invention solves this problem, only the size and shape data of client need to be passed into robot mould
Spy, robot just can simulate the body shape of client to replace true man to be fitted, and the custom made clothing for making strange land is possibly realized.
During dress designing, designer would generally use the clothing of the different sizes of mannequins design of different model
Clothes, these mannequins size and dimensions are fixed, and need larger storage area, the body model in the present invention to be deformed into
Various continuous sizes and form, can replace a whole set of mannequins.
In adjustable body model field, some researchs have been done with institution of higher learning by some companies.China Patent No. is
ZL200910304780.8 adjustable design models, it includes support and manikin, and manikin is divided into four parts, each portion
Divide and linked together by the attachment means on support and regulation lock, between regulation lock passes through to adjust between manikin each several part
Away from changing moulded dimension, but it can only manually adjust overall size, it is impossible to individually adjust each key position size of human body
And shape, it is of limited application.A kind of body model of size adjustable of China Patent No. ZL201510324816.4, it includes mould
Special body, arm and lower limb, model body is provided with polylith activity template, can be to the chi of the portions such as the shoulder of model, waist
Little progress row is independently adjusted, and it need to be manually operated, and the spacing and shape between activity template is fixed, and is simulated human figure and is more fixed.
European Patent Application No. is the adjustable models of 13827494.9 intelligence, it include body parameter input module, model trunk structure,
Adjustable panel composition, can adjust neck circumference, and bust, waistline, the size of hip circumference, housing face-plate is made up of hard material, shape
Lack pliability, can simulated person's shape it is limited.U.S. Patent Application No. is 12/562,560 custom tailoring for being used for clothing
With the method and system of retail, including the body model of a computer controllable deforming, but the body model only includes shoulder
Portion's structure and neck structure, deformable position is extremely limited.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of body shape of accurate simulation human body, replaces true man to complete far
Journey is fitted；Can reduce the return of goods rate of clothes on-line purchase, improve the efficiency of custom made clothing, strengthen virtual fitting interactivity and
The robot model of authenticity.
To achieve these goals, technical scheme is as follows：
A kind of robot model, the outermost layer of robot model is a whole set of elastic housing panel, the elastic housing
Panel include the neck housing face-plate group being sequentially connected from top to bottom, shoulder housing face-plate group, chest housing face-plate group, outside waist
Shell surface plate group and buttocks housing face-plate group；Robot model includes the neck frame for movement mould being sequentially connected from top to bottom
Block, shoulder frame for movement module, chest frame for movement module, waist frame for movement module and buttocks frame for movement module；Neck
Portion's frame for movement module is arranged in neck housing face-plate group, and shoulder frame for movement module is arranged in shoulder housing face-plate group,
Chest frame for movement module is arranged in chest housing face-plate group, and waist frame for movement module is arranged on waist housing face-plate group
Interior, buttocks frame for movement module is arranged in buttocks housing face-plate group；Robot model is arranged on installing rack, and installing rack is installed
On base；Universal wheel of the bottom of base equipped with four strap brakes.
Neck housing face-plate group is enclosed four pieces of housing face-plates and is constituted by neck one, and shoulder housing face-plate group encloses eight pieces by shoulder one
Housing face-plate is constituted, and chest housing face-plate group is enclosed five pieces of housing face-plates and constituted by chest one, and waist housing face-plate group is by waist one
Six pieces of housing face-plate compositions of circle, buttocks housing face-plate group is enclosed six pieces of housing face-plates and is constituted by buttocks one.
Neck frame for movement module includes No. seven motors and neck mounting platform, and No. seven motors are arranged on motor cabinet, electricity
Support is arranged on the top of installing rack, and neck mounting platform is installed together with No. seven motors, is provided with the axle of No. seven motors
Gear and lower gear, be provided with neck mounting platform No. nine tooth bars, No. ten tooth bars, No. eight push rods, No. nine push rods, No. ten push away
Bar and ride on Bus No. 11 push rod；No. nine tooth bars, No. ten tooth bars are engaged respectively with gear, and No. nine tooth bars and No. eight push rods are fixed and connected
Connect, No. ten tooth bars are fixedly connected with No. nine push rods, and ride on Bus No. 11 push rod is meshed by tooth bar with lower gear, No. ten push rods pass through tooth
Bar is meshed with lower gear；A number flat board and No. two flat boards are installed, a flat board and No. nine push rods are consolidated on neck mounting platform
It is scheduled on together, No. two flat boards are fixed together with No. eight push rods, angle degree of being and every push rod is highly identical between adjacent push rod, eight
Number push rod, the top of No. nine push rods, No. ten push rods and ride on Bus No. 11 push rods are mounted on neck housing face-plate group.
