CN111329296B

CN111329296B - Method for simulating walking of mannequin

Info

Publication number: CN111329296B
Application number: CN202010195311.3A
Authority: CN
Inventors: 陈松; 陈�峰
Original assignee: Quanzhou Hexing Display Products Co ltd
Current assignee: Quanzhou Hexing Display Products Co ltd
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2021-05-25
Anticipated expiration: 2040-03-19
Also published as: CN111329296A

Abstract

The invention relates to the field of mannequins, in particular to a mannequin walking simulation method, which is characterized in that a base is utilized to realize the placement of a mannequin, two hinged parts are arranged on the base in parallel, two feet of the mannequin are respectively connected with the two hinged parts, and the upper body of the mannequin is fixedly arranged on the base; the maximum distance of the transverse displacement of the hinge part is set to be L, the starting point of the hinge part is set to be A, the terminal point of the hinge part is set to be B, the projection of the upper body center point of the mannequin on the line AB is set to be C, the maximum lifting height of the hinge part is set to be H, the highest point of the hinge part is set to be D, 1/8L is smaller than H and smaller than 1/4L, when the hinge point is lifted from A to D, the transverse movement of the hinge point does not reach C, the movement time of the hinge point from A to D, D to B is the same, the movement time from B to C to A is set to be T, 1/3s is smaller than T and 2/3s, and the numerical value. The technical problem that the existing model cannot realize simulation walking is solved.

Description

Method for simulating walking of mannequin

Technical Field

The invention relates to the field of mannequins, in particular to a mannequin walking simulation method.

Background

At present, people are increasingly demanding on clothes, and the overall beauty of the clothes is more concerned. A clothing model is an effective means of showing the aesthetic appearance of clothing to consumers. However, most of the clothes models of the current clothes stores are in fixed action postures, some large clothes stores have clothes models with movable joints, and the movement of the movable joints is adjusted by manpower and still static when displayed. In general, the clothes model on the market at present is good in simulation, but is stiff, cannot change the action posture at any time, and cannot show the characteristics of the integral beauty of clothes to consumers.

Chinese patent No.: 201510501170.2 discloses a sixteen-freedom-degree clothes model robot, which comprises the following parts: 1) model outer shell model: the multifunctional head-mounted clothes support comprises a head shell, a neck shell, a trunk shell, a shoulder shell, an upper arm shell, an elbow shell, a forearm shell, a hand and wrist shell and a support, is used for simulating the appearance of a human body, is used as a supporting body of upper body clothes, and is connected with and protects an internal mechanical structure; 2) electric steering engine: the inside 16 total electric steering wheel of sixteen degrees of freedom clothes model robot casing is by 3, left and right shoulder arm steering wheel each 6 of head steering wheel, and waist steering wheel 1 is constituteed, the steering wheel of every shoulder arm of left and right shoulder arm steering wheel comprises following steering wheel: 2 shoulder steering engines, 1 upper arm steering engine, 1 elbow steering engine, 1 forearm steering engine and 1 wrist steering engine, which are used for controlling the rotation of each part of the joint of the robot, so that the clothes model robot forms and keeps a certain posture, or moves from a certain posture to another posture in a certain path, and simultaneously bears the torque generated in the static and moving processes; wherein, three orthogonal direction is x, y and z direction, the z direction with along the vertical ascending direction of clothing model robot truck is unanimous, the x direction with the positive vertically direction of clothing model robot is unanimous, the y direction with the direction of two liang of quadrature in x direction, z direction, 3 head steering gears are in respectively the x, y, z direction rotates, the truck casing is through rather than inside continuous 1 waist steering gear can make it along the central axis direction of truck casing, z direction rotates promptly, every shoulder arm still includes following characteristic: the upper arm shell enables the tail end of an upper arm to swing in x and y orthogonal directions through the 2 shoulder steering engines connected with the interior of the shoulder shell, and enables the upper arm to rotate along the central axis direction of the upper arm shell through the 1 upper arm steering engine; the forearm shell enables the tail end of a forearm to swing in the x direction through the 1 elbow steering engine connected with the inner part of the elbow shell, the forearm rotates along the central axis direction of the forearm shell through the 1 forearm steering engine, and the hand and wrist shells swing in the x direction through the 1 wrist steering engine connected with the inner parts of the hand and wrist shells; on every shoulder arm 2 shoulder steering wheel, 1 upper arm steering wheel, 1 elbow steering wheel, 1 forearm steering wheel and the linkage of the turned angle of 1 wrist steering wheel are set for according to following mode: the rotation angle of one shoulder steering engine is a, the rotation angle of the other shoulder steering engine is k1 × a, the rotation angle of the upper arm steering engine is k2 × a, the rotation angle of the elbow steering engine is k3 × a, the rotation angle of the forearm steering engine is k4 × a, and the rotation angle of the wrist steering engine is k5 × a, wherein k1, k2, k3, k4 and k5 are positive numbers and satisfy the condition that k1+ k2+ k3+ k4+ k5 is 3.09; 3) the steering engine fixing plate and the various connecting parts are used for fixedly connecting various shells and the steering engine in the model robot in a certain position relation and ensuring that each joint can smoothly rotate with the required degree of freedom.

