WO2020052591A1

WO2020052591A1 - Humanoid robot model simulating human motion

Info

Publication number: WO2020052591A1
Application number: PCT/CN2019/105373
Authority: WO
Inventors: 蔡小强; 李彤
Original assignee: 华尔嘉（泉州）机械制造有限公司
Priority date: 2018-09-12
Filing date: 2019-09-11
Publication date: 2020-03-19
Also published as: CN108789401B; CN108789401A

Abstract

A humanoid robot model simulating human motion, comprising a frame (1), two first gear plates (2), two thigh mechanical structures, and two arm-model installation bases (11) for installing an arm model. The first gear plates (2) are disposed on the frame (1). The thigh mechanical structures are each hinged on a surface of the first gear plate (2). A lower end portion of each thigh mechanical structure is hinged with a shank installation block (9) for installing a shank. The frame (1) is provided with a drive device (10) for driving the first gear plates (2) to rotate. The arm-model installation bases (11) are hinged on the frame (1), and the frame (1) is provided with two swinging drive devices for driving the two arm-model installation bases (11) to swing back and forth. The humanoid robot model has a simple structure and can simulate human motion.

Description

Motion simulation robot model

Technical field

The present invention relates to display props, and particularly to a motion simulation robot model.

Background technique

With the development of society, the display props in the window are various. The existing clothes and shoes are displayed in the window through the model props. Because of its universality, it cannot attract people's attention. Especially when there are dynamic LED and other advertisements displayed in the window, people will be attracted by these activities instead, which is not conducive to the display of clothes and shoes. And like some athletic clothes and shoes, static models do not reflect their style and beauty well, affecting people's perception of clothes and shoes.

Summary of the Invention

Therefore, in view of the above problems, the present invention proposes a motion simulation robot model with a simple structure that can simulate human motion.

In order to achieve the above technical problem, the solution adopted by the present invention is: a motion simulation robot model, including a frame, two first driving turntables, two thigh mechanical structures, and two arm mounts for mounting an arm model. A first driving turntable is disposed on the frame, and the thigh mechanical structure includes a thigh front support rod and a thigh rear support rod. A first link is hinged on an upper end of the thigh front support rod and an upper end of the thigh rear support rod. A second link is fixedly connected to the frame, a free end of the first link is hinged to the frame, a free end of the second link is hinged to the frame, and an upper end of the thigh front support is hinged to a first Three links, a fourth link is articulated on the upper end of the thigh rear support, the free end of the third link is hinged on the first drive turntable surface, and the free end of the fourth link is hinged on On the first driving turntable surface, the first driving turntable is located above the first link and the second link, and the lower end of the thigh front support is hinged with a lower leg mounting block for installing a lower leg, the lower leg The free end of the mounting block and the large The lower ends of the back legs of the legs are hinged, a driving device for driving the first driving turntable to rotate is provided on the frame, the arm model mounting seat is hinged to the frame, and the arm model mounting seat is provided Above the driving turntable, two swing driving devices for driving the two arm model mounting bases to swing back and forth are arranged on the frame.

A further improvement is that a first pin is fixedly disposed on the surface of the first driving turntable, a free end of the fourth link is rotatably sleeved on the first pin, and a free end of the third link A fifth link is hinged, and the free end of the fifth link is fixedly connected with the free end of the first pin.

It is further improved that the free end of the first link and the free end of the second link are hinged to the frame through a second pin.

It is further improved that the swing driving device includes a second drive turntable, the second drive turntable is rotatably disposed on the frame, the arm model mounting seat is fixedly connected with a swing lever, and the free end of the swing lever A driving rod is articulated, the free end of the driving rod is hinged to the disk surface of the second driving turntable, and a second driving device is provided on the frame to drive the second rotating disc to rotate.

It is further improved that: on the horizontal projection plane, the two hinge points of the two driving disks and the two driving rods are formed symmetrically along the rotation center axis of the second driving disk.

It is further improved that the second driving device is a transmission belt wound around the first driving turntable and the second driving turntable.

