CN109397311A - A kind of wear robot on probation and its flexible quantitative mechanism and annular retractable body - Google Patents

Abstract

The present invention provides a kind of wear robot on probation and its flexible quantitative mechanism and annular retractable body, flexible quantitative mechanism includes: dosing assemblies and extension airbag, the dosing assemblies include assembly bracket and rope dosing assemblies, rope dosing assemblies are set on assembly bracket and are connect by rope with extension airbag, rope dosing assemblies carry out quantitative control to the rope, and then carry out quantitative control to the flexible of the extension airbag.Physical connection is carried out by rope and extension airbag, and quantitative control is carried out to rope by rope dosing assemblies, and then quantitative control is carried out to the flexible of extension airbag, to realize the accurate quantification of extension airbag.

Description

A kind of wear robot on probation and its flexible quantitative mechanism and annular retractable body

Technical field

The present invention relates to intelligent wear try out technical field more particularly to a kind of wear try out robot and its Flexible quantitative mechanism, annular retractable body.

Background technique

With the rapid development of internet, internet shopping platform is gradually applicable in people's lives, and people pass through interconnection Net shopping platform buys the commodity oneself liked, such as wear, has not only facilitated but also economical, has stayed indoors to buy and oneself like Wear.But consumer is when buying wear by internet shopping platform at present, consumer needs voluntarily measuring scale Very little data, then determine the yardage for the wear oneself being suitble to, then input consumer's dimension data by webpage, just can Allot the wear of suitable size three-dimensional；There is inaccuracy in the mode of this purchase wear, consumer is caused to move back Goods, to increase operating cost.

For the existing above problem of existing internet shopping, there is the research of some pairs of fitting robots, mainly Using sectional pattern, the spacing by controlling sectional pattern, which becomes larger, to become smaller to match with wear, however these fitting modes are only The shape of true man can generally be simulated, data are inaccurate, lead to the obtained clothes of fitting, be not still it is ideal, It is not a good fit when passing to client.In consideration of it, Chinese patent application CN106393124A and CN106272453A are proposed A kind of wear robot, it is multiple by extending from the spaced circular orbit of multiple stackings and to circular orbit outside The deformable dot matrix shell of extensible link component composition realizes the on probation of wear, improves wear accuracy on probation, But wherein need to be arranged in a one-to-one correspondence a quantitative flexible control in CN106393124A on each extensible link component Device processed, so that device is extremely complex, bulky；And it is provided in circular orbit along ring on CN106272453A The mobile motor of shape track drives the quantitative telescopic control device mobile also along circular orbit, and accuracy and precision are not Good control.

Summary of the invention

To solve the above problems, the present invention proposes that a kind of flexible quantitative accurate wear robot on probation is flexible quantitative Mechanism.

Wear provided by the invention tries out the flexible quantitative mechanism of robot, comprising: dosing assemblies and extension airbag, institute Stating dosing assemblies includes assembly bracket and rope dosing assemblies, and rope dosing assemblies are set on assembly bracket and pass through rope Connect with extension airbag, rope dosing assemblies carry out quantitative control to the rope, and then to the extension airbag stretch into The quantitative control of row.

Beneficial effects of the present invention: physical connection is carried out by rope and extension airbag, and passes through rope dosing assemblies pair Rope carries out quantitative control, and then carries out quantitative control to the flexible of extension airbag, to realize the accurate fixed of extension airbag Amount.

Detailed description of the invention

Fig. 1 is the structural schematic diagram that wear tries out robot in the embodiment of the present invention.

Fig. 2 is the structural schematic diagram of annular telescoping mechanism in the embodiment of the present invention.

Fig. 3 is the configuration schematic diagram of annular telescoping mechanism in the embodiment of the present invention.

Fig. 4 a is the schematic perspective view of single link configuration in the embodiment of the present invention.

Fig. 4 b is the configuration schematic diagram of single link configuration in the embodiment of the present invention.

Fig. 4 c is the A-A cross-sectional view of Fig. 4 a.

Fig. 4 d is the B-B cross-sectional view of Fig. 4 a.