Shoulder frame for movement module includes identical Zuo Jian mechanism and You Jian mechanisms, and Zuo Jian mechanisms include with You Jian mechanisms
Shoulder mounting platform, shoulder mounting platform be provided with No. two motors, tooth bar, slide block, two grades of mounting platform, three
Number motor, No. two tooth bars, No. two slide blocks, No. two two grades of mounting platforms, push rod, No. two push rods, No. three push rods, No. four push away
Bar, No. three slide blocks, No. four slide blocks, No. three guide rails, No. five slide blocks, No. six slide blocks, No. four guide rails, No. three tooth bars and No. four teeth
Bar；Shoulder mounting platform is fixed on installing rack by three corner fittings, and a gear, a tooth are provided with the axle of No. two motors
Wheel is installed together with a tooth bar intermeshing, a tooth bar, a slide block and two grades of mounting platforms, and shoulder is installed
A number guide rail is installed, a slide block is arranged on a guide rail on platform, No. two gears are installed on the axle of No. three motors, two
Number gear and No. two tooth bars intermeshings, No. two tooth bars, No. two slide blocks and No. two two grades of mounting platforms are installed together, shoulder
No. two guide rails are installed, No. two slide blocks are arranged on No. two guide rails, and on No. two two grades of mounting platforms electricity is provided with mounting platform
Machine support, is provided with No. four motors on electric machine support, the top of No. four motors is equipped with gear, gear simultaneously with No. three tooth bars, four
Number tooth bar engagement, No. three tooth bars are installed together with No. two push rods, and No. four tooth bars are installed together with a push rod, No. two push rods
It is connected with No. five slide blocks, No. four push rods are connected with No. six slide blocks, No. five slide blocks and No. six slide blocks are arranged on No. four guide rails, No. one
Push rod is connected with No. three slide blocks, and No. three push rods are connected with No. four slide blocks, and No. three slide blocks and No. four slide blocks are arranged on No. three guide rails,
Number push rod, a top for No. two push rods, No. three push rods and No. four push rods are mounted on banding inner casing and shoulder housing face-plate
Group.
Waist mechanical mechanism module includes identical first half waist mechanism and latter half waist mechanism, first half
Waist mechanism and latter half waist mechanism include waist mounting platform, be provided with waist mounting platform No. five motors, five
Number tooth bar, gear train, No. six tooth bars, bracing frame, No. two gear trains, No. seven tooth bars, No. five push rods, No. six push rods, No. five
Guide rail and No. six guide rails；No. three gears are installed on the axle of No. five motors, No. three gears simultaneously with No. five tooth bars, a gear
The lower gear of group is meshed, and No. five tooth bars are installed together with No. six push rods, and a gear train is fixed on waist by gear pedestal
On portion's mounting platform, No. six tooth bars by slide block with guide rails assembling on bracing frame, the upper tooth of No. six tooth bars and No. two gear trains
Wheel is meshed, and the lower gear of No. two gear trains is meshed with No. seven tooth bars, and No. seven tooth bars are installed together with No. five push rods, No. five
Push rod is arranged on No. five guide rails, and on No. six guide rails, the top of push rod is provided with waist housing face-plate group；So as to realize
Simulation to Attacking Midfielder's shape and size, the simulation of low back is similar to；Chest frame for movement module, buttocks frame for movement module respectively with
The structure and mode of texturing of waist frame for movement module is identical.
No. six motors, No. eight tooth bars, No. seven push rods are also equipped with the waist mounting platform of waist mechanical mechanism module with
And No. seven guide rails；No. four gears are installed, No. four gears are meshed with No. eight tooth bars, No. eight tooth bars and seven on the axle of No. six motors
Number push rod is installed together, and No. seven push rods are arranged on No. seven guide rails；Buttocks frame for movement module and waist frame for movement module
Structure and mode of texturing it is identical.
Chest frame for movement module, waist frame for movement module and buttocks frame for movement module include radial motion mould
Block, the radial motion module includes mounting platform, and screw mandrel and feed screw nut are provided with the left of the mounting platform, screw mandrel
Two ends are separately mounted in a bearing block and No. two bearing blocks, and a bearing block is by a ball bearing washer and screw-nut
It is fixed on installing rack, No. two bearing blocks are fixed on installing rack by No. two ball bearing washers and screw-nut, the bottom of screw mandrel
End is provided with shaft coupling, and shaft coupling is connected with a motor；Ring flange and optical axis be installed on the right side of mounting platform, optical axis point
Other two ends are arranged in No. three bearing blocks and No. four bearing blocks, and No. three bearing blocks are consolidated by No. three ball bearing washers with screw-nut
It is scheduled on installing rack, No. four bearing blocks are fixed on installing rack by No. four ball bearing washers and screw-nut.
Elastic housing panel adopts silica gel material, and it is the material of elasticity, can simulate the curve form of human body surface, and
And corresponding deformation internally can occur in the presence of frame for movement, robot model includes altogether 29 pieces of elastic housings
Panel, six pieces of four pieces of neck, eight pieces of shoulder, five pieces of chest, six pieces of waist and buttocks, its shell scheme is according to human muscle point
Cloth and model deformation feature carry out block design；Elastic sliding vane is mounted between elastic housing panel, it possesses a fixed length
The chute of degree, it is used so that transition is smooth between housing face-plate and can produce the gap of different distance, to meet simulation not
With human dimension and the demand of form.
