CN106625599B - A kind of robot model - Google Patents
A kind of robot model Download PDFInfo
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- CN106625599B CN106625599B CN201611190287.4A CN201611190287A CN106625599B CN 106625599 B CN106625599 B CN 106625599B CN 201611190287 A CN201611190287 A CN 201611190287A CN 106625599 B CN106625599 B CN 106625599B
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- 210000001217 buttock Anatomy 0.000 claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims description 47
- 230000033001 locomotion Effects 0.000 claims description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 10
- 230000037237 body shape Effects 0.000 abstract description 4
- 230000008859 change Effects 0.000 description 26
- 239000000203 mixture Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000035807 sensation Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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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- 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 kind of robot models, the outermost layer of robot model is a whole set of elastic housing panel, which includes sequentially connected neck shell surface board group, shoulder shell surface board group, chest shell surface board group, waist shell surface board group and buttocks shell surface board group from top to bottom；Robot model includes sequentially connected neck mechanical structure module, shoulder mechanical structure module, chest mechanical structure module, waist mechanical structure module and buttocks mechanical structure module from top to bottom；Neck mechanical structure module is mounted in neck shell surface board group, shoulder mechanical structure module is mounted in shoulder shell surface board group, chest mechanical structure module is mounted in chest shell surface board group, waist mechanical structure module is mounted in waist shell surface board group, and buttocks mechanical structure module is mounted in buttocks shell surface board group.The body shape of accurate simulation human body of the present invention completes long-range fitting instead of true man；Enhance the interactivity and authenticity of virtual fitting.
Description
Technical field
The present invention relates to a kind of model, in particular to a kind of robot model.
Background technique
Nowadays, internet High-speed Development of Retail Trade.Clothes are sold in internet and produce as the consumer goods important in life
Occupy very big specific gravity in product, but tried in person since on-line purchase clothes not can be carried out, and the garment production mark of different manufacturers
Quasi- different, so that customer is difficult in online purchase to fit clothes, so as to cause higher return of goods rate, this to save originally
Money, labour-saving purchase clothing online become to spend high and time-consuming and laborious.The present invention can replace true man remotely to be fitted and to examination
Clothing result is fed back, or the most matched with its figure to consumer's recommendation by searching for the fitting results repository previously established
Fitting result.
With the improvement of people's life quality, more and more consumers selects custom made clothing.In the process of custom made clothing
Middle that client is required to carry out repeatedly fitting to determine the fit degree of clothes, then geographical location has become limitation custom made clothing industry hair
One key factor of exhibition.The present invention solves this problem, only the size and shape data of client need to be transmitted to robot mould
Spy, robot can simulate the body shape of client to fit instead of true man, make it possible the custom made clothing in strange land.
During dress designing, designer would generally design the clothing of different sizes using the mannequins of different model
Clothes, these mannequins size and shape are fixed, and biggish storage space is needed, and the body model in the present invention can be deformed into
A variety of continuous sizes and form, can replace a whole set of mannequins.
In adjustable body model field, some researchs have been done by some companies and institution of higher learning.China Patent No. is
ZL200910304780.8 adjustable design model, it includes bracket and manikin, and manikin is divided into four parts, each portion
It point by attachment device on bracket and adjusts lock and links together, between adjusting lock by adjusting between manikin each section
Away from changing moulded dimension, but it can only manually adjust whole size, cannot 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 ontology, arm and lower limb, model body are equipped with muti-piece activity template, can the portions such as shoulder, waist to model ruler
Little progress row independently adjusts, it needs to be manually operated, and the spacing and shape between activity template are fixed, and simulated human figure is relatively fixed.
European Patent Application No. is the 13827494.9 adjustable models of intelligence, it include body parameter input module, model trunk structure,
Adjustable panel composition, adjustable neck circumference, bust, waistline, hip circumference size, housing face-plate is made of hard material, shape
Lack flexibility, the body shape of analog 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 human body model only includes shoulder
Portion's structure and neck structure, deformable position are extremely limited.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of body shapes of accurate simulation human body, complete instead of true man remote
Journey fitting；The return of goods rate that can reduce clothes on-line purchase, improves the efficiency of custom made clothing, enhance virtual fitting interactivity and
The robot model of authenticity.
To achieve the goals above, technical scheme is as follows:
A kind of robot model, the outermost layer of robot model are a whole set of elastic housing panel, the elastic housing
Panel include from top to bottom sequentially connected neck shell surface board group, shoulder shell surface board group, chest shell surface board group, outside waist
Shell surface board group and buttocks shell surface board group；Robot model includes sequentially connected neck mechanical structure mould from top to bottom
Block, shoulder mechanical structure module, chest mechanical structure module, waist mechanical structure module and buttocks mechanical structure module；Neck
Portion's mechanical structure module is mounted in neck shell surface board group, and shoulder mechanical structure module is mounted in shoulder shell surface board group,
Chest mechanical structure module is mounted in chest shell surface board group, and waist mechanical structure module is mounted on waist shell surface board group
Interior, buttocks mechanical structure module is mounted in buttocks shell surface board group；Robot model is mounted on mounting rack, mounting rack installation
On pedestal；There are four the universal wheels of strap brake for the bottom dress of pedestal.