Fig. 5 is the enlarged structure schematic diagram of eccentric clamping part in the embodiment of the present invention.

Fig. 6 a be the embodiment of the present invention in individually stretch D-M (Determiner-Measure) construction schematic perspective view.

Fig. 6 b be the embodiment of the present invention in individually stretch D-M (Determiner-Measure) construction configuration schematic diagram.

Fig. 6 c be the embodiment of the present invention in individually stretch D-M (Determiner-Measure) construction cross-sectional view.

Specific embodiment

With reference to embodiment and compares attached drawing invention is further described in detail, it should be emphasised that, Following the description is only exemplary, the range and its application being not intended to be limiting of the invention.

In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, only Be for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, term " first ", " second " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or implicitly indicates indicated skill The quantity of art feature." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more Multiple this feature.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise clearly specific It limits.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " Equal terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be with It is mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary Connection inside a element.For the ordinary skill in the art, it can understand that above-mentioned term exists as the case may be Concrete meaning in the present invention.

Described wear can be the helmet, cap, jacket, overcoat, pantie-corselette trousers, hand in the preferred embodiment of the present invention Set, socks, underpants, trousers, shorts, brassiere etc..Wear try out robot shape be human body shape include trunk, four limbs, Head, foot etc. can be omitted certain positions in the case where specific needs, such as when wear is upper body, wear tries out machine Device people can not include the lower part of the body, and certainly, wear, which tries out robot, can try out any one for the shape of complete people The wear being worn on human body.

As shown in Figure 1, the preferred embodiment of the present invention discloses a kind of wear robot 1, including multiple annular retractable machines Structure 10, telescopic rod 20, elastic housing (not shown), processor (not shown) and humanoid bracket 30, wherein telescopic rod 20 connects It connects on humanoid bracket 30, multiple stackings of annular retractable mechanism 10 interval is set on telescopic rod 20 so that can be by stretching Contracting dry 20 adjusts the position of each annular retractable mechanism 10, and elastic housing is wrapped up in multiple annular retractable mechanisms 10 (in figure Do not show), at least one pressure sensor (not shown) is arranged in the outer surface of elastic housing, when for detecting wear on probation Wear is to the pressure of elastic housing, to provide reasonable trial report.

As shown in Figures 2 and 3, annular retractable mechanism 10 includes pedestal 11, and the first driving group being set on pedestal 11 Ring chain 14, the multiple flexible quantitative mechanisms 50 that part 12, the second driving assembly 13, multiple chain links 40 (shown in Fig. 4 a) form The annular retractable body 15, charge and discharge pneumatic module 16 of (shown in Fig. 6 a) composition；Ring chain 14 and annular retractable body 15 are fixedly connected on (ring chain 14 is wrapped in annular retractable body 15 in Fig. 2) together, the first driving assembly 12 is for driving ring chain 14 It is rotated with annular retractable body 15 along the circular orbit on pedestal 11；It include (Fig. 4 b of positioning component 60 in each chain link 40 It is shown), the second driving assembly 13 is for positioning the positioning component 60 in chain link 40；Each flexible quantitative mechanism 50 wraps Dosing assemblies 51 and extension airbag 52 are included, dosing assemblies 51 are matched with positioning component 60, and dosing assemblies 51 are in positioning component 60 Under the action of, control the stroke of extension airbag 52；Charge and discharge pneumatic module 16 be used for extension airbag 52 carry out duration pumping or Inflation.Extension airbag 52 in multiple flexible quantitative mechanisms 50 is by being connected with each other composition annular retractable body, so that should The outer surface that wear tries out robot has more continuity.

Specifically, as shown in figure 3, pedestal 11 includes upper mainboard 111 and lower mainboard 112, upper mainboard 111 is an ellipse The circular orbit of shape, is provided with contact 1111,1112 of one or two protrusion on the outside of circular orbit, the contact be used for and Positioning component 60 in chain link 40 cooperates, the switching point as positioning component 60.Connecting pin 1113 is set on the inside of upper mainboard 111, For being fixedly connected with lower mainboard 112.The circular orbit 1121 to match with upper mainboard 111 is set on lower mainboard 112 and is risen Guide tube 1122 drops, and annular retractable mechanism 10 is connected on telescopic rod 20 by going up and down guide tube 1122.