Described banding inner casing is supported the use with elastic housing, respectively there is 29 pieces, and these banding inner casings have certain
On the one hand curve form, installation of fitting with elastic housing can ensure that elastic housing panel has the curved surface of corresponding human body
Shape, on the other hand can link together housing face-plate with push rod so that shell can be sent out in the presence of frame for movement
The corresponding displacement of life and deformation；Frame for movement adopts the kind of drive of rack-and-pinion, including neck structure module, shoulder structure mould
Block, chest construction module, waist structure module and buttocks construction module, the realization independent under control of the computer of each module is certainly
Dynamic deformation；Due to the rate of deformation of human body front and rear part it is different, so the front-end geometry of each module separately drives, chest, waist,
Buttocks module also has radial motion structure, and it is mainly changed three distances radially using screw rod transmission mode, is used for
Change height；Control system employs IC design, realizes the control to robot model.It is by the body of user input
Body sized data is converted to the command information that 21 stepper motors can be received, and accurately controls each position frame for movement fortune
It is dynamic, realize the driven machine people model deformation simultaneously of many data；Robot model can change ten main human parameters, including
Neck circumference, shoulder breadth, shoulder are thick, big upper-arm circumference, bust, waistline, hip circumference, shoulder chest away from, chest waist away from waist stern away from.
Using the robot model of above-mentioned technical proposal, neck mechanical mechanism module can realize four push rods along not Tongfang
To horizontal movement, so as to change neck circumference；Shoulder frame for movement module includes identical Zuo Jian mechanism and You Jian mechanisms, left shoulder machine
Structure can realize the self-movement of two two grades of mounting platforms and the horizontal movement of four push rods, Zuo Jian mechanisms with You Jian mechanisms
It is symmetrical with You Jian mechanisms, it is thick so as to change shoulder breadth and shoulder；The front-end geometry of chest frame for movement module separately drives, it is possible to achieve
Along the horizontal movement of different directions, so as to change bust, chest also has radial motion module, can make whole chest five push rods
Portion's frame for movement module in the vertical direction motion a certain distance, so as to change shoulder chest away from, be constitute height change one
Point；The front-end geometry of waist mechanical mechanism module separately drives, it is possible to achieve six roots of sensation push rod along different directions horizontal movement, from
And changing waistline, waist has radial motion module, can make whole waist frame for movement module in the vertical direction motion one
Fixed distance, so as to change chest waist away from, be constitute height change a part；The front-end geometry of buttocks mechanical mechanism module separates
Drive, it is possible to achieve along the horizontal movement of different directions, so as to change hip circumference, buttocks also has radial motion mould to six roots of sensation push rod
Block, can make whole buttocks frame for movement module in the vertical direction motion a certain distance, so as to change waist stern away from, be composition
The part that height changes.
Description of the drawings
Fig. 1 is robot model's system diagram of the present invention；
Fig. 2 is the front view of the robot model of the present invention；
Fig. 3 is the right view of the robot model of the present invention；
Fig. 4 is the rearview of the robot model of the present invention；
Fig. 5 is the axonometric drawing of the robot model of the present invention；
Fig. 6 is the internal structure front view of the robot model of the present invention；
Fig. 7 is the internal structure right view of the robot model of the present invention；
Fig. 8 is the structure chart of radial motion module of the present invention；
Fig. 9 is the axonometric drawing of shoulder frame for movement module of the present invention；
Figure 10 is the front view of shoulder frame for movement module of the present invention；
Figure 11 is the rearview of shoulder frame for movement module of the present invention；
Figure 12 is the top view of shoulder frame for movement module of the present invention；
Figure 13 is the axonometric drawing of waist frame for movement module of the present invention；
Figure 14 is the axonometric drawing of neck frame for movement module of the present invention；
Figure 15 is the top view of neck frame for movement module of the present invention.
Specific embodiment
As shown in figure 1, a kind of robot model system, robot model system 1 include No. two computers 2, network 3,
Number computer 4, controller 5, robot model 6, turntable 7 and a camera 8；No. two computers 2 and a computer 4 lead to
Cross network 3 to connect, computer 4, controller 5 and a robot model 6 are sequentially connected, robot model 6 is arranged on rotation
On platform 7, camera 8 is arranged on the front of robot model 6.
User is input into the chis such as height, neck circumference, shoulder breadth, bust, waist and hip circumference on a computer 4 by interactive interface
Very little parameter, the control system of robot model is received after the dimensional parameters of human body, is calculated in each mechanical module by controller 5
The amount of movement of each mechanical part, is converted into corresponding operational order, and is transferred to robot model 6, and operational order drives each
Stepper motor makees corresponding sports, realizes the deformation of each modular structure, finally completes the simulation of human figure.
In long-range fitting, consumer can remotely use No. two computers 2, by the height of human body, neck circumference, shoulder breadth, chest
Enclose, the dimensional parameters of waistline and hip circumference are transferred on a computer 4 of hotel owner by network 3, hotel owner is first through clothes
With robot model 6, robot model 6 changes the build of robot model according to the information of operational order, realizes fitting effect
Really.In order to show clothes effect in all directions, robot model can be placed on a turntable 7, complete in robot model 6
Into after deformation, the setting in motion of turntable 7, camera 8 shoots the photo or video of one group of fitting result, and is sent to client, allows
Client has a reference frame when the style and size of clothes is selected.
