CN112401594B - An articulated industrial robot - Google Patents

Abstract

The invention relates to the technical field of clothing display, and discloses a joint type industrial robot, which comprises: the joint type industrial robot comprises a head model, an upper body model, an upper arm model, a lower arm model, a hand model, a crotch model, a thigh model, a shank model and a foot model, wherein the lower arm model is detachably connected with the hand model, the shank model is detachably connected with the foot model, the joint comprises a control system, the neck joint, the shoulder joint, the elbow joint, the waist joint, the hip joint and the knee joint comprise speed reducing motors, the speed reducing motors and the control system are respectively connected with a power module, the speed reducing motors are respectively connected with the control system through signals, a plurality of reinforcing blocks are respectively detachably arranged outside the upper body model, the upper arm model, the lower arm model, the thigh model and the shank model, the joint type industrial robot can simulate the body form close to a buyer, improve the display effect of clothes, reduce the goods return rate of clothes purchased through a network, and save the economic loss of the buyer and a seller.

Description

An articulated industrial robot

technical field

The invention relates to the technical field of clothing display, in particular to an articulated industrial robot.

Background technique

With the development of science and technology, articulated robots are more and more widely used in production and life. At the same time, with the development of the Internet, more and more people tend to shop online. However, at present, there are some problems in buying clothes online. , Because the models on the Internet use better-looking models to try on clothes, buyers refer to the clothes displayed by the models, but find that the clothes are not suitable for them when they buy them back. People's enthusiasm for buying clothes online has increased, and the clothes do not fit well, resulting in frequent returns and exchanges, causing certain economic losses to both buyers and sellers.

Existing models cannot dynamically display clothes because they are fixed models, which reduces the display effect of clothes.

If the articulated industrial robot can display clothes according to the buyer's body parameters, it will be much closer to the buyer's try-on effect. The buyer can decide whether to buy or not according to the display effect of the clothes, thereby greatly reducing the loss caused by buying clothes online.

SUMMARY OF THE INVENTION

The invention provides an articulated industrial robot, which can simulate the body shape close to the buyer, improve the display effect of clothes, reduce the return rate of clothes purchased online, and save the economic losses of buyers and sellers.

The present invention provides an articulated industrial robot, comprising: a head model, an upper body model, an upper arm model, a lower arm model, a hand model, a crotch model, a thigh model, a calf model and a foot model, a lower arm model and a hand model The model is detachably connected, the calf model and the foot model are detachably connected, the head model and the upper body model are connected through the neck joint, the upper body model and the upper arm model are connected through the shoulder joint; the upper arm model and the lower arm model are connected through the elbow joint Connection, the upper body model and the crotch model are connected through the waist joint, the thigh model and the crotch model are connected through the hip joint, the thigh model and the lower leg model are connected through the knee joint, and also includes a control system, the neck joint, The shoulder joint, the elbow joint, the waist joint, the hip joint and the knee joint all include geared motors, the multiple geared motors and the control system are respectively connected to the power supply module, and the multiple geared motors are respectively connected to the control system for signals. The upper body model, the upper arm The model, the lower arm model, the thigh model and the calf model are respectively detachable and provided with a plurality of reinforcing blocks for simulating different body shapes.

The front part of the upper body model is provided with two circular grooves, the bottoms of the two circular grooves are both provided with a first electric push rod, and the free end of the first electric push rod is fixedly connected to the rear end of the first hemispheric model, The first hemisphere model can be extended and retracted into the circular groove, and the first electric push rod is respectively connected with the power module and the control system.

The upper body model includes an integrally formed chest and back and a waist, the waist is located below the chest and the back, the outer dimension of the waist is smaller than that of the chest and back, the circular groove is located at the front of the chest and back, and two pieces are arranged outside the waist. Symmetrically arranged arc-shaped models that can move radially along the waist.

A compression spring is arranged between the waist and the inner side of the arc-shaped model, hooks are arranged on both sides of the arc-shaped model, and the waist is correspondingly provided with a chain that is successively sleeved by a plurality of hanging rings, and the arc-shaped model passes through the hooks and the hanging rings. And a compression spring is attached to the waist.

The waist is symmetrically provided with two second electric push rods, the free ends of the two second electric push rods are fixedly connected with the inner sides of the two arc-shaped models in one-to-one correspondence, and the second electric push rods are respectively connected with the power module and the control system connection.