It is further improved that, on a horizontal projection, the hinge point between the two first driving turntables and the first pin shaft is symmetrical along the rotation center axis of the first driving turntable.

A further improvement is that a sixth link is articulated on the rear thigh rod, and the sixth link and the fourth link are jointly articulated to the rear thigh rod through a third connecting shaft, and the first The six links and the free end of the second link are hinged to the frame through a second connection shaft.

Further improvement is that the thigh front support rod includes a front support rod driving rod and a front support rod connecting rod, the first link is hinged to the front support rod driving rod, and an upper end portion of the front support rod connecting rod passes through Screws are detachably provided on the front support rod driving rod. A first hinge projection is provided on the upper end of the lower leg mounting block, and two first connection plates are hinged on both sides of the first hinge projection. A first connecting plate is detachably provided on the lower end of the front supporting rod connecting rod, the thigh rear supporting rod includes a rear supporting rod connecting rod, and an upper end portion of the rear supporting rod connecting rod is removable. The second connecting rod is provided, and the upper end of the lower leg mounting block is provided with a second hinge projection. Two sides of the second hinge projection are hinged with two second connection plates, and the two second connection plates are connected by screws. It is detachably arranged at the lower end of the rear support rod connecting rod.

A further improvement is that a fixing post for fixing the thigh shell is provided on the rear thigh rod, and the fixing post is provided with a threaded hole.

By adopting the foregoing technical solution, the present invention has the beneficial effects that a motion simulation robot model can simulate a human running motion posture, clothes and shoes are worn on it, and adopting a dynamic situation can better attract consumers 'attention and increase consumers' presence in the store Stop rate here. At the same time, dynamic simulation can better reflect the characteristics and style of sports clothes and shoes, and improve consumer awareness of the product.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of a motion simulation robot model according to a first embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a motion simulation robot model according to the first embodiment of the present invention.

FIG. 3 is a schematic diagram of a horizontal A-direction projection according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of a horizontal A-direction projection according to an embodiment of the present invention.

5 is a schematic structural diagram of a swing driving device according to a second embodiment of the present invention.

6 is a schematic structural diagram of a swing driving device according to a second embodiment of the present invention.

detailed description

The present invention will be further described with reference to the drawings and specific embodiments.

Embodiment one:

Referring to FIG. 1, FIG. 2, FIG. 3, and FIG. 4, the embodiment of the present invention discloses a motion simulation robot model. In order to achieve the above technical problems, the solution adopted by the present invention is: a motion simulation robot model including a frame 1, two Two first gear disks 2 and two thigh mechanical structures, the first gear disks 2 are arranged on the frame 1, the thigh mechanical structures include a thigh front support rod 3, a thigh rear support rod 6, the thigh The front support rod 3 includes a front support rod driving rod 31 and a front support rod connecting rod 32. The first link 4 is articulated to the front support rod driving rod 31 through a fifth pin 40. The front support rod connecting rod. The upper end of 32 is detachably provided on the front support rod driving rod 31 by screws, which is conducive to saving space occupied by the robot and convenient for transportation of the robot. The upper end of the rear support rod 6 of the thigh is fixedly connected with the second link 7. The thigh rear support rod 6 includes a rear support rod connection rod 61, and an upper end of the rear support rod connection rod 61 is detachably provided on the second connection rod 7 by screws, which is conducive to saving space occupied by the robot and facilitating transportation of the robot. The upper end of the thigh front support rod 3 is hinged through the fifth pin 40 There is a third link 5, a fourth link 8 is articulated on the upper end of the thigh rear support rod 6 through a third pin 42, and a free end of the third link 5 is articulated on the surface of the first gear plate 2 The free end of the fourth link 8 is hinged on the surface of the first gear disc 2, the first gear disc is located above the first link 4 and the second link 7, and the front of the thigh A lower leg mounting block 9 is hinged to the lower end of the support rod 3, a free end of the lower leg mounting block 9 is hinged to a lower end of the rear thigh support rod 6, and a first hinge protrusion is provided on the upper end of the lower leg mounting block 9. 91, two first connecting plates 92 are hinged on both sides of the first hinge protrusion 91, and the two first connecting plates 92 are detachably provided on the lower end portion of the front support rod connecting rod 32 by screws, The lower end of the lower leg mounting block 9 is provided with a second hinge projection 93, and two second connection plates 94 are hinged on both sides of the second hinge projection 93, and the two second connection plates 94 are detachable by screws. The driving device 10 is mounted on the lower end of the rear support rod 61, and the frame 1 is provided with a driving device 10 for driving the first gear plate 2 to rotate.