Robot model's system can be used for long-range fitting and custom made clothing, and the clothes that will be tried on wears machine after deformation
On device people model, the photo or video of fitting result is then shot, fitting result is fed back into consumer, be finally completed whole remote
Journey fitting process.In creation, designer obtains first the human dimension and shape information of client, then according to visitor
The size at family and form Design clothes.After completing the making of clothes, client need not be fitted in person, but by robot mould
Spy replaces true man to be fitted to check the fit degree of dress designing.In addition, robot model's system can be also used for clothes
Size is recommended.Robot model is adjusted to different sizes and form by clothes seller first, and tries different styles and size on
Clothes, then by shoot method shoot fitting photo, and be stored into fitting results repository in.User is in interactive interface
Input human parameters, in the fitting result that fitting result library searching is matched the most with its build, it is possible to obtain the chi of system recommendation
Code.
As shown in Fig. 2～15, a kind of robot model, the outermost layer of robot model 6 is a whole set of elastic housing
Panel, for simulating the curve form of human body surface, the elastic housing panel includes the neck shell being sequentially connected from top to bottom
Panel group 9, shoulder housing face-plate group 10, chest housing face-plate group 11, waist housing face-plate group 12 and buttocks housing face-plate group
13；Robot model 6 include be sequentially connected from top to bottom neck frame for movement module 16, shoulder frame for movement module 17,
Chest frame for movement module 18, waist frame for movement module 19 and buttocks frame for movement module 20；Neck frame for movement module
16 are arranged in neck housing face-plate group 9, and shoulder frame for movement module 17 is arranged in shoulder housing face-plate group 10, chest machinery
Construction module 18 is arranged in chest housing face-plate group 11, and waist frame for movement module 19 is arranged on waist housing face-plate group 12
Interior, buttocks frame for movement module 20 is arranged in buttocks housing face-plate group 13；Robot model 6 is arranged on installing rack 14, peace
Shelve 14 to be arranged on base 15；The one side of base 15 can make robot model 6 keep stable, inside another aspect base 15
Space can also be used to that power supply and circuit board are installed；Universal wheel of the bottom of base 15 equipped with four strap brakes so that machine
People model 6 can arbitrarily move or be still in certain position, convenient to carry.
Neck mechanical mechanism module 16 can realize horizontal movement of four push rods along different directions, so as to change neck circumference；
Shoulder frame for movement module 17 includes identical Zuo Jian mechanism and You Jian mechanisms, and Zuo Jian mechanisms and You Jian mechanisms can realize two
The self-movement of two grades of mounting platforms and the horizontal movement of four push rods, Zuo Jian mechanisms are symmetrical with You Jian mechanisms, so as to change
Shoulder breadth and shoulder are thick；The front-end geometry of chest frame for movement module 18 separately drives, it is possible to achieve five push rods are along different directions
Horizontal movement, so as to change bust, chest also has radial motion module 21, whole chest frame for movement module 18 can be made to exist
Motion a certain distance on vertical direction, so as to change shoulder chest away from, be constitute height change a part；Waist mechanical mechanism mould
The front-end geometry of block 19 separately drives, it is possible to achieve six roots of sensation push rod along different directions horizontal movement, so as to change waistline, waist
With radial motion module 21, the in the vertical direction motion a certain distance of whole waist frame for movement module 19 can be made, from
And change chest waist away from, be constitute height change a part；The front-end geometry of buttocks mechanical mechanism module 20 separately drives, can be with
Horizontal movement of the six roots of sensation push rod along different directions is realized, so as to change hip circumference, buttocks also has radial motion module 21, can make
Whole in the vertical direction motion a certain distance of buttocks frame for movement module 20, so as to change waist stern away from being that composition height changes
A part for change.
Neck housing face-plate group 9 is enclosed four pieces of housing face-plates and is constituted by neck one, and shoulder housing face-plate group 10 is enclosed by shoulder one
Eight pieces of housing face-plate compositions, chest housing face-plate group 11 is enclosed five pieces of housing face-plates and is constituted by chest one, waist housing face-plate group 12
Six pieces of housing face-plates are enclosed by waist one to constitute, buttocks housing face-plate group 13 is enclosed six pieces of housing face-plates and constituted by buttocks one.