First driving assembly 12 includes first motor 121, driving wheel 122, belt 123, driven wheel 124 and auxiliary wheel 125；First motor 121 is arranged in driving wheel 122, and provides the power of rotation for driving wheel 122；Driving wheel 122 passes through skin With 123 effect, the rotation of driven wheel 124 is driven.Driven wheel 124 and auxiliary wheel 125 are cooperatively connected with chain link 40 respectively, and Chain link 40 is driven to be rotated along circular orbit.Correspondingly, be provided on the lower mainboard 112 of pedestal 11 first motor 121, The fixed placement slot of driven wheel 124 and auxiliary wheel 125.It is understood that the first driving assembly 12 can only have one it is driven Driven wheel and auxiliary wheel is arranged without auxiliary wheel 125 in wheel 124 simultaneously, can make the annular being made of multiple chain links 40 The rotation of chain 14 is more stable smooth.

Second driving assembly 13 includes the second motor 131 and third motor 132, is touched respectively with two on circular orbit 1111,1112 positions of point are corresponding.Touching is moved to some chain link 40 in the ring chain 14 of circular orbit rotation It puts at position, then the positioning component 60 in contact unlocking chain link 40, then the second motor 131 or the driving positioning of third motor 132 Component 60 and the control that positioning amount is carried out to it, the positioning amount of positioning component 60 and then determining in the flexible quantitative mechanism 50 of limitation Amount component 51 removes the stroke of control extension airbag 52.Two pairs of one-to-one contacts and motor is shown in the figure, wherein touching Point 1111 and the second motor 131 cooperate, for carrying out the unlatching of positioning action and the control of positioning amount to positioning component 60, To limit the elongation that dosing assemblies 51 in flexible quantitative mechanism 50 control extension airbag 52；Another contact 1112 and Three motors 132 cooperation, for carrying out the unlatching of positioning action and the control of positioning amount to positioning component 60, so that limitation is stretched Dosing assemblies 51 control the amount of recovery of extension airbag 52 in contracting quantitative mechanism 50.It is to be understood that a pair of of touching can only be arranged Point and motor, for carrying out the unlatching of positioning action and the control of positioning amount to positioning component 60, so that limitation is flexible fixed Dosing assemblies 51 control the elongation and amount of recovery of extension airbag 52 in measuring mechanism.

Charge and discharge pneumatic module 16 includes tracheae 161 and air pump, and tracheae 161 includes air inlet 1611 and gas outlet 1612, and is divided It is not connect with air pump 1621,1622, while tracheae is connected with the extension airbag in multiple flexible quantitative mechanisms 50.Air pump 1621 provide gas source by air inlet 1611 for tracheae, and then are routinely inflated to extension airbag 52；Air pump 1622 is logical Crossing gas outlet 1612 is that tracheae carries out gas source recycling, and then is routinely evacuated to extension airbag 52.

As shown in figures 4a-4d, single chain link 40 includes support frame 41 and the positioning component 60 being arranged in support frame 41, The upper and lower ends of support frame 41 are fixedly connected there are four hook 42 is driven, and every two chain link is each to share a upper and lower transmission hook. Support frame 41 includes the upper cover 411, frame ontology 412 and the lower cover 413 that are detachably connected, four transmission hooks 42 respectively with upper cover 411 It is fixedly connected with lower cover 413 or so, four transmission hooks 42 and driven wheel 124, auxiliary wheel 125 are cooperatively connected, and by driven wheel 124 driving is rotated along circular orbit, and then entire chain link 40 is driven to turn at contact 1111 or 1112.Frame sheet Body 412 and upper cover 411, lower cover 413 form a centre, and there is cavity, front and back to have a slotted hexahedron, cavity and Fluting is for accommodating positioning component 60.