The two sides of the back of the crotch model are respectively provided with second hemisphere models, the rear ends of the two second hemisphere models are respectively connected with the crotch model through a third electric push rod, and the third electric push rod is respectively connected with the power module and the control system connection.

The upper arm model, lower arm model, thigh model and calf model include:

roof;

the bottom plate, which is located below the top plate;

The bar-shaped airbag is fixedly connected with the top plate at the upper end and the bottom plate at the lower end. The bar-shaped airbag is divided into a plurality of sub-airbags along the height direction, and each sub-airbag is provided with an inflation port, and each inflation port is connected to the main trachea through a bronchus respectively. The main trachea is connected to the vacuuming and inflating device, the bronchus is provided with a branch valve, and the main trachea is provided with a main air valve. and the vacuuming and inflating device are respectively connected with the control system signal;

A plurality of elastic connecting pieces are connected between the top plate and the bottom plate and are located around the outer side of the strip-shaped airbag.

The upper arm model, lower arm model, thigh model and calf model include:

upper outer casing;

The lower inner casing is sleeved in the upper outer casing and can move up and down along the upper outer casing;

Fasten the bolts, pass through the upper outer casing, and fix the upper outer casing and the lower inner casing.

Compared with the prior art, the beneficial effects of the present invention are:

The invention realizes the dynamic display of clothes by driving multiple body parts to move through the deceleration motors on multiple joints, and can change the fat and thinness of the robot model through multiple detachable reinforcement blocks, simulate the body shape close to the buyer, and improve the display effect of clothes , close to the buyer's clothes try-on effect, improve the experience of buying clothes online, and enable buyers to see the effect of close to the try-on before buying clothes, so as to decide whether to buy, which will greatly reduce the return phenomenon caused by online purchase of clothes, and at the same time Save buyers and sellers financial losses.

Description of drawings

FIG. 1 is a schematic structural diagram of the front of an articulated industrial robot provided by the present invention.

FIG. 2 is a schematic structural diagram of the back of an articulated industrial robot provided by the present invention.

3 is a schematic structural diagram of a longitudinal section of a chest in an articulated industrial robot provided by the present invention.

4 is a schematic structural diagram of an upper arm model, a lower arm model, a thigh model, or a lower leg model in an articulated industrial robot according to an embodiment of the present invention.

Description of reference numbers:

1- neck joint, 2- shoulder joint, 3- elbow joint, 4- upper body model, 5- circular groove, 6- first hemisphere model, 7- arc model, 8- waist joint, 9- crotch model , 10-hip joint, 11-knee joint, 12-control system, 13-second hemisphere model, 14-first electric push rod, 15-top plate, 16-bottom plate, 17-elastic connecting piece, 18-strip airbag , 19- main trachea, 20- main air valve, 21- bronchus, 22- bronchial valve, 23- inflation port.

Detailed ways

A specific embodiment of the present invention will be described in detail below with reference to the accompanying drawings 1-4, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Axial, Radial, Circumferential The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the technical solutions of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, It is constructed and operated in a particular orientation and is therefore not to be construed as a limitation of the present invention.

As shown in FIG. 1, an articulated industrial robot provided by an embodiment of the present invention includes: a head model, an upper body model 4, an upper arm model, a lower arm model, a hand model, a crotch model 9, a thigh model, and a calf model And the foot model, the lower arm model and the hand model are detachably connected, the calf model and the foot model are detachably connected, the head model and the upper body model are connected through the neck joint 1, and the upper body model 4 and the upper arm model are connected through the shoulder joint 2 Connection; the upper arm model and the lower arm model are connected through the elbow joint 3, the upper body model 4 and the crotch model 9 are connected through the waist joint 8, the thigh model and the crotch model 9 are connected through the hip joint 10, the thigh model and The lower leg models are connected through knee joints 11, and also include a control system 12. The neck joint 1, shoulder joint 2, elbow joint 3, waist joint 8, hip joint 10 and knee joint 11 all include geared motors. The deceleration motor and the control system 12 are respectively connected to the power supply module, and the plurality of deceleration motors are respectively connected to the control system 12 by signal. Reinforcement blocks for simulating different body types.

How to use: As shown in Figure 1, control the deceleration motor of any one of the neck joint 1, shoulder joint 2, elbow joint 3, waist joint 8, hip joint 10 and knee joint 11 through the control system, correspondingly drive the head The model, upper arm model, lower arm model, upper body model 4, thigh model and calf model are rotated to realize dynamic display of clothes and improve the display effect of clothes.