In order to make the motion simulation robot model more realistically mimic the swing of a human leg, the free end of the first link 4 and the free end of the second link 7 are hinged to the frame 1 through a second pin 41, so A first pin 44 is fixedly disposed on the disk surface of the first driving turntable 2, a free end of the fourth link 8 is rotatably sleeved on the first pin 44, and a free end of the third link 5 is hinged. There is a fifth link 45. The free end of the fifth link 45 is fixedly connected to the free end of the first pin 44. In this way, when the robot leg is swinging, the leg is caused by the action of the fifth link 45. The swing is at an angle, and short pauses are made when swinging back and forth to make the leg swing more realistic.

In order to allow the motion simulation robot model to more realistically mimic a human thigh swing, the hinge points of the two first driving gear disks 2 and the first pin shaft 44 are formed along the first driving gear disk 2 on a horizontal projection. The central axis of rotation 101 is symmetrical, which can better imitate the movement of the left and right feet of a person when running or walking.

In order to better improve the rigidity of the thigh structure of the motion simulation robot model, a sixth link is articulated on the second link 7 of the thigh rear support rod 6 through the second pin 41 and the third pin 42 16. The sixth link 16 and the fourth link 8 are hinged to the second connecting rod 7 of the thigh rear support rod 6 through the third pin 42. The free end of the second link 7 is hinged to the frame 1 through the second link pin 41.

In order to make the motion simulation robot model more realistically imitate the overall structure of the human body, the rack 1 is located above the first gear plate 2 and is provided with an arm model mounting base 11, and the arm model mounting base 11 is hinged to the rack 1, the frame 1 is fixedly provided with a hinged frame 50. The hinged frame 50 includes a first hinged base 51 and a second hinged base 52. The first hinged base 51 and the second hinged base 52 are arranged therethrough. A spline shaft 19, the arm model mounting base 11 is fixedly connected to the spline shaft 19, and the spline shaft 19 is fixedly provided with a first limit ring 54 and a second limit ring 53, the first limit A retaining ring 53 and a second limiting ring 54 are disposed between the first hinged seat 51 and the second hinged seat 52, and the first limiting ring 53 and the second limiting ring 54 are respectively resisted from the first On the side of the hinge base 51 and the second hinge base 52, the arm model mounting base 11 is provided with a fixing piece 22 inclined upward. The arm model mounting base 11 is provided with a plurality of threaded holes, which facilitates the disassembly and connection of the arm model and is beneficial to The robot model changes clothes, and two frames are arranged on the rack 1 for driving two of the arms. A second gear plate 12 swinging back and forth on the model mounting base 11, the second gear plate 12 is rotatably disposed on the frame 1, and a swing rod 14 is fixedly connected to the spline shaft 19 of the arm model mounting base 11. A driving rod 13 is hinged to the free end of the swing rod 14, and the free end of the driving rod 13 is hinged to the disk surface of the second gear plate 12. The second gear plate 12 is driven on the frame 1 to rotate. The transmission belt 15 is wound around the first gear plate 2 and the second gear plate 12. The second gear plate 12 is driven by the first gear plate 2 to rotate through the transmission belt 15. When rotating, the driving rod 13 is driven to make a reciprocating motion, thereby driving the arm model mounting base 11 to perform a swing motion, and then driving the arm model to make a swing motion similar to the arm model when a person runs.