Neck frame for movement module 16 includes No. seven motors 83 and neck mounting platform 84, and No. seven motors 83 are arranged on motor
On seat 82, motor cabinet 82 is arranged on the top of installing rack 14, and neck mounting platform 84 is installed together with No. seven motors 83, No. seven
Gear 85 and lower gear 86 are installed on the axle of motor 83,87, No. ten teeth of No. nine tooth bars are installed on neck mounting platform 84
90, No. ten push rods 93 of the push rod of push rod 89, nine of bar 88, eight and ride on Bus No. 11 push rod 94；87, No. ten 88 points of tooth bars of No. nine tooth bars
Do not engage with gear 85, No. nine tooth bars 87 are fixedly connected with No. eight push rods 89, No. ten tooth bars 88 and No. nine push rods 90 are fixed and connected
Connect, when gear 85 rotates, No. eight push rods 89 will be moved with No. nine push rods 90 along contrary direction, ride on Bus No. 11 push rod 94 leads to
Cross tooth bar to be meshed with lower gear 86, No. ten push rods 93 are meshed by tooth bar with lower gear 86；Pacify on neck mounting platform 84
Equipped with a flat board 91 and No. two flat boards 92, a flat board 91 is fixed together with No. nine push rods 90, No. two flat boards 92 and No. eight
Push rod 89 is fixed together, and 91, No. two flat boards 92 of a flat board play a part of to ensure that tooth bar is horizontally mounted；Therefore lower gear is worked as
During 86 rotation, No. ten push rods 93, ride on Bus No. 11 push rods 94 will be moved along contrary direction, in sum, when No. seven motors 83 are transported
During row, the gear 85, lower gear 86 on No. seven axles of motor 83 starts simultaneously at rotation, so as to drive No. eight push rods 89,
90, No. ten push rods 93 of No. nine push rods, ride on Bus No. 11 push rod 94 are inwardly or outwardly moved simultaneously, and angle is 90 degree and every between adjacent push rod
Root push rod is highly identical, and the top of No. eight push rods 93 of push rod 90, ten of push rod 89, nine and ride on Bus No. 11 push rod 94 is mounted on
Neck housing face-plate group 9, so as to realize the simulation to neck circumference.
Shoulder frame for movement module 17 includes identical Zuo Jian mechanism and You Jian mechanisms, Zuo Jian mechanisms and You Jian mechanisms Jun Bao
Shoulder mounting platform 37 is included, shoulder mounting platform 37 is provided with No. two slide blocks 44, No. one two of tooth bar 43, of motor 41,
The level slide block 49,2 of tooth bar 48, two two grades of mounting platforms, 50, push rod 53 of motor 46, two of mounting platform 45, three,
No. two slide blocks 60 of guide rail 59, five of slide block 58, three of slide block 57, four of push rod 56, three of push rod 55, four of push rod 54, three,
No. six tooth bars 63 of guide rail 62, three of slide block 61, four and No. four tooth bars 64；Shoulder mounting platform 37 is consolidated by three corner fittings 38
It is scheduled on installing rack 14, a gear 42 is installed on the axle of No. two motors 41, a gear 42 is mutually nibbled with a tooth bar 43
Close, 43, slide block 44 of a tooth bar and two grades of mounting platforms 45 are installed together, install on shoulder mounting platform 37
There is a guide rail 39, a slide block 44 is arranged on a guide rail 39, so when No. two motors 41 run, two grades of installations
Direction operation of the platform 45 along a guide rail 39；No. two gears 47 are installed on the axle of No. three motors 46, No. two gears 47 with
No. two tooth bars 48 are intermeshed, and 48, No. two slide blocks 49 of No. two tooth bars and No. two two grades of mounting platforms 50 are installed together, shoulder
No. two guide rails 40 are installed, No. two slide blocks 49 are arranged on No. two guide rails 40 on mounting platform 37, therefore when No. three motors 46 are transported
During row, No. two two grades of mounting platforms 50 along No. two guide rails 40 direction operation, two grades of mounting platforms 45 and No. two two grades
The change to shoulder breadth is realized in the motion of mounting platform 50；Electric machine support 51, motor are installed on No. two two grades of mounting platforms 50
No. four motors 52 are installed, the top of No. four motors 52 is equipped with gear on frame 51, gear simultaneously with 63, No. four tooth bars of No. three tooth bars
64 engagements, No. three tooth bars 63 are installed together with No. two push rods 54, and No. four tooth bars 64 are installed together with a push rod 53, so
When No. four motors 52 run, a push rod 53 will be moved in the opposite direction simultaneously with No. two push rods 54, thick so as to change shoulder,
No. two push rods 54 are connected with No. five slide blocks 60, and No. four push rods 56 are connected with No. six slide blocks 61, No. five slide blocks 60 and No. six slide blocks 61
On No. four guide rails 62 simultaneously so that No. two push rods 54 can be moved with No. four push rods 56 along the thick direction of shoulder, and energy
Independent moves on the direction of shoulder breadth, and a push rod 53 is connected with No. three slide blocks 57, and No. three push rods 55 connect with No. four slide blocks 58
Connect, No. three slide blocks 57 and No. four slide blocks 58 are arranged on No. three guide rails 59 so that a push rod 53 can be same with No. three push rods 55
When move along the thick direction of shoulder, and can be independent move on the direction of shoulder breadth；A number push rod 54, three of push rod 53, two
The top of push rod 55 and No. four push rods 56 is mounted on banding inner casing and shoulder housing face-plate group 10；When No. two motors 41,
When 46, No. four motors 52 of No. three motors run, the three independent motions of left shoulder, Zuo Jian mechanisms and right shoulder machine just can be simultaneously realized
Structure is identical, so as to realize the simulation thick to shoulder breadth, shoulder.