Positioning component 60 includes column, eccentric clamping part 62, spring 63, swing arm 64, limit connector 65.Eccentric clamping Part 62 and spring 63 are fixedly connected with column, and swing arm 64 and limit connector 65 are fixedly connected with eccentric clamping part 62；Support frame 41 cavity is for accommodating column and eccentric clamping part 62, and the fluting of front (on the outside of towards circular orbit) is for accommodating limit Connector 65, the fluting of the back side (on the inside of towards circular orbit) is for accommodating swing arm 64.In addition, swing arm 64 and the second motor 131 Or third motor 132 is cooperatively connected, limit connector 65 and flexible quantitative mechanism 50 are cooperatively connected.

Specifically, column includes the first column 611 and the second column 612, and the first column 611 is for assembling eccentric clamping The surface of part 62, the second column 612 is provided with fin 6121, for being fixedly connected with eccentric clamping part 62.First column 611 It is each provided with the first connector 613 with one end of the second column 612, for being fixedly connected with spring 63.As shown in figure 5, eccentric Clamping element 62 includes the first annulus part 621, the second annulus part 622 and steel shaft 623, and the first annulus part 621 includes about two flat Row and the annulus for passing through the connection of the second connector 6211, upper and lower two corresponding annulus are internally provided with the fixation of steel shaft 623 Chamber.The inner surface of second annulus part 622 is cyclic annular wedge-shaped form, and sharp end is close to annulus ring heart, and the other end is far from annulus ring The heart forms the lock chamber of steel shaft 623；Outer surface is connected with swing arm 64 and limit connector 65.First annulus part 621 with Second annulus part, 622 interference connects, and steel shaft 623 is fixed in the lock chamber of the two, then 62 sets of entire eccentric clamping part It is located on the first column 611, and is cooperatively connected by the fin 6121 on 612 surface of the second connector 6211 and the second column.

When chain link 40 is not in contact 1111 or 1112 position, spring 63 is not by the effect of contact, eccentric clamping part 62 Interior steel shaft 623 is in the inner wall sharp end of the second annulus part 622；Eccentric clamping part 62 and column are in mutually locked shape State, so that swing arm 64 is tightly secured in certain, so that the position of limit connector 65 is also firmly fixed.

When chain link 40 turns to contact 1111 or 1112 position, contact 1111 or 1112 with spring 63 cooperate, make spring 63 deformation occurs, and the deformation of spring 63 drives the second column 612 to occur the torsion of angle relative to the first column 611, and because of the The cooperation of second connector 6211 of two columns 612 convex stupefied 6121 and the first annulus part 621, and then drive eccentric clamping part 62 In the first annulus part 621 and the second annulus part 622 angular deflection occurs, at this point, steel shaft 623 is along in the second annulus part 622 Wall slides into lock chamber from sharp end, so that eccentric clamping part 62 and the first column 611 are in the state of unlocking (activity), Therefore eccentric clamping part 62 can be freely up and down movable along column.The swing arm 64 connecting with eccentric clamping part 62 can be by second The driving of motor or third motor moves up and down, and then drives moving up and down for limit connector 65.

As shown in fig. 6a-6c, the quantitative mechanism 50 that stretches includes dosing assemblies 51 and extension airbag 52, and dosing assemblies 51 wrap Assembly bracket 70 and rope dosing assemblies 80 are included, rope dosing assemblies 80 are set on assembly bracket 70 and pass through rope and stretch Contracting air bag 52 connects, and rope dosing assemblies 80 carry out quantitative control to rope, and then quantify to the flexible of extension airbag 52 Control.

Specifically, assembly bracket 70 includes first support 71 and second support 72, and first support 71 and second support 72 are Class " Contraband " type structure.The inside of first support 71 offers the fluting of a vertical direction for assembling chain link 40 on side wall 711.The upper and lower ends of second support 72 are provided with accommodating cavity 721, connected on accommodating cavity 721 upper cover 722 and lower cover 723 with into Row sealing and the connection for second support 72 and first support 71；Vertical side is provided in the one side wall of second support 72 To groove, be provided with outer cover 725 on another side wall.First support 71 is matched with second support 72 and is merged and rope dosing assemblies 80 are fixedly connected, and the inside of second support 72 is for assembling extension airbag 52.The inner end of extension airbag 52 is provided with logical Tracheae 523, the through-hole 726 that snorkel 523 passes through on 72 side wall of second support are connected to the tracheae 161 in charge and discharge pneumatic module 16.