Although such a sixteen-degree-of-freedom mannequin robot can freely move the upper body at a plurality of angles, such a movement state is limited to the movement of the upper body. When the mannequin displays, the action of the upper body is not critical in practice, but the action display of the walking and movement states is more critical, and the above patent can not realize the function. For the walking of the model, how to realize the more real walking becomes the key,

disclosure of Invention

Therefore, aiming at the problems, the invention provides a walking simulation method for a mannequin, which solves the technical problem that the existing model cannot realize simulation walking.

In order to achieve the purpose, the invention adopts the following technical scheme: a mannequin walking simulation method is characterized in that a base is utilized to realize the placement of a mannequin, two hinged parts capable of realizing transverse displacement and longitudinal extension are arranged on the base side by side, knee joints and hip joints of the mannequin can rotate, two feet of the mannequin are connected with the two hinged parts respectively, and the upper body of the mannequin is fixedly arranged on the base;

setting the maximum distance of the transverse displacement of the hinge part as L, setting the starting point of the hinge part as A and the end point of the hinge part as B, setting the projection of the upper body central point of the clothing model on the AB line as C, setting both AC and BC as 1/2L, setting the maximum lifting height of the hinge part as H and the highest point as D, setting the heights of the hinge parts at the starting point and the end point as 0, setting 1/8L < H < 1/4L, when the hinge point rises from A to D, the transverse movement of the hinge point does not reach C, setting the difference value to be less than 1/8L and more than 1/10L, setting the movement time of the hinge point from A to D, D to B as the same, setting the movement time of the hinge point from B to C to A as the movement time from A to D to B, setting the movement time from B to C to A as T, setting 1/3s, and when the value of L is larger, the value of T is smaller, and the value of L is 90-45T.

Further, the base comprises a shell, a first rotating shaft arranged in the shell in a rotating way, a second rotating shaft arranged in the shell in a rotating way, a first driving wheel fixedly arranged on the first rotating shaft, a second driven wheel arranged on the first rotating shaft in a rotating way, a first driven wheel arranged on the second rotating shaft in a rotating way, a second driving wheel fixedly arranged on the second rotating shaft, a first servo motor arranged in the shell and used for driving the first rotating shaft, and a second servo motor arranged in the shell and used for driving the second rotating shaft, wherein the first driving wheel and the first driven wheel are wrapped with a first synchronous belt, the second driving wheel and the second driven wheel are wrapped with a second synchronous belt, a first sliding rail is arranged in the shell and positioned above the first synchronous belt, a second sliding rail is arranged in the shell and positioned above the second synchronous belt, and a first sliding block is arranged on the first sliding rail in a left-right sliding way, the first slider is fixedly connected with the first synchronous belt, the second slider is arranged on the second slide rail in a left-right sliding mode, the second slider is fixedly connected with the second synchronous belt, the first slider is provided with a first lifting rod, the second slider is provided with a second lifting rod, the shell is provided with a first strip-shaped slide hole and a second strip-shaped slide hole, the first strip-shaped slide hole is located above the first slide rail, the second strip-shaped slide hole is located above the second slide rail, the first lifting rod extends out of the first strip-shaped slide hole, the second lifting rod extends out of the second strip-shaped slide hole, the shell is provided with a support column, the upper end of the support column is provided with a cross rod, the lower end of the cross rod is provided with a connecting piece used for connecting the head of the model, and the hinged parts are respectively arranged at the free ends of the first lifting rod and the second lifting rod.