Waist mechanical mechanism module 19 includes identical first half waist mechanism and latter half waist mechanism, first half
Divide waist mechanism to include waist mounting platform 631 with latter half waist mechanism, No. five are provided with waist mounting platform 631
67, No. six tooth bars 69 of gear train of tooth bar 66, of motor 641, five, the tooth bar 72 of gear train 71, seven of bracing frame 70, two,
No. five push rods 80 of tooth bar 79, seven of motor 77, eight of guide rail 76, six of guide rail 75, six of push rod 74, five of push rod 73, six
And No. seven guide rails 81；No. three gears 65 are installed on the axle of No. five motors 641, No. three gears 65 simultaneously with No. five tooth bars 66,
The lower gear of a number gear train 67 is meshed, and No. five tooth bars 66 are installed together with No. six push rods 74, and a gear train 67 passes through
Gear pedestal 68 is fixed on waist mounting platform 631, and the gear of a gear train 67 is less than lower gear, a gear train 67
The distance for being transferred to No. six tooth bars 69 diminishes so that the transverse movement scope of No. six tooth bars 69 diminishes, and No. six tooth bars 69 are by sliding
With guide rails assembling on bracing frame 70, No. six tooth bars 69 are meshed block with the gear of No. two gear trains 71, No. two gear trains 71
Lower gear be meshed with No. seven tooth bars 72, No. seven tooth bars 72 are installed together with No. five push rods 73, and No. five push rods 73 are arranged on
On No. five guide rails 75,74 are arranged on No. six guide rails 76, therefore when No. five motors 641 run, 73, No. six push rods of No. five push rods
74 will outwardly or inwardly move simultaneously respectively along 75, No. six guide rails 76 of No. five guide rails；Four are provided with the axle of No. six motors 77
Number gear 78, No. four gears 78 are meshed with No. eight tooth bars 79, and No. eight tooth bars 79 are installed together with No. seven push rods 80, and No. seven push away
Bar 80 is arranged on No. seven guide rails 81, and when No. six motors 77 run, No. seven push rods 80 are moved along No. seven guide rails 81；To sum up institute
State, when 641, No. six motors 77 of No. five motors run, No. five push rod 74, seven of push rod 73, six push rods 80 will outwards simultaneously
Or inwardly motion, the top of push rod is provided with waist housing face-plate group 12, so as to realize the simulation to Attacking Midfielder's shape and size, after
The simulation of waist is similar to.
Compared with waist frame for movement module 19, chest frame for movement module 18 is without first half for chest frame for movement module 18
79, No. seven guide rails 81 of the tooth bar of gear 78, eight of No. six motors 77, four and No. seven push rods 80 in the middle of part, chest machinery
The other structures and mode of texturing of construction module 18 are identical with waist frame for movement module 19.Buttocks frame for movement module 20 with
The structure and mode of texturing of waist frame for movement module 19 is identical.
Chest frame for movement module 18, waist frame for movement module 19 and buttocks frame for movement module 20 are included radially
Motion module 21, the radial motion module 21 includes mounting platform 34, realizes the motion of the in the vertical direction of mounting platform 34,
So as to realize the change to robot model's height, a whole frame for movement module, mounting platform are installed on mounting platform 34
34 include neck mounting platform, shoulder mounting platform, chest mounting platform, waist mounting platform and buttocks mounting platform；Institute
The left side for stating mounting platform 34 is provided with screw mandrel 24 and feed screw nut 25, and the two ends of screw mandrel 24 are separately mounted to a bearing block 23
In No. two bearing blocks 26, a bearing block 23 is fixed on installing rack 14 by a ball bearing washer 22 and screw-nut,
No. two bearing blocks 26 are fixed on installing rack 14 by No. two ball bearing washers 27 and screw-nut, and the bottom of screw mandrel 24 is provided with
Shaft coupling 28, shaft coupling 28 is connected with a motor 29；The right side of mounting platform 34 is provided with ring flange 33 and optical axis 32, optical axis
32 difference two ends are arranged in No. three bearing blocks 31 and No. four bearing blocks 35, and No. three bearing blocks 31 pass through No. three ball bearing washers
30 are fixed on installing rack 14 with screw-nut, and No. four bearing blocks 35 are fixed on by No. four ball bearing washers 36 with screw-nut
On installing rack 14, when a motor 29 brings into operation, the concomitant rotation of screw mandrel 24, mounting platform 34 is in screw mandrel 24 and the work of optical axis 32
Vertical motion is realized with lower.
Claims (8)
1. a kind of robot model, it is characterised in that：The outermost layer of robot model is a whole set of elastic housing panel, should
Elastic housing panel includes neck housing face-plate group, shoulder housing face-plate group, the chest housing face-plate being sequentially connected from top to bottom
Group, waist housing face-plate group and buttocks housing face-plate group；Robot model includes the neck machine being sequentially connected from top to bottom
Tool construction module, shoulder frame for movement module, chest frame for movement module, waist frame for movement module and buttocks frame for movement
Module；Neck frame for movement module is arranged in neck housing face-plate group, and shoulder frame for movement module is arranged on shoulder shell surface
In plate group, chest frame for movement module is arranged in chest housing face-plate group, and waist frame for movement module is arranged on waist shell
In panel group, buttocks frame for movement module is arranged in buttocks housing face-plate group；Robot model is arranged on installing rack, is installed
Frame is arranged on base.