Neck shell surface board group is enclosed four pieces of housing face-plates by neck one and is formed, and shoulder shell surface board group encloses eight pieces by shoulder one
Housing face-plate composition, chest shell surface board group are enclosed five pieces of housing face-plates by chest one and are formed, and waist shell surface board group is by waist one
Six pieces of housing face-plate compositions are enclosed, buttocks shell surface board group is enclosed six pieces of housing face-plates by buttocks one and formed.
Neck mechanical structure module includes No. seven motors and neck mounting platform, and No. seven motors are mounted on motor cabinet, electricity
Base is mounted on the top of mounting rack, and neck mounting platform is installed together with No. seven motors, is equipped on the axis of No. seven motors
Gear and lower gear, be equipped on neck mounting platform No. nine rack gears, No. ten rack gears, No. eight push rods, No. nine push rods, No. ten push away
Bar and ride on Bus No. 11 push rod；No. nine rack gears, No. ten rack gears are engaged with gear respectively, No. nine rack gears and the fixed company of No. eight push rods
It connects, No. ten rack gears are fixedly connected with No. nine push rods, and ride on Bus No. 11 push rod is meshed by rack gear with lower gear, and No. ten push rods pass through tooth
Item is meshed with lower gear；No.1 plate and No. two plates are installed, No.1 plate and No. nine push rods are solid on neck mounting platform
It being scheduled on together, No. two plates are fixed together with No. eight push rods, angle degree of being and every push rod height is identical between adjacent push rod, and eight
Number push rod, No. nine push rods, No. ten push rods and ride on Bus No. 11 push rod top be mounted on neck shell surface board group.
Shoulder mechanical structure module includes identical Zuo Jian mechanism and You Jian mechanism, and Zuo Jian mechanism includes with You Jian mechanism
Shoulder mounting platform, shoulder mounting platform are equipped with No. two motors, No.1 rack gear, No.1 sliding block, No.1 second level mounting platform, three
Number motor, No. two rack gears, No. two sliding blocks, No. two second level mounting platforms, No.1 push rod, No. two push rods, No. three push rods, No. four push away
Bar, No. three sliding blocks, No. four sliding blocks, No. three guide rails, No. five sliding blocks, No. six sliding blocks, No. four guide rails, No. three rack gears and No. four teeth
Item；Shoulder mounting platform is fixed on mounting rack by three corner fittings, and No.1 gear, No.1 tooth are equipped on the axis of No. two motors
Wheel is intermeshed with No.1 rack gear, and No.1 rack gear, No.1 sliding block and No.1 second level mounting platform are installed together, shoulder installation
No.1 guide rail is installed on platform, No.1 sliding block is mounted on No.1 guide rail, No. two gears are installed on the axis of No. three motors, two
Number gear and No. two rack gears are intermeshed, and No. two rack gears, No. two sliding blocks and No. two second level mounting platforms are installed together, shoulder
No. two guide rails are installed, No. two sliding blocks are mounted on No. two guide rails, are equipped with electricity on No. two second level mounting platforms on mounting platform
Machine support, is equipped with No. four motors on electric machine support, and the top of No. four motors is equipped with gear, gear simultaneously with No. three rack gears, four
The engagement of number rack gear, No. three rack gears are installed together with No. two push rods, and No. four rack gears are installed together with No.1 push rod, No. two push rods
It is connect with No. five sliding blocks, No. four push rods are connect with No. six sliding blocks, and No. five sliding blocks and No. six sliding blocks are mounted on No. four guide rails, No.1
Push rod is connect with No. three sliding blocks, and No. three push rods are connect with No. four sliding blocks, and No. three sliding blocks and No. four sliding blocks are mounted on No. three guide rails,
No.1 push rod, No. two push rods, No. three push rods and No. four push rods top be mounted on band-like 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, and No. five motors, five are equipped on waist mounting platform
Number rack gear, No.1 gear set, No. six rack gears, support frame, No. two gear sets, No. seven rack gears, No. five push rods, No. six push rods, No. five
Guide rail and No. six guide rails；No. three gears are installed on the axis of No. five motors, No. three gears simultaneously with No. five rack gears, No.1 gear
The lower gear of group is meshed, and No. five rack gears are installed together with No. six push rods, and No.1 gear set is fixed on waist by gear pedestal
On portion's mounting platform, No. six rack gears are installed on the support frame by sliding block and guide rail, the upper tooth of No. six rack gears and No. two gear sets
Wheel is meshed, and the lower gear of No. two gear sets is meshed with No. seven rack gears, and No. seven rack gears are installed together with No. five push rods, and No. five
Push rod is mounted on No. five guide rails, is mounted on No. six guide rails, and the top of push rod is equipped with waist shell surface board group；To realize
The simulation of simulation to Attacking Midfielder's shape and size, low back is similar；Chest mechanical structure module, buttocks mechanical structure module respectively with
The structure and mode of texturing of waist mechanical structure module are identical.