Furthermore, the connecting piece is an electric push rod, the bottom end of the connecting piece is connected with the cross rod through a ball hinge joint, and the free end of the connecting piece is connected with the head of the mannequin through the ball hinge joint.

Further, the quantity of support column is three, the quantity of horizontal pole is three, on the connecting portion of the free end of three horizontal poles were located to the connecting piece, link to each other through a plurality of reinforcing plates between two adjacent support columns, each support column evenly distributed locates the 90 degrees within ranges of circumference.

Further, still include and rotate the seat, the casing is rotationally located and is rotated on the seat, it rotates the motor to rotate to be equipped with on the seat, be equipped with a worm in the pivot of rotating the motor, be equipped with on the circumference outside of casing with worm complex worm wheel.

Furthermore, an upper ball groove is formed in the lower end face of the shell, a lower ball groove corresponding to the upper ball groove is formed in the upper end face of the rotating seat, and a plurality of balls are clamped in the upper ball groove and the lower ball groove.

By adopting the technical scheme, the invention has the beneficial effects that:

1. the walking simulation method of the scheme can enable the simulation of the model to be stronger when walking is simulated, the visual perception of people to be smoother and natural, and the characteristics of the clothes can be better shown. And various walking postures can be formed through different settings, such as slow walking, normal walking, fast walking, scout walking and the like.

2. The base can realize the oscilaltion of first lifter, second lifter, and first lifter, second lifter can be articulated with the foot of model, and this kind of lift can be active, for example utilize electric putter to realize, also can be passive, for example receive the pulling of model body and oscilaltion, just realize the purpose of a direction promptly. The first lifting rod can slide left and right under the driving of the first sliding block, so that the walking action of the feet of the model and the foot lifting action can be simulated. As long as set up on the model with the adapting unit of first lifter, second lifter, connecting piece, just can realize the dismouting of mould, can adopt the convenient attach fitting of dismantling such as quick-operation joint, rotary joint, and the model, as long as possess the shank can follow the trunk and rotate, the step can be connected in first lifter and second lifter, head can connect in the connecting rod can. The model has low cost, only the base has high cost, and the base can be used for realizing the display of models with various shapes. The cost is lower, and the practicability is better.

3. The connecting piece is arranged to be the electric push rod, so that the model can be in a rising and falling state, the fluctuation state of the human body during walking can be simulated, and the simulation effect is better.

4. The supporting column can realize stable support and form favorable supporting environment. And the arrangement of the reinforcing plate can improve the stability of the support.

5. The setting of rotating the seat can effectively realize the show of model body to a plurality of angles, because this kind of rotation does not need very fast speed, adopts worm gear's cooperation can effectively realize driven stability.

6. Go up ball groove, lower ball groove, ball setting, can effectively realize the rotation support between base, the casing, reduce the friction.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the base;

FIG. 3 is a schematic structural view of the top view of FIG. 1;

FIG. 4 is a graph of L as a function of T.

Detailed Description

The invention will now be further described with reference to the accompanying drawings and detailed description.