2. robot model according to claim 1, it is characterised in that：Neck frame for movement module include No. seven motors with
Neck mounting platform, No. seven motors are arranged on motor cabinet, and motor cabinet is arranged on the top of installing rack, neck mounting platform and seven
Number motor is installed together, and gear and lower gear are provided with the axle of No. seven motors, and No. nine are provided with neck mounting platform
Tooth bar, No. ten tooth bars, No. eight push rods, No. nine push rods, No. ten push rods and ride on Bus No. 11 push rods；No. nine tooth bars, No. ten tooth bar difference
Engage with gear, No. nine tooth bars are fixedly connected with No. eight push rods, No. ten tooth bars are fixedly connected with No. nine push rods, ride on Bus No. 11 push rod
It is meshed with lower gear by tooth bar, No. ten push rods are meshed by tooth bar with lower gear；One is provided with neck mounting platform
Number flat board and No. two flat boards a, flat board is fixed together with No. nine push rods, and No. two flat boards are fixed together with No. eight push rods, and eight
Number push rod, the top of No. nine push rods, No. ten push rods and ride on Bus No. 11 push rods are mounted on neck housing face-plate group.
3. robot model according to claim 1, it is characterised in that：Shoulder frame for movement module includes the left shoulder of identical
Mechanism and You Jian mechanisms, Zuo Jian mechanisms include shoulder mounting platform with You Jian mechanisms, and shoulder mounting platform is provided with No. two electricity
Machine, tooth bar, slide block, two grades of mounting platforms, No. three motors, No. two tooth bars, No. two slide blocks, No. two two grades of installations
Platform, push rod, No. two push rods, No. three push rods, No. four push rods, No. three slide blocks, No. four slide blocks, No. three guide rails, No. five slide blocks,
No. six slide blocks, No. four guide rails, No. three tooth bars and No. four tooth bars；Shoulder mounting platform is fixed on installing rack by three corner fittings
On, a gear, a gear and a tooth bar intermeshing, tooth bar, a slide block are installed on the axle of No. two motors
And two grades of mounting platforms are installed together, a guide rail is installed on shoulder mounting platform, a slide block is arranged on one
On number guide rail, No. two gears, No. two gears and No. two tooth bars intermeshings are installed on the axle of No. three motors, No. two tooth bars, two
Number slide block and No. two two grades of mounting platforms are installed together, and No. two guide rails, No. two slide blocks peaces are provided with shoulder mounting platform
It is mounted on No. two guide rails, electric machine support is installed on No. two two grades of mounting platforms, No. four motors is installed on electric machine support, No. four
The top of motor is equipped with gear, and gear is engaged with No. three tooth bars, No. four tooth bars simultaneously, and No. three tooth bars and No. two push rods are arranged on one
Rise, No. four tooth bars are installed together with a push rod, and No. two push rods are connected with No. five slide blocks, No. four push rods and No. six slide blocks connect
Connect, No. five slide blocks and No. six slide blocks are arranged on No. four guide rails, and a push rod is connected with No. three slide blocks, No. three push rods and No. four cunnings
Block connects, and No. three slide blocks and No. four slide blocks are arranged on No. three guide rails, a push rod, No. two push rods, No. three push rods and No. four
The top of push rod is mounted on shoulder housing face-plate group.
4. robot model according to claim 1, it is characterised in that：Waist mechanical mechanism module includes identical first half
Part waist mechanism and latter half waist mechanism, first half waist mechanism is pacified with latter half waist mechanism including waist
Assembling platform, be provided with waist mounting platform No. five motors, No. five tooth bars, gear train, No. six tooth bars, bracing frame, No. two
Gear train, No. seven tooth bars, No. five push rods, No. six push rods, No. five guide rails and No. six guide rails；Three are provided with the axle of No. five motors
Number gear, No. three gears are meshed with the lower gear of No. five tooth bars, a gear train simultaneously, No. five tooth bars and No. six push rods installations
Together, a gear train is fixed on waist mounting platform by gear pedestal, and No. six tooth bars are by slide block and guide rails assembling
On bracing frame, No. six tooth bars are meshed with the gear of No. two gear trains, the lower gear of No. two gear trains and No. seven tooth bar phases
Engagement, No. seven tooth bars are installed together with No. five push rods, and No. five push rods are arranged on No. five guide rails, on No. six guide rails,
The top of push rod is provided with waist housing face-plate group；
Chest frame for movement module, buttocks frame for movement module are identical with the structure of waist frame for movement module respectively.
5. robot model according to claim 4, it is characterised in that：The waist of the waist mechanical mechanism module is installed
No. six motors, No. eight tooth bars, No. seven push rods and No. seven guide rails are also equipped with platform；No. four are provided with the axle of No. six motors
Gear, No. four gears are meshed with No. eight tooth bars, and No. eight tooth bars are installed together with No. seven push rods, and No. seven push rods are arranged on No. seven
On guide rail；Buttocks frame for movement module is identical with the structure of waist frame for movement module.
6. robot model according to claim 4, it is characterised in that：Chest frame for movement module, waist frame for movement
Module and buttocks frame for movement module include radial motion module.