Be also equipped on the waist mounting platform of waist mechanical mechanism module No. six motors, No. eight rack gears, No. seven push rods with
And No. seven guide rails；No. four gears are installed, No. four gears are meshed with No. eight rack gears, No. eight rack gears and seven on the axis of No. six motors
Number push rod is installed together, and No. seven push rods are mounted on No. seven guide rails；Buttocks mechanical structure module and waist mechanical structure module
Structure and mode of texturing it is identical.
Chest mechanical structure module, waist mechanical structure module and buttocks mechanical structure module include radial motion mould
Block, the radial motion module includes mounting platform, and screw rod and feed screw nut are equipped on the left of the mounting platform, screw rod
Both ends are separately mounted in No.1 bearing block and No. two bearing blocks, and No.1 bearing block passes through No.1 ball bearing washer and screw-nut
It is fixed on mounting rack, No. two bearing blocks are fixed on mounting rack by No. two ball bearing washers and screw-nut, the bottom of screw rod
End is equipped with shaft coupling, and shaft coupling is connected with No.1 motor；Ring flange and optical axis, point of optical axis are installed on the right side of mounting platform
Other both ends are mounted in No. three bearing blocks and No. four bearing blocks, and No. three bearing blocks are solid by No. three ball bearing washers and screw-nut
It is scheduled on mounting rack, No. four bearing blocks are fixed on mounting rack by No. four ball bearing washers and screw-nut.
Elastic housing panel uses silica gel material, it is the material of elasticity, can simulate the curve form of human body surface, and
And can occur to deform accordingly under the action of internal mechanical structure, robot model includes 29 pieces of elastic housings altogether
Panel, four pieces of neck, eight pieces of shoulder, five pieces of chest, six pieces of waist and six pieces of buttocks, shell scheme are according to human muscle point
Cloth and model deformation feature carry out block design；It is mounted on elastic sliding vane between elastic housing panel, it possesses a fixed length
The sliding slot of degree, it use make housing face-plate between transition it is smooth and the gap of different distance can be generated, to meet simulation not
With the demand of human dimension and form.
The band-like inner casing is matched with elastic housing, respectively there is 29 pieces, these band-like inner casings have certain
Curve form is bonded installation with elastic housing, on the one hand can guarantee that elastic housing panel has the curved surface of corresponding human body
On the other hand shape can link together housing face-plate and push rod, enable the housing to send out under the action of mechanical structure
Raw corresponding displacement and deformation；Mechanical structure uses 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, each module is independent under control of the computer to be realized certainly
Dynamic deformation；Since the rate of deformation of human body front and rear part is different, so the front-end geometry of each module separately drives, chest, waist,
Buttocks module also has radial motion structure, it uses screw rod transmission mode mainly to change three distances radially, is used for
Change height；Control system uses IC design, realizes the control to robot model.The body that it inputs user
Body dimension data is converted to the command information that 21 stepper motors can receive, and accurately controls each position mechanical structure fortune
It is dynamic, realize that most evidences drive robot model to deform simultaneously；Robot model can change ten main human parameters, including
Neck circumference, shoulder breadth, shoulder be thick, big upper-arm circumference, bust, waistline, hip circumference, shoulder chest away from, chest waist away from waist stern away from.
Four push rods may be implemented along not Tongfang in robot model by adopting the above technical scheme, neck mechanical mechanism module
To horizontal movement, to change neck circumference；Shoulder mechanical structure module includes identical Zuo Jian mechanism and You Jian mechanism, left shoulder machine
The self-movement of two second level mounting platforms and the horizontal movement of four push rods, Zuo Jian mechanism may be implemented in structure and You Jian mechanism
It is symmetrical with You Jian mechanism, to change shoulder breadth and shoulder thickness；The front-end geometry of chest mechanical structure module separately drives, and may be implemented
Five push rods are along the horizontal movement of different directions, to change bust, chest also has radial motion module, can make entire chest
Portion's mechanical structure module moves a certain distance in the vertical direction, thus change shoulder chest away from, be form height change one
Point；The front-end geometry of waist mechanical mechanism module separately drives, and six roots of sensation push rod may be implemented along the horizontal movement of different directions, from
And changing waistline, waist has radial motion module, and entire waist mechanical structure module can be made to move one in the vertical direction
Fixed distance, thus change chest waist away from, be form height change a part；The front-end geometry of buttocks mechanical mechanism module separates
Driving, may be implemented six roots of sensation push rod along the horizontal movement of different directions, to change hip circumference, buttocks also has radial motion mould
Block can make entire buttocks mechanical structure module move a certain distance in the vertical direction, thus change waist stern away from, be composition
A part that height changes.