Rope dosing assemblies 80 include transmission component 81 and rope control assembly 82.Transmission component 81 includes driving block 811 and transmission shaft 812.Driving block 811 is Y type, and one end extend into the fluting 711 of first support 71, and with chain link 40 Limit connector 65 cooperate, cooperate, can using mutually abutting by the way of, can also using grafting side Formula.The other end of driving block 811 is threadedly coupled with transmission shaft 812, the outer peripheral surface of transmission shaft 812 also with 72 side of second support Groove cooperation on wall, so that driving block 811, transmission shaft 812 are pressed from both sides by the side wall of first support 71 and second support 72 It holds, forms sandwich structure.

The up-down structure of second support 72 is symmetrical, for accommodating rope control assembly in the accommodating cavity 721 of upper and lower ends 82, rope control assembly 82 includes rope, is connect, can equably be controlled up and down with extension airbag by lower upper both direction The stroke of extension airbag.Rope control assembly 82 includes rubber skin belt wheel 821, whirling spring 822, transmission gear 823 and rope Rope leadthrough 824.It is provided with fixed column 7211 in the accommodating cavity 721 of second support 72, for being fixedly connected with whirling spring 822 With transmission gear 823.Whirling spring 822 is set in the lower lumen of transmission gear 823, is mainly used for the quick receipts of rope Volume；Helicla flute is provided in the upper lumen of transmission gear 823.Rubber skin belt wheel 821 is set to the accommodating cavity of second support 72 In 721, one end of inner surface is set in the end periphery of transmission shaft 812, and the other end is set in the periphery of transmission gear 823, It and is all to be threadedly coupled.Rope leadthrough 824 is L-type structure, and fixed column is fixed on by slotted eye in the middle part of one support arm On 7211, another support arm is connected on the lateral wall of second support 72 by fixation hole 8242 and spring 8243.Rope 825 Coiling sequentially passes through the through-hole 724 in second support 72 in the periphery of rubber skin belt wheel 821, on rope leadthrough 824 It is connect after lacing hole on lacing hole 8241, outer cover 725 with the fixation hole 521 of the outer end of extension airbag 52, and fixture 522 is fixed.Rope can be realized using wire with stronger tensile strength, fatigue resistance and toughness The load of long range, so that telescopic extensions range is big, quantitative accurate；Its self weight simultaneously is light-weight, flexibility is good, can Reduce the volume and weight of single unit system.In addition, working as driving block 811 with limit connector 65 is the cooperation side mutually abutted When formula, when extension airbag retraction, the whirling spring 822 in transmission gear 823 can provide the power of a fast rotation, into And rope is quickly wound.

When chain link 40 does not turn to contact 1111 or 1112 position, the position of the limit connector 65 on chain link 40 is solid It is fixed, and because of driving block 811 and the mutually matched relationship of limit connector 65 in flexible quantitative mechanism 50, so that transmission Axis 812 does not rotate, and also allows for rubber skin belt wheel 821 and does not rotate, thus the stroke for keeping rope 825 original, Extension airbag 52 keeps original stroke.

When chain link 40 turns to contact 1111 or 1112 position, by the driving of the second motor or third motor, limit connects Fitting 65 moves up and down, and then driving block 811 is driven to move up and down, and further transmission shaft 812 is driven to be revolved Turn；It is threadedly coupled again because of transmission shaft 812 with rubber skin belt wheel 821, drives rubber skin belt wheel 821 to be rotated again, thus right Rope 825 on rubber skin belt wheel is unreeled and is wound；Extension airbag 16 duration of charge and discharge pneumatic module inflation and Under the action of pumping, at the position for unreeling and winding predetermined amount of stretching to rope.