Referring to fig. 1 to 4, the present embodiment provides a garment model, which includes a trunk 91, a head 92 detachably disposed on the trunk 91, two thigh bases 93 rotatably disposed on the trunk 91, a thigh 94 detachably disposed on the thigh base 93, a shank 95 connected to the thigh 94 in an articulated manner, a foot 96 detachably disposed on the shank 95, two shoulder joints 97 rotatably disposed on the trunk 91 via a steering engine, and an arm 98 detachably disposed on the shoulder joint 97, wherein a rotation cavity 961 is disposed at a lower end of the foot 96. The two leg portions 96 are connected to the two hinge portions 8, respectively.

The embodiment also discloses a base for placing the mannequin, which is used for placing the mannequin and comprises a shell 1, a first rotating shaft 21 rotatably arranged in the shell 1, a second rotating shaft 22 rotatably arranged in the shell 1, a first driving wheel 31 fixedly arranged on the first rotating shaft 21, a second driven wheel 41 rotatably arranged on the first rotating shaft 21, a first driven wheel 32 rotatably arranged on the second rotating shaft 22, a second driving wheel 42 fixedly arranged on the second rotating shaft 22, a first servo motor 23 arranged in the shell 1 and used for driving the first rotating shaft 21, a second servo motor 24 arranged in the shell 1 and used for driving the second rotating shaft 22, a first synchronous belt 33 wrapped on the first driving wheel 31 and the first driven wheel 32, a second synchronous belt 43 wrapped on the second driving wheel 42 and the second driven wheel 41, a first slide rail 34 arranged above the first synchronous belt 33 in the shell 1, the casing 1 is internally provided with a second slide rail 44 above a second synchronous belt 43, the first slide rail 34 is provided with a first slide block 35 in a left-right sliding manner, the first slide block 35 is fixedly connected with the first synchronous belt 33, the second slide rail 44 is provided with a second slide block 45 in a left-right sliding manner, the second slide block 45 is fixedly connected with a second synchronous belt 43, the first slide block 35 is provided with a first lifting rod 36, the second slide block 45 is provided with a second lifting rod 46, and the first lifting rod and the second lifting rod are both electric push rods. The shell 1 is provided with a first strip-shaped sliding hole 11 and a second strip-shaped sliding hole 12, the first strip-shaped sliding hole 11 is located above the first sliding rail 34, the second strip-shaped sliding hole 12 is located above the second sliding rail 44, the first lifting rod 36 extends out of the first strip-shaped sliding hole 11, the second lifting rod 46 extends out of the second strip-shaped sliding hole 12, the first lifting rod 36 and the second lifting rod 46 extend into the rotating cavities 961 of the feet 96 respectively, the first lifting rod 36 and the second lifting rod 46 are connected with the hinged parts 8 respectively, that is, the first lifting rod 36 and the second lifting rod 46 are connected with the feet 96 in a hinged manner respectively.

The base still includes a rotation seat 7, casing 1 rotationally locates on rotation seat 7, it rotates motor 71 to be equipped with on the rotation seat 7, be equipped with a worm 72 in the pivot of rotating motor 71, be equipped with worm wheel 721 with worm 72 complex on the circumference outside of casing 1. An upper ball groove 13 is formed in the lower end surface of the housing 1, a lower ball groove 73 corresponding to the upper ball groove 13 is formed in the upper end surface of the rotating seat 7, and a plurality of balls 74 are clamped in the upper ball groove 13 and the lower ball groove 73.

The shell body 1 is provided with a support column 5, the upper end of the support column 5 is provided with a cross rod 51, and the lower end of the cross rod 51 is provided with a connecting piece 52 used for connecting the head of a mannequin. The quantity of support column 5 is three, the quantity of horizontal pole 51 is three, connecting piece 52 is located on the connecting portion of three horizontal pole 51's free end, links to each other through a plurality of reinforcing plates 53 between two adjacent support columns 5, and each support column 5 evenly distributed locates the 90 degrees within ranges of circumference, also is the quarter of the shared circumference of three support columns. The connecting piece 52 is an electric push rod, the bottom end of the connecting piece 52 is connected with the cross rod 51 through a ball joint, and the free end of the connecting piece 52 is connected with the head of the mannequin through the ball joint.