Detailed description of the invention
Fig. 1 is robot model's system diagram of the invention；
Fig. 2 is the main view of robot model of the invention；
Fig. 3 is the right view of robot model of the invention；
Fig. 4 is the rearview of robot model of the invention；
Fig. 5 is the axonometric drawing of robot model of the invention；
Fig. 6 is the internal structure main view of robot model of the invention；
Fig. 7 is the internal structure right view of robot model of the invention；
Fig. 8 is the structure chart of radial motion module of the present invention；
Fig. 9 is the axonometric drawing of shoulder mechanical structure module of the present invention；
Figure 10 is the main view of shoulder mechanical structure module of the present invention；
Figure 11 is the rearview of shoulder mechanical structure module of the present invention；
Figure 12 is the top view of shoulder mechanical structure module of the present invention；
Figure 13 is the axonometric drawing of waist mechanical structure module of the present invention；
Figure 14 is the axonometric drawing of neck mechanical structure module of the present invention；
Figure 15 is the top view of neck mechanical structure module of the present invention.
Specific embodiment
As shown in Figure 1, a kind of robot model system, robot model's system 1 include No. two computers 2, network 3,
No.1 computer 4, controller 5, robot model 6, turntable 7 and camera 8；No. two computers 2 and No.1 computer 4 are logical
The connection of network 3 is crossed, No.1 computer 4, controller 5 and robot model 6 are sequentially connected, and robot model 6 is mounted on rotation
On platform 7, camera 8 is mounted on the front of robot model 6.
User inputs the rulers such as height, neck circumference, shoulder breadth, bust, waist and hip circumference by interactive interface on No.1 computer 4
Very little parameter is calculated in each mechanical module after the control system of robot model receives the dimensional parameters of human body by controller 5
The amount of movement of each mechanical part is converted into corresponding operation instruction, and is transferred to robot model 6, and operational order driving is 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 the No.1 computer 4 of hotel owner by network 3, clothes are through by hotel owner first
With robot model 6, robot model 6 changes the figure of robot model according to the information of operational order, realizes fitting effect
Fruit.In order to show clothes effect in all directions, robot model can be placed on a turntable 7, complete in robot model 6
After deformation, 7 setting in motion of turntable, 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 selecting the style and size of clothes.
Robot model's system can be used for remotely fitting and custom made clothing, the clothes that will be tried on are through deformed machine
On device people model, then the photo or video of shooting fitting result, feed back to consumer for fitting result, are finally completed entire remote
Journey fitting process.In creation, designer obtains the human dimension and shape information of client first, then according to visitor
The size and form Design clothes at family.After the production for completing clothes, client does not need to fit in person, but by robot mould
Spy replaces true man to fit 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 size and form first by clothes seller, and tries different styles and size on
Clothes, then by shooting method shooting fitting photo, and be stored into fitting results repository in.User is in interactive interface
Human parameters is inputted, in fitting result library searching and the fitting the most matched of its figure as a result, the ruler of system recommendation can be obtained
Code.
As shown in Fig. 2~15, the outermost layer of a kind of robot model, robot model 6 are a whole set of elastic housings
Panel, for simulating the curve form of human body surface, which includes sequentially connected neck shell from top to bottom
Panel group 9, shoulder shell surface board group 10, chest shell surface board group 11, waist shell surface board group 12 and buttocks shell surface board group
13；Robot model 6 include from top to bottom sequentially connected neck mechanical structure module 16, shoulder mechanical structure module 17,
Chest mechanical structure module 18, waist mechanical structure module 19 and buttocks mechanical structure module 20；Neck mechanical structure module
16 are mounted in neck shell surface board group 9, and shoulder mechanical structure module 17 is mounted in shoulder shell surface board group 10, and chest is mechanical
Construction module 18 is mounted in chest shell surface board group 11, and waist mechanical structure module 19 is mounted on waist shell surface board group 12
Interior, buttocks mechanical structure module 20 is mounted in buttocks shell surface board group 13；Robot model 6 is mounted on mounting rack 14, peace
14 are shelved to be mounted on pedestal 15；15 one side of pedestal can make robot model 6 keep stablizing, inside another aspect pedestal 15
Space can also be used to that power supply and circuit board are installed；There are four the universal wheels of strap brake for the bottom dress of pedestal 15, so that machine
People model 6 arbitrarily can move or be still in some position, facilitate carrying.