After adding the reinforcement block, the upper body model 4, upper arm model, lower arm model, thigh model and calf model become fatter. After removing the reinforcement block, the upper body model 4, upper arm model, lower arm model, thigh model and calf model become thinner. It can simulate different human characteristics for clothing display.

The reinforcing block can be detachably connected with the positioning hole through the positioning block, and can also be detachably connected through the magnet and the iron sheet.

In order to adjust the bust of the robot model, as shown in Figures 1 and 3 , the upper body model 4 is provided with two circular grooves 5 at the front, and the bottom of the two circular grooves 5 is provided with a first electric motor Push rod 14, the free end of the first electric push rod 14 is fixedly connected to the rear end of the first hemispherical model 6, the first hemispherical model 6 can extend and retract into the circular groove 5, the first electric push rod 14 is respectively connected with the rear end of the first hemispherical model 6. The power module is connected to the control system 12 .

By controlling the extension of the first electric push rod 14 by the control system, the first hemispherical model 6 gradually extends out of the circular groove 5 and extends outwards, so as to increase the bust circumference, and also can use reinforcing rings of different thicknesses to increase the bust circumference , through the control system to control the shortening of the first electric push rod 14, the first hemispherical model 6 is gradually retracted into the circular groove 5 to reduce the bust, and the removal of the reinforcement ring can also be used to reduce the bust. When the first hemispherical model 6 is completely retracted After being placed in the circular groove 5, the industrial robot model changes from a female body model to a male body model, which can display men's clothing and save clothing display costs.

In order to adjust the waist circumference of the robot model, the upper body model 4 includes an integrally formed chest and back and a waist, the waist is located below the chest and back, the outer dimension of the waist is smaller than that of the chest and back, and the circular groove 5 is located on the chest and back. In the front part of the back, two symmetrically arranged arc-shaped models 7 are arranged outside the waist, and the arc-shaped models 7 can move radially along the waist.

A compression spring is arranged between the waist and the inner side of the arc-shaped model 7, hooks are arranged on both sides of the arc-shaped model 7, and a chain is correspondingly provided with a plurality of hanging rings in the waist, and the arc-shaped model 7 passes through the hooks. And hanging loops and compression springs are attached to the waist.

How to use: Press the arc model 7 to the set position, and connect the hooks on both sides of the arc model 7 with the corresponding hanging rings to adjust the position of the arc model 7, that is, adjust the waist circumference of the robot model. .

In order to facilitate the adjustment of the waist circumference of the robot model, the waist is symmetrically provided with two second electric push rods, and the free ends of the two second electric push rods are fixedly connected to the inner sides of the two arc-shaped models 7 in one-to-one correspondence. The second electric push rods are respectively connected with the power module and the control system 12 .

The control system 12 controls the elongation of the two second electric push rods, which can increase the waist circumference, and the control system 12 controls the shortening of the two second electric push rods, so that the waist circumference can be reduced, and the clothes are displayed by adjusting the waist circumference, so that the The display effect of the clothes is closer to the buyer's try-on effect.

In order to adjust the hip circumference of the robot model, as shown in FIG. 2 , the two sides of the back of the crotch model 9 are respectively provided with second hemisphere models 13 , and the rear ends of the two second hemisphere models 13 are respectively driven by a third electric motor. The push rod is connected with the crotch model 9, and the third electric push rod is connected with the power module and the control system 12 respectively.

The control system 12 controls the extension of the two third electric push rods, as shown in FIG. 4 , the hip circumference can be increased, and the control system 12 controls the shortening of the two third electric push rods, so that the hip circumference can be reduced. Adjust the hip circumference to display the skirt or trousers, so that the display effect of the clothes is closer to the buyer's try-on effect.

In order to adjust the height and arm length of the robot model, the upper arm model, lower arm model, thigh model and calf model include:

top plate 15;

The bottom plate 16 is located below the top plate 15;

The bar-shaped airbag 18 is fixedly connected with the top plate 15 at the upper end, and fixedly connected with the bottom plate 16 at the lower end. The bar-shaped airbag 18 is divided into a plurality of sub-airbags along the height direction. The main trachea 19 is connected through the bronchus 21, and the main trachea 19 is connected to the vacuum inflating device. The inflating device is respectively connected with the power module, and the branch valve 22, the main air valve 20 and the vacuum inflating device are respectively connected with the control system 12 by signal;

A plurality of elastic connecting pieces 17 are connected between the top plate 15 and the bottom plate 16 and are located around the outer side of the strip airbag 18 .