In order to allow the motion simulation robot model to more realistically simulate the swing of a human arm model, the two second driving dials 12 and the first and second hinge points 122 and 122 of the two driving rods 13 on a horizontal projection plane. It is formed symmetrically along the rotation central axis 123 of the second driving turntable 12.

In order to better install and adjust the transmission belt for the motion simulation robot model, the frame 1 is provided with a belt adjusting device 29. The belt adjusting device includes a tensioning block 27, a belt adjusting wheel 26, and the tensioning block 27 passes Screws are provided on the frame 1, the belt adjusting wheel 26 is rotatably provided on the tensioning block 27, the belt adjusting wheel 26 is located inside the transmission belt 15 and resists the transmission belt 15, When the transmission belt 15 is to be installed or the transmission belt 15 becomes loose due to operation, loosen the screws and adjust the angle of the tension block 27 to adjust the tightness of the transmission belt 15.

In order to better fix the thigh shell of the motion simulation robot model, the thigh rear support rod 6 is provided with a fixing post 62 which is provided with a threaded hole. When the thigh shell is installed, only the fixing post needs to be used. The matching screw of 62 mounts the thigh shell on the fixing post 62, which is convenient for the operator to disassemble.

In order to improve the running stability of the motion simulation robot model, a cooling fan 24, a voltage stabilization source 25, and a rubber sleeve 26 are provided on the frame 1.

In order to facilitate the placement of a motion simulation robot model, a mounting bracket 30 for fixing a robot is provided on the rack 1, the mounting bracket is fixed on the rack 1, and the mounting bracket is provided for fixing on a display rack.上的孔孔 33。 The mounting holes 33.

This implementation reveals the characteristics of a motion simulation robot model. The motion simulation robot model uses a single motor to drive the first drive plate to rotate to make the thighs move. At the same time, the first drive plate directly drives the second drive plate to rotate through a belt to move the arm. Not only does it save the drive motor, but it also enables the robot to move in better synchronization.

working principle:

The driving device 10 of the motion simulation robot model drives the two first gear discs 2 to rotate, and the two first gear discs 2 drive the two second gear discs 12 to rotate through the transmission belt 15 so as to link the robot thigh and the robot arm model. When the first gear plate 2 rotates, the first gear plate 2 makes the robot's thighs oscillate through the linkage transmission on the thigh mechanical structure. The angle between the disc surfaces of the two first gear discs 2 and the hinge point of the fifth link 45 is 180 °, which ensures that the thighs can mimic the movement of the legs of the human body one after the other. When the second gear plate 12 is rotated, the second gear plate 12 drives the arm model mounting base 11 to rotate through the driving rod 13 and the swing rod 14 to swing the arm model. Because the two gear discs 12 and the hinge point of the driving rod 13 form an angle of 180 °, it is guaranteed that the arm model can mimic the human hand swing one after the other.

Embodiment two:

5 and 6 based on the above technical solution, the swing driving device of the embodiment of the present invention may also be that the swing driving device includes a driving device 1 ', a rotating shaft 2', an eccentric wheel 3 ', a connecting shaft 4', and an arm. The model mounting base 11, the driving device 1 'is provided on the frame 1, the rotating shaft 2' is provided on the driving device 1 ', the eccentric wheel 3' is connected to the rotating shaft 2 ', The connecting shaft 4 ′ is fixedly connected to the eccentric wheel 3 ′, the arm model mounting base 11 is fixedly connected to the connecting shaft 4 ′, and the two eccentric wheels 3 ′ and two The two articulation points of the connecting shaft 4 'are symmetrical about the rotation center axis of the rotation shaft 2'. When the driving device 1 'drives the rotation shaft 2' to rotate, the rotation shaft 2 'drives the eccentric 3' to rotate, and the eccentric 3 'Drive the connecting shaft 4', and the connecting shaft 4 'drives the arm model mounting base 11 to rotate. The two eccentric wheels 3' and the two hinge points of the two connecting shafts 4 'are symmetrical along the center of the rotating shaft 2'. , To ensure that the arm model mount 11 can be like a human hand, back and forth move.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and descriptions merely illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements. These changes and improvements all fall within the scope of the claimed invention. The claimed scope of the invention is defined by the appended claims. And its equivalent.