Four push rods may be implemented along the horizontal movement of different directions, to change neck circumference in neck mechanical mechanism module 16；
Shoulder mechanical structure module 17 includes identical Zuo Jian mechanism and You Jian mechanism, and Zuo Jian mechanism and You Jian mechanism may be implemented two
The self-movement of second level mounting platform and the horizontal movement of four push rods, Zuo Jian mechanism and You Jian mechanism are symmetrical, to change
Shoulder breadth and shoulder are thick；The front-end geometry of chest mechanical structure module 18 separately drives, and five push rods may be implemented along different directions
Horizontal movement, to change bust, chest also has radial motion module 21, and entire chest mechanical structure module 18 can be made to exist
A certain distance is moved on vertical direction, thus change shoulder chest away from, be form height change a part；Waist mechanical mechanism mould
The front-end geometry of block 19 separately drives, and six roots of sensation push rod may be implemented along the horizontal movement of different directions, thus change waistline, waist
With radial motion module 21, entire waist mechanical structure module 19 can be made to move a certain distance in the vertical direction, from
And change chest waist away from, be form height change a part；The front-end geometry of buttocks mechanical mechanism module 20 separately drives, can be with
Six roots of sensation push rod is realized along the horizontal movement of different directions, to change hip circumference, buttocks also has radial motion module 21, can make
Entire buttocks mechanical structure module 20 moves a certain distance in the vertical direction, to change waist stern away from being that composition height changes
A part of change.
Neck shell surface board group 9 is enclosed four pieces of housing face-plates by neck one and is formed, and shoulder shell surface board group 10 is enclosed by shoulder one
Eight pieces of housing face-plate compositions, chest shell surface board group 11 are enclosed five pieces of housing face-plates by chest one and are formed, waist shell surface board group 12
It encloses six pieces of housing face-plates by waist one to form, buttocks shell surface board group 13 is enclosed six pieces of housing face-plates by buttocks one and formed.
Neck mechanical structure module 16 includes No. seven motors 83 and neck mounting platform 84, and No. seven motors 83 are mounted on motor
On seat 82, motor cabinet 82 is mounted on the top of mounting rack 14, and neck mounting platform 84 is installed together with No. seven motors 83, and No. seven
Gear 85 and lower gear 86 are installed on the axis of motor 83,87, No. ten teeth of No. nine rack gears are installed on neck mounting platform 84
90, No. ten push rods 93 of the push rod of push rod 89, nine of item 88, eight and ride on Bus No. 11 push rod 94；87, No. ten rack gears 88 of No. nine rack gears divide
It is not engaged with gear 85, No. nine rack gears 87 are fixedly connected with No. eight push rods 89, No. ten rack gears 88 and the fixed company of No. nine push rods 90
It connects, when gear 85 rotates, No. eight push rods 89 will be moved with No. nine push rods 90 along opposite direction, and ride on Bus No. 11 push rod 94 is logical
It crosses rack gear to be meshed with lower gear 86, No. ten push rods 93 are meshed by rack gear with lower gear 86；Pacify on neck mounting platform 84
Equipped with No.1 plate 91 and No. two plates 92, No.1 plate 91 is fixed together with No. nine push rods 90, No. two plates 92 and No. eight
Push rod 89 is fixed together, and 91, No. two plates 92 of No.1 plate play the role of guaranteeing that rack gear is horizontally mounted；Therefore work as lower gear
When 86 rotation, No. ten push rods 93, ride on Bus No. 11 push rod 94 will be moved along opposite direction, in conclusion when No. seven motors 83 are transported
When row, gear 85, the lower gear 86 being mounted on No. seven 83 axis of motor start simultaneously at rotation, thus No. eight push rods 89 of drive,
90, No. ten push rods 93 of No. nine push rods, ride on Bus No. 11 push rod 94 inwardly or outwardly move simultaneously, and angle is 90 degree and every between adjacent push rod
Root push rod height is 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 shell surface board group 9, to realize the simulation to neck circumference.