7. robot model according to claim 6, it is characterised in that：The radial motion module includes mounting platform,
Screw mandrel and feed screw nut are installed, the two ends of screw mandrel are separately mounted to a bearing block and No. two axles on the left of the mounting platform
In bearing, a bearing block is fixed on installing rack by a ball bearing washer and screw-nut, and No. two bearing blocks pass through two
Number ball bearing washer is fixed on installing rack with screw-nut, and the bottom of screw mandrel is provided with shaft coupling, shaft coupling and a motor
It is connected；Ring flange and optical axis are installed, the difference two ends of optical axis are arranged on No. three bearing blocks and No. four axles on the right side of mounting platform
In bearing, No. three bearing blocks are fixed on installing rack by No. three ball bearing washers and screw-nut, and No. four bearing blocks pass through four
Number ball bearing washer is fixed on installing rack with screw-nut.
8. robot model according to claim 1, it is characterised in that：The bottom of base is universal equipped with four strap brakes
Wheel.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283814A (en) * | 2018-02-26 | 2018-07-17 | 森汉智能科技（深圳）有限公司 | Programmable fully-automatic conversion anthropomorphic robot |
| CN108851307A (en) * | 2018-05-24 | 2018-11-23 | 浙江大学 | It is a kind of for simulating the deformable lower part of the body robot model of human body |
| CN109397312A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109397310A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109514546A (en) * | 2019-01-08 | 2019-03-26 | 王春林 | A kind of fit model robot and its body control method |
| CN110338495A (en) * | 2019-07-22 | 2019-10-18 | 浙江大学 | A kind of customized clothing quick formalization device |
| CN110561447A (en) * | 2019-08-20 | 2019-12-13 | 浙江大学 | Shape-controllable mannequin robot based on segmented skin |
| CN110570285A (en) * | 2019-09-12 | 2019-12-13 | 王春林 | Database building system and method for fitting clothes by fitting robot |
| CN113624383A (en) * | 2021-08-17 | 2021-11-09 | 香港理工大学 | Multi-dimensional intelligent clothing pressure test mannequin device, system and method |
| CN114347065A (en) * | 2022-02-09 | 2022-04-15 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| CN114903243A (en) * | 2022-06-14 | 2022-08-16 | 袁著勇 | Human body model with adjustable body shape |
| CN115550540A (en) * | 2022-02-09 | 2022-12-30 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| WO2023134243A1 (en) * | 2022-01-17 | 2023-07-20 | 望墨科技（武汉）有限公司 | Sectional fitting robot |
| CN115550540B (en) * | 2022-02-09 | 2024-06-04 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108283814A (en) * | 2018-02-26 | 2018-07-17 | 森汉智能科技（深圳）有限公司 | Programmable fully-automatic conversion anthropomorphic robot |
| CN108851307A (en) * | 2018-05-24 | 2018-11-23 | 浙江大学 | It is a kind of for simulating the deformable lower part of the body robot model of human body |
| CN109397312A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109397310A (en) * | 2018-11-30 | 2019-03-01 | 何泽熹 | A kind of wear robot on probation |
| CN109514546A (en) * | 2019-01-08 | 2019-03-26 | 王春林 | A kind of fit model robot and its body control method |
| CN109514546B (en) * | 2019-01-08 | 2023-09-26 | 无锡傅里叶科技有限公司 | Fitting model robot and shape control method thereof |
| CN110338495A (en) * | 2019-07-22 | 2019-10-18 | 浙江大学 | A kind of customized clothing quick formalization device |
| CN110561447A (en) * | 2019-08-20 | 2019-12-13 | 浙江大学 | Shape-controllable mannequin robot based on segmented skin |
| CN110570285A (en) * | 2019-09-12 | 2019-12-13 | 王春林 | Database building system and method for fitting clothes by fitting robot |
| CN113624383A (en) * | 2021-08-17 | 2021-11-09 | 香港理工大学 | Multi-dimensional intelligent clothing pressure test mannequin device, system and method |
| CN113624383B (en) * | 2021-08-17 | 2024-01-26 | 香港理工大学 | Multi-dimensional intelligent clothing pressure test mannequin device, system and method |
| WO2023134243A1 (en) * | 2022-01-17 | 2023-07-20 | 望墨科技（武汉）有限公司 | Sectional fitting robot |
| CN114347065A (en) * | 2022-02-09 | 2022-04-15 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| CN115550540A (en) * | 2022-02-09 | 2022-12-30 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| WO2023151398A1 (en) * | 2022-02-09 | 2023-08-17 | 望墨科技（武汉）有限公司 | Continuous fitting method for fitting robot |
| CN115550540B (en) * | 2022-02-09 | 2024-06-04 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| CN114347065B (en) * | 2022-02-09 | 2024-05-03 | 望墨科技（武汉）有限公司 | Continuous fitting method of fitting robot |
| CN114903243A (en) * | 2022-06-14 | 2022-08-16 | 袁著勇 | Human body model with adjustable body shape |
| CN114903243B (en) * | 2022-06-14 | 2024-01-26 | 袁著勇 | Body type adjustable human body model |
| WO2023241355A1 (en) * | 2022-06-14 | 2023-12-21 | 袁著勇 | Mannequin with adjustable body type |
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