Currently preferred wear tries out robot, has following advantage:

1. quantitatively determining the outer profile and outer profile perimeter of robot different location by multiple annular retractable mechanisms Be dimensioned such that wear it is on probation more accurate.

2. the first drive component, the second driving assembly and charge and discharge pneumatic module are fixed at pedestal in annular retractable mechanism On, and drive circular orbit of the ring chain on pedestal to be rotated by the first driving assembly, and then drive by second The dynamic quantitative control of component and charge and discharge pneumatic module to the collapsing length of extension airbag, reduces the quantity of motor, structure more adduction Reason, precision more preferably controls, and greatly simplifies structure, realizes reliable.

3. the dosing assemblies in chain link include column, eccentric clamping part, spring, swing arm and limit connector, while annular Contact, contact and spring are arranged on track makes cam lock by the deformation of spring with the switching point for being incorporated as dosing assemblies The state unlocked is presented in tight part and column, and then can position to swing arm and limit connector；It is extensive by the deformation of spring It is multiple, and then the positioning of swing arm and limit connector is locked；It realizes dosing assemblies and only moves to pre-position Quantitative adjusting can be carried out, while the chain link of quantitative adjusting being made to keep stablizing, not by external influence, ensure that chain link The accuracy of positioning.

4. in flexible quantitative mechanism, carrying out physical connection by rope and extension airbag, and pass through rope dosing assemblies pair Rope carries out quantitative control, and then carries out quantitative control to the flexible of extension airbag, to realize the accurate fixed of extension airbag Amount.

5. rope is bi-directionally connected with extension airbag upper and lower ends, uniformity of extension airbag when flexible and steady ensure that It is qualitative.

The course of work of the annular retractable mechanism 10 of the wear robot of the preferred embodiment of the present invention are as follows:

A1. processor receives the body data of user, and according to the body data of user come drive control air pump, flexible Bar 20, the first driving assembly 12 and the second driving assembly 13, the height of each annular retractable mechanism 10 is first adjusted by telescopic rod 20 Spend position；

A2. first motor 121 drives driven wheel 124 to rotate, so that driven wheel 124 and the rotation band rotating ring of auxiliary wheel 125 Shape chain 14 saves land rotation along one section one of circular orbit, and chain link 40 is made successively to turn to the predetermined position of circular orbit Locate, i.e. at first contact, 1111 position；Contact 1111 carries out eccentric clamping part 62 by the spring 63 in positioning component 60 Unlocking function；

A3. the swing arm 64 in the second motor 131 driving positioning component 60 is moved to default to first direction (such as upward) Position, and then limit connector 65 is driven to first direction to be moved to preset position；Simultaneously, charge and discharge pneumatic module 16 Duration inflation is carried out to extension airbag；

A4. limit connector 65 drives the driving block 811 in flexible quantitative mechanism 50 to be moved to first direction default Position at, and then transmission shaft 812 is driven to arrive pre-position to second direction rotation (such as clockwise)；It is being driven Under the mating reaction of gear 823, the rotation of transmission shaft 812 drives rubber skin belt wheel 821 to rotate to second direction, and then to volume The rope 825 being wound on rubber skin belt wheel is unreeled, and unreels scheduled amount；Extension airbag is held in charge and discharge pneumatic module 16 Under the action of continuous property inflation, it is stretched over rope and unreels at the position of predetermined amount.

Step A2, A3 and A4 as above are repeated, 52 to each extension airbag in annular retractable mechanism 10 are so far completed Quantitative control, can be realized and wear is tried out.