Shoulder mechanical structure module 17 includes identical Zuo Jian mechanism and You Jian mechanism, Zuo Jian mechanism and You Jian mechanism Jun Bao
Shoulder mounting platform 37 is included, shoulder mounting platform 37 is equipped with No. two motors 41, No.1 rack gear 43, No.1 sliding block 44, No.1 two
The grade sliding block 49, two of rack gear 48, two of motor 46, two of mounting platform 45, three second level mounting platform 50, No.1 push rod 53,
No. two guide rail 59, five of sliding block 58, three of sliding block 57, four of push rod 56, three of push rod 55, four of push rod 54, three sliding blocks 60,
No. six rack gears 63 of guide rail 62, three of sliding block 61, four and No. four rack gears 64；Shoulder mounting platform 37 is solid by three corner fittings 38
It is scheduled on mounting rack 14, No.1 gear 42 is installed on the axis of No. two motors 41, No.1 gear 42 is mutually nibbled with No.1 rack gear 43
It closes, No.1 rack gear 43, No.1 sliding block 44 and No.1 second level mounting platform 45 are installed together, install on shoulder mounting platform 37
There is No.1 guide rail 39, No.1 sliding block 44 is mounted on No.1 guide rail 39, so when No. two motors 41 are run, the installation of No.1 second level
Platform 45 is run along the direction of No.1 guide rail 39；No. two gears 47 are installed on the axis of No. three motors 46, No. two gears 47 with
No. two rack gears 48 are intermeshed, and 48, No. two sliding blocks 49 of No. two rack gears and No. two second level mounting platforms 50 are installed together, shoulder
No. two guide rails 40 are installed, No. two sliding blocks 49 are mounted on No. two guide rails 40, therefore when No. three motors 46 are transported on mounting platform 37
When row, No. two second level mounting platforms 50 are run along the direction of No. two guide rails 40, No.1 second level mounting platform 45 and No. two second levels
The change to shoulder breadth is realized in the movement of mounting platform 50；Electric machine support 51, motor branch are installed on No. two second level mounting platforms 50
No. four motors 52 are installed on frame 51, the top of No. four motors 52 is equipped with gear, gear simultaneously with 63, No. four rack gears of No. three rack gears
64 engagements, No. three rack gears 63 are installed together with No. two push rods 54, and No. four rack gears 64 are installed together with No.1 push rod 53, so
When No. four motors 52 are run, No.1 push rod 53 will move in the opposite direction simultaneously with No. two push rods 54, thus change shoulder thickness,
No. two push rods 54 are connect with No. five sliding blocks 60, and No. four push rods 56 are connect with No. six sliding blocks 61, No. five sliding blocks 60 and No. six sliding blocks 61
Be mounted on No. four guide rails 62 so that No. two push rods 54 and No. four push rods 56 can move simultaneously along the direction of shoulder thickness and
The independent side in shoulder breadth moves upwards, and No.1 push rod 53 is connect with No. three sliding blocks 57, and No. three push rods 55 and No. four sliding blocks 58 connect
It connects, No. three sliding blocks 57 and No. four sliding blocks 58 are mounted on No. three guide rails 59, so that No.1 push rod 53 can be same with No. three push rods 55
When moved along the direction of shoulder thickness, and can the independent side in shoulder breadth move upwards；The push rod 54, three of No.1 push rod 53, two
The top of push rod 55 and No. four push rods 56 is mounted on band-like inner casing and shoulder shell surface board group 10；When No. two motors 41,
When 46, No. four motors 52 of No. three motors are run, the three independent movements of left shoulder, Zuo Jian mechanism and right shoulder machine can be realized simultaneously
Structure is identical, to realize the simulation to shoulder breadth, shoulder thickness.
Waist mechanical mechanism module 19 includes identical first half waist mechanism and latter half waist mechanism, first half
Divide waist mechanism and latter half waist mechanism includes waist mounting platform 631, No. five are equipped on waist mounting platform 631
641, No. five rack gears 66 of motor, 67, No. six rack gears 69 of No.1 gear set, the gear set 71, seven of support frame 70, two rack gear 72,
No. five push rods 80 of rack gear 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 axis of No. five motors 641, No. three gears 65 simultaneously with No. five rack gears 66,
The lower gear of No.1 gear set 67 is meshed, and No. five rack gears 66 are installed together with No. six push rods 74, and No.1 gear set 67 passes through
Gear pedestal 68 is fixed on waist mounting platform 631, and the gear of No.1 gear set 67 is smaller than lower gear, No.1 gear set 67
The distance for being transferred to No. six rack gears 69 becomes smaller, so that the transverse movement range of No. six rack gears 69 becomes smaller, No. six rack gears 69 pass through cunning
Block and guide rail are mounted on support frame 70, and No. six rack gears 69 are meshed with the gear of No. two gear sets 71, No. two gear sets 71
Lower gear be meshed with No. seven rack gears 72, No. seven rack gears 72 are installed together with No. five push rods 73, and No. five push rods 73 are mounted on
On No. five guide rails 75,74 are mounted on No. six guide rails 76, therefore when No. five motors 641 are 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 equipped on the axis of No. six motors 77
Number gear 78, No. four gears 78 are meshed with No. eight rack gears 79, and No. eight rack gears 79 are installed together with No. seven push rods 80, and No. seven push away
Bar 80 is mounted on No. seven guide rails 81, and when No. six motors 77 are run, No. seven push rods 80 are moved along No. seven guide rails 81；To sum up institute
It states, when 641, No. six motors 77 of No. five motors are run, No. five push rods 80 of push rod 74, seven of push rod 73, six will be outside simultaneously
Or inwardly movement, the top of push rod are equipped with waist shell surface board group 12, thus realize the simulation to Attacking Midfielder's shape and size, after
The simulation of waist is similar.