Claims

The motion simulation robot model is characterized in that it includes a frame, two first drive turntables, two thigh mechanical structures, and two arm mounts for mounting an arm model. The first drive turntable is disposed on the frame. The thigh mechanical structure includes a thigh front support rod and a thigh back support rod. A first link is articulated at the upper end of the thigh front support rod, and a second link is fixedly connected to the upper end of the thigh rear support rod. The free end of the first link is hinged to the frame, the free end of the second link is hinged to the frame, a third link is hinged to the upper end of the thigh front support rod, and the thigh rear support rod A fourth link is articulated at the upper end, a free end of the third link is hinged on the first drive turntable surface, and a free end of the fourth link is hinged on the first drive turntable surface, so The first driving turntable is located above the first link and the second link, and a lower leg mounting block for mounting a lower leg is hinged to the lower end of the front thigh, and the free end of the lower leg mounting block is connected to the rear of the thigh. The lower ends of the struts are hinged, and the machine A driving device for rotating the first driving turntable is provided on the arm model, the arm model mounting seat is hinged on the frame, the arm model mounting seat is disposed above the driving disc, and the frame is provided on the frame. There are two swing driving devices for driving the two arm model mounts to swing back and forth.
The motion simulation robot model according to claim 1, wherein a first pin is fixedly disposed on the first driving turntable surface, and a free end of the fourth link is rotatably sleeved on the first A fifth link is hinged to the free end of the third link, and the free end of the fifth link is fixedly connected to the free end of the first pin.
The motion simulation robot model according to claim 1, wherein the free end of the first link and the free end of the second link are hinged to the frame through a second pin.
The motion simulation robot model according to claim 1, wherein the swing driving device comprises a second driving turntable, the second driving turntable is rotatably disposed on the frame, and the arm model mounting seat is fixed A swing lever is connected, a free end of the swing lever is hinged to a drive lever, the free end of the drive lever is hinged to a disk surface of the second drive turntable, and a second drive is provided on the frame to drive the second turntable to rotate. Device.
The motion simulation robot model according to claim 4, characterized in that: on the horizontal projection plane, two hinge points of the two driving disks and two driving rods form a joint along the second driving disk. The center axis of rotation is symmetrical.
The motion simulation robot model according to claim 4, wherein the second driving device is a transmission belt around the first driving turntable and the second driving turntable.
The motion simulation robot model according to claim 1, characterized in that: on a horizontal projection, a hinge point between the two first driving turntables and the first pin shaft forms a central axis of rotation of the first driving turntable symmetry.
The motion simulation robot model according to claim 1, wherein a sixth link is articulated on the rear thigh, and the sixth link and the fourth link are articulated together through a third pin At the rear thigh rod, the sixth link and the free end of the second link are hinged to the frame through a second pin.
The motion simulation robot model according to claim 1, wherein the front thigh rod comprises a front rod driving rod and a front rod connecting rod, and the first link is hinged to the front rod driving rod. The upper end of the front rod connecting rod is detachably provided on the front rod driving rod by screws. The upper end of the lower leg mounting block is provided with a first hinge projection, and the two sides of the first hinge projection are hinged. There are two first connection plates, and the two first connection plates are detachably provided on the lower end of the front support rod connection rod by screws. The rear thigh rod includes a rear support rod connection rod. The upper end portion of the connecting rod connecting rod is detachably provided on the second connecting rod, and the upper end portion of the lower leg mounting block is provided with a second hinge projection, and two second connection plates are hinged on both sides of the second hinge projection. The two second connection plates are detachably provided on the lower end of the rear support rod connecting rod by screws.
The motion simulation robot model according to claim 1, characterized in that: the thigh rear support rod is provided with a fixing column for fixing the thigh shell, and the fixing column is provided with a threaded hole.