Complete wear it is on probation after, wear can be tried out in each annular retractable mechanism 10 in robot Extension airbag return to initial position, execute following steps:

B1. first motor 121 drives driven wheel 124 to rotate, so that driven wheel 124 and the rotation band rotating ring of auxiliary wheel 125 Shape chain 14 saves land rotation along one section one of circular orbit, and chain link 40 is made successively to turn to the predetermined position of circular orbit Locate, i.e. at second contact, 1112 position；Contact 1111 carries out eccentric clamping part 62 by the spring 63 in positioning component 60 Unlocking function；

B2. third motor 132 drives the swing arm 64 in positioning component 60 to be moved to third direction (such as downward) initial Position, and then limit connector 65 is driven to be moved to initial position to third direction；Simultaneously, charge and discharge pneumatic module 16 is to stretching Contracting air bag carries out duration pumping；

B3. limit connector 65 drives the driving block 811 in flexible quantitative mechanism 50 to be moved to initially to third direction At position, and then transmission shaft 812 is driven to arrive initial position to fourth direction rotation (such as counter clockwise direction)；In driving cog Under the mating reaction of wheel 823, the rotation of transmission shaft 812 drives rubber skin belt wheel 821 to rotate to fourth direction, and then to winding Rope 825 on rubber skin belt wheel is wound, and is wound and arrived initial position；Extension airbag continues in charge and discharge pneumatic module 16 Property inflation under the action of, be retracted to rope initial position.

Step B1, B2 and B3 as above are repeated, so far, each extension airbag 14 in annular constrictions mechanism 10 returns to Initial position, user need using when execute step A1 to A4 again.

The above content is combine it is specific/further detailed description of the invention for preferred embodiment, cannot recognize Fixed specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, Without departing from the inventive concept of the premise, some replacements or modifications can also be made to the embodiment that these have been described, And these substitutions or variant all shall be regarded as belonging to protection scope of the present invention.

Claims (10)

1. a kind of wear tries out the flexible quantitative mechanism of robot characterized by comprising dosing assemblies and extension airbag, institute Stating dosing assemblies includes assembly bracket and rope dosing assemblies, rope dosing assemblies be set on assembly bracket and by rope with Extension airbag connection, rope dosing assemblies carry out quantitative control, and then the flexible progress to the extension airbag to the rope Quantitative control.

2. wear as described in claim 1 tries out the flexible quantitative mechanism of robot, which is characterized in that the assembly bracket packet Include the first support and second support of class " Contraband " type structure.

3. wear as claimed in claim 2 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope quantifies group Part includes transmission component and rope control assembly；The transmission component includes driving block and transmission shaft, the first support The fluting of vertical direction is offered on side wall, boiled water has the groove of vertical direction, the transmission on the side wall of the second support The side of sliding block is extend into the fluting of the first support, and the other side is threadedly coupled with the transmission shaft, meanwhile, the transmission Axis is set in the groove of second support；The upper and lower ends of the second support are provided with accommodating cavity, for placing the rope Control assembly.

4. wear as claimed in claim 3 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope control group Part includes rubber skin belt wheel, transmission gear and the rope, and the transmission gear is set to the second support upper and lower ends In accommodating cavity, one end of the inner surface of the rubber skin belt wheel is set in the end periphery of the transmission shaft, and the other end is located at institute The periphery of transmission gear is stated, and to be threadedly coupled；The rope coiling is stretched in the periphery of the rubber skin belt wheel, and with described The outer end of air bag is fixedly connected.

5. wear as claimed in claim 4 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope control group Part further includes whirling spring, and the whirling spring is set to the inside of the transmission gear, the quick winding for the rope.

6. wear as claimed in claim 4 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope control group Part further includes the rope leadthrough for offering lacing hole, and the rope passes through the lacing hole and institute from the rubber skin belt wheel State extension airbag connection.

7. wear as claimed in claim 6 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope leadthrough For L-type structure, the top of the transmission gear is fixed in the middle part of one support arm, the other end is fixed on described second by spring On the outer wall of bracket.

8. wear as described in claim 1 tries out the flexible quantitative mechanism of robot, which is characterized in that the rope is steel wire Line.

9. a kind of wear tries out robot annular retractable body, which is characterized in that including multiple such as any one of claim 1-8 institute The wear stated is tried out the flexible quantitative mechanism of robot and is connected with each other.

10. a kind of wear tries out robot, which is characterized in that tried including at least one wear as claimed in claim 9 With robot annular retractable body.