For chest mechanical structure module 18 compared with waist mechanical structure module 19, chest mechanical structure module 18 does not have first half
Part intermediate 79, No. seven guide rails 81 of the rack gear of gear 78, eight of No. six motors 77, four and No. seven push rods 80, chest are mechanical
The other structures and mode of texturing of construction module 18 are identical as waist mechanical structure module 19.Buttocks mechanical structure module 20 with
The structure and mode of texturing of waist mechanical structure module 19 are identical.
Chest mechanical structure module 18, waist mechanical structure module 19 and buttocks mechanical structure module 20 include radial
Motion module 21, the radial motion module 21 include mounting platform 34, realize the movement of mounting platform 34 in the vertical direction,
To realize the change to robot model's height, an entire mechanical structure 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 equipped with screw rod 24 and feed screw nut 25, and the both ends of screw rod 24 are separately mounted to No.1 bearing block 23
In No. two bearing blocks 26, No.1 bearing block 23 is fixed on mounting rack 14 by No.1 ball bearing washer 22 and screw-nut,
No. two bearing blocks 26 are fixed on mounting rack 14 by No. two ball bearing washers 27 and screw-nut, and the bottom end of screw rod 24 is equipped with
Shaft coupling 28, shaft coupling 28 are connected with No.1 motor 29；The right side of mounting platform 34 is equipped with ring flange 33 and optical axis 32, optical axis
32 both ends respectively are mounted 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 mounting 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 mounting rack 14, when No.1 motor 29 brings into operation, screw rod 24 is rotated with it, work of the mounting platform 34 in screw rod 24 and optical axis 32
With lower realization vertical motion.
Claims (7)
1. a kind of robot model, the outermost layer of robot model is a whole set of elastic housing panel, the elastic housing face
Plate includes sequentially connected neck shell surface board group, shoulder shell surface board group, chest shell surface board group, waist shell from top to bottom
Panel group and buttocks shell surface board group；Robot model include from top to bottom sequentially connected neck mechanical structure module,
Shoulder mechanical structure module, chest mechanical structure module, waist mechanical structure module and buttocks mechanical structure module；Neck machine
Tool construction module is mounted in neck shell surface board group, and shoulder mechanical structure module is mounted in shoulder shell surface board group, chest
Mechanical structure module is mounted in chest shell surface board group, and waist mechanical structure module is mounted in waist shell surface board group, stern
Portion's mechanical structure module is mounted in buttocks shell surface board group；Robot model is mounted on mounting rack, and mounting rack is mounted on bottom
On seat；It is characterized by: neck mechanical structure module includes No. seven motors and neck mounting platform, No. seven motors are mounted on motor
On seat, motor cabinet is mounted on the top of mounting rack, and neck mounting platform is installed together with No. seven motors, on the axis of No. seven motors
Gear and lower gear are installed, be equipped on neck mounting platform No. nine rack gears, No. ten rack gears, No. eight push rods, No. nine push rods,
No. ten push rods and ride on Bus No. 11 push rod；No. nine rack gears, No. ten rack gears are engaged with gear respectively, and No. nine rack gears and No. eight push rods are solid
Fixed connection, No. ten rack gears are fixedly connected with No. nine push rods, and ride on Bus No. 11 push rod is meshed by rack gear with lower gear, and No. ten push rods are logical
Rack gear is crossed to be meshed with lower gear；No.1 plate and No. two plates are installed, No.1 plate is pushed away with No. nine on neck mounting platform
Bar is fixed together, and No. two plates are fixed together with No. eight push rods, No. eight push rods, No. nine push rods, No. ten push rods and 11
The top of number push rod is mounted on neck shell surface board group.