The first servo motor, the second servo motor and the rotating motor can be common servo motors, the third electric push rod, the second lifting rod and the first lifting rod can be common electric push rods, and the accessories can be purchased from the market and are well known. The first slide bar and the second slide bar can be square, and round is preferably avoided, which is beneficial to enhancing the stability.

By the setting, the walking state can be in a softer posture, and the high-vision walking robot has high ornamental value and display performance.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A walking simulation method for a mannequin is characterized by comprising the following steps: the mannequin is placed by utilizing the base, two hinged parts capable of realizing transverse displacement and longitudinal extension are arranged on the base in parallel, the knee joints and the hip joints of the mannequin can rotate, two feet of the mannequin are respectively connected with the two hinged parts, and the upper body of the mannequin is fixedly arranged on the base;

2. The mannequin walking simulation method of claim 1, wherein: the base comprises a shell, a first rotating shaft, a second rotating shaft, a first driving wheel, a second driven wheel, a first driving motor, a second servo motor and a second servo motor, wherein the first rotating shaft is rotatably arranged in the shell, the second rotating shaft is rotatably arranged in the shell, the first driving wheel is fixedly arranged on the first rotating shaft, the second driven wheel is rotatably arranged on the first rotating shaft, the second driving wheel is fixedly arranged on the second rotating shaft, the first servo motor is arranged in the shell and is used for driving the first rotating shaft, the second servo motor is arranged in the shell and is used for driving the second rotating shaft, the first driving wheel and the first driven wheel are wrapped with a first synchronous belt, the second driving wheel and the second driven wheel are wrapped with a second synchronous belt, a first sliding rail is arranged in the shell and is arranged above the first synchronous belt, a second sliding rail is arranged in the shell and is arranged above the second synchronous belt, and a first sliding, the first slider is fixedly connected with the first synchronous belt, the second slider is arranged on the second slide rail in a left-right sliding mode, the second slider is fixedly connected with the second synchronous belt, the first slider is provided with a first lifting rod, the second slider is provided with a second lifting rod, the shell is provided with a first strip-shaped slide hole and a second strip-shaped slide hole, the first strip-shaped slide hole is located above the first slide rail, the second strip-shaped slide hole is located above the second slide rail, the first lifting rod extends out of the first strip-shaped slide hole, the second lifting rod extends out of the second strip-shaped slide hole, the shell is provided with a support column, the upper end of the support column is provided with a cross rod, the lower end of the cross rod is provided with a connecting piece used for connecting the head of the model, and the hinged parts are respectively arranged at the free ends of the first lifting rod and the second lifting rod.

3. The mannequin walking simulation method according to claim 2, wherein: the connecting piece is an electric push rod, the bottom end of the connecting piece is connected with the cross rod through a ball hinge joint, and the free end of the connecting piece is connected with the head of the mannequin through the ball hinge joint.

4. The mannequin walking simulation method according to claim 2, wherein: the quantity of support column is three, the quantity of horizontal pole is three, on the connecting portion of the free end of three horizontal poles were located to the connecting piece, it is continuous through a plurality of reinforcing plates between two adjacent support columns, and each support column evenly distributed locates the 90 degrees within ranges of circumference.

5. The mannequin walking simulation method according to claim 2, wherein: still include one and rotate the seat, the casing rotationally locates on rotating the seat, it rotates the motor to rotate to be equipped with on the seat, be equipped with a worm in the pivot of rotation motor, be equipped with on the circumference outside of casing with worm complex worm wheel.

6. The mannequin walking simulation method of claim 5, wherein: the lower end face of the shell is provided with an upper ball groove, the upper end face of the rotating seat is provided with a lower ball groove corresponding to the upper ball groove, and a plurality of balls are clamped in the upper ball groove and the lower ball groove.