2. robot model according to claim 1, it is characterised in that: shoulder mechanical structure module includes identical left shoulder
Mechanism and You Jian mechanism, Zuo Jian mechanism and You Jian mechanism include shoulder mounting platform, and shoulder mounting platform is equipped with No. two electricity
Machine, No.1 rack gear, No.1 sliding block, No.1 second level mounting platform, No. three motors, No. two rack gears, No. two sliding blocks, No. two second level installations
Platform, No.1 push rod, No. two push rods, No. three push rods, No. four push rods, No. three sliding blocks, No. four sliding blocks, No. three guide rails, No. five sliding blocks,
No. six sliding blocks, No. four guide rails, No. three rack gears and No. four rack gears；Shoulder mounting platform is fixed on mounting rack by three corner fittings
On, No.1 gear is installed, No.1 gear and No.1 rack gear are intermeshed, No.1 rack gear, No.1 sliding block on the axis of No. two motors
And No.1 second level mounting platform is installed together, and No.1 guide rail is equipped on shoulder mounting platform, No.1 sliding block is mounted on one
On number guide rail, No. two gears are installed on the axis of No. three motors, No. two gears and No. two rack gears are intermeshed, No. two rack gears, two
Number sliding block and No. two second level mounting platforms are installed together, and No. two guide rails, No. two sliding blocks peaces are equipped on shoulder mounting platform
On No. two guide rails, electric machine support is installed on No. two second level mounting platforms, No. four motors are installed on electric machine support, No. four
The top of motor is equipped with gear, and gear is engaged with No. three rack gears, No. four rack gears simultaneously, and No. three rack gears and No. two push rods are mounted on one
It rises, No. four rack gears are installed together with No.1 push rod, and No. two push rods are connect with No. five sliding blocks, and No. four push rods and No. six sliding blocks connect
It connects, No. five sliding blocks and No. six sliding blocks are mounted on No. four guide rails, and No.1 push rod is connect with No. three sliding blocks, No. three push rods and No. four cunnings
Block connection, No. three sliding blocks and No. four sliding blocks are mounted on No. three guide rails, No.1 push rod, No. two push rods, No. three push rods and No. four
The top of push rod is mounted on shoulder shell surface board group.
3. 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 and latter half waist mechanism include waist peace
Assembling platform is equipped with No. five motors, No. five rack gears, No.1 gear set, No. six rack gears, support frame, No. two on waist mounting platform
Gear set, No. seven rack gears, No. five push rods, No. six push rods, No. five guide rails and No. six guide rails；Three are equipped on the axis of No. five motors
Number gear, No. three gears are meshed with the lower gear of No. five rack gears, No.1 gear set simultaneously, No. five rack gears and No. six push rods installations
Together, No.1 gear set is fixed on waist mounting platform by gear pedestal, and No. six rack gears are installed by sliding block and guide rail
On the support frame, No. six rack gears are meshed with the gear of No. two gear sets, the lower gear of No. two gear sets and No. seven rack gear phases
Engagement, No. seven rack gears are installed together with No. five push rods, and No. five push rods are mounted on No. five guide rails, are mounted on No. six guide rails,
The top of push rod is equipped with waist shell surface board group；
Chest mechanical structure module, buttocks mechanical structure module are identical as the structure of waist mechanical structure module respectively.
4. robot model according to claim 3, it is characterised in that: the waist of the waist mechanical mechanism module is installed
No. six motors, No. eight rack gears, No. seven push rods and No. seven guide rails are also equipped on platform；No. four are equipped on the axis of No. six motors
Gear, No. four gears are meshed with No. eight rack gears, and No. eight rack gears are installed together with No. seven push rods, and No. seven push rods are mounted on No. seven
On guide rail；Buttocks mechanical structure module is identical as the structure of waist mechanical structure module.
5. robot model according to claim 3, it is characterised in that: chest mechanical structure module, waist mechanical structure
Module and buttocks mechanical structure module include radial motion module.
6. robot model according to claim 5, it is characterised in that: the radial motion module includes mounting platform,
Screw rod and feed screw nut are installed, the both ends of screw rod are separately mounted to No.1 bearing block and No. two axis on the left of the mounting platform
It holds in seat, No.1 bearing block is fixed on mounting rack by No.1 ball bearing washer and screw-nut, and No. two bearing blocks pass through two
Number ball bearing washer and screw-nut are fixed on mounting rack, and the bottom end of screw rod is equipped with shaft coupling, shaft coupling and No.1 motor
It is connected；Ring flange and optical axis are installed, the both ends respectively of optical axis are mounted on No. three bearing blocks and No. four axis on the right side of mounting platform
It holds in seat, No. three bearing blocks are fixed on mounting rack by No. three ball bearing washers and screw-nut, and No. four bearing blocks pass through four
Number ball bearing washer and screw-nut are fixed on mounting rack.
7. robot model according to claim 1, it is characterised in that: there are four the universal of strap brake for the bottom dress of pedestal
Wheel.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN109397312B (en) * | 2018-11-30 | 2021-06-15 | 何泽熹 | Dress thing robot on probation |
| CN109397310B (en) * | 2018-11-30 | 2021-06-15 | 何泽熹 | Dress thing robot on probation |
| 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 |
| CN110338495B (en) * | 2019-07-22 | 2020-06-30 | 浙江大学 | Quick setting device of individualized clothing |
| CN110561447B (en) * | 2019-08-20 | 2020-11-13 | 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 |
| CN117824899A (en) * | 2021-08-17 | 2024-04-05 | 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 |
| 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 |
| CN114903243B (en) * | 2022-06-14 | 2024-01-26 | 袁著勇 | Body type adjustable human body model |
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