How to use: The control system 12 controls the vacuuming and inflating device to inflate multiple sub-airbags through the main trachea 19 and the bronchi 21 to increase the length of the model. The sub-airbag is evacuated to reduce the length of the model. At the same time, under the action of a plurality of elastic connectors 17, the length of the model still maintains the shape of the model after the reduction, and the model will not collapse after the sub-airbag is evacuated. Affect the normal display of clothes.

In order to adjust the height and arm length of the robot model, the upper arm model, lower arm model, thigh model and calf model include:

upper outer casing;

The lower inner casing is sleeved in the upper outer casing and can move up and down along the upper outer casing;

Fasten the bolts, pass through the upper outer casing, and fix the upper outer casing and the lower inner casing.

In order to save costs, the height and arm length of the robot model are manually adjusted, and the distance between the upper outer sleeve 24 and the lower inner sleeve 25 is adjusted by loosening the fastening bolts 26. After the distance is adjusted, the fastening bolts 26 are tightened. The outer sleeve and the lower inner sleeve are fixed to adjust the length of the model, so that people with different heights and arm lengths can be simulated for clothing display.

The invention realizes the dynamic display of clothes by driving multiple body parts to move through the deceleration motors on multiple joints, and can change the size of the upper body model, upper arm model, lower arm model, thigh model and calf model through multiple detachable reinforcement blocks. , simulate the body shape close to the buyer, improve the display effect of the clothes, adjust the robot's measurements according to the buyer's measurements, realize the display of the clothes, and display the clothes according to the buyer's height and fatness, close to the buyer This will greatly reduce the return phenomenon caused by the online purchase of clothes, and save buyers and economic loss to the seller.

The above disclosures are only a few specific embodiments of the present invention, however, the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims (2)

1. an articulated industrial robot, is characterized in that, comprises: head model, upper body model (4), upper arm model, lower arm model, hand model, crotch model (9), thigh model, calf model and foot The head model, the lower arm model and the hand model are detachably connected, the calf model and the foot model are detachably connected, the head model and the upper body model are connected through the neck joint (1), and the upper body model (4) and the upper arm model are connected through the shoulder. The joint (2) is connected; the upper arm model and the lower arm model are connected by the elbow joint (3), the upper body model (4) and the crotch model (9) are connected by the waist joint (8), the thigh model and the crotch model are connected (9) are connected through a hip joint (10), the thigh model and the calf model are connected through a knee joint (11), and a control system (12) is also included, the neck joint (1), shoulder joint (2), The elbow joint (3), the waist joint (8), the hip joint (10) and the knee joint (11) all include geared motors, the multiple geared motors and the control system (12) are respectively connected to the power supply module, and the multiple geared motors are respectively connected to the control system The system (12) is connected with a signal, and the upper body model (4), the upper arm model, the lower arm model, the thigh model and the lower leg model are respectively detachable and provided with a plurality of reinforcing blocks for simulating different body shapes; The upper arm model, lower arm model, thigh model and calf model include: top plate (15); a bottom plate (16), located below the top plate (15); The bar-shaped airbag (18) is fixedly connected with the top plate (15) at the upper end and fixedly connected with the bottom plate (16) at the lower end. 23), each inflatable port (23) is connected to the main trachea (19) through the bronchus (21) respectively, the main trachea (19) is connected to the vacuum inflatable device, the bronchus (21) is provided with a branch valve (22), the main trachea (19) is provided with a main air valve (20), the branch valve (22), the main air valve (20) and the vacuuming and inflating device are respectively connected to the power module, the branch valve (22), the main air valve (20) and the vacuuming and inflating device are respectively connected with the control system (12) by signal; a plurality of elastic connectors (17), connected between the top plate (15) and the bottom plate (16), located around the outer side of the strip-shaped airbag (18); The front part of the upper body model (4) is provided with two circular grooves (5), and the bottom of the two circular grooves (5) is provided with a first electric push rod (14), and the first electric push rod ( The free end of 14) is fixedly connected to the rear end of the first hemispherical model (6), the first hemispherical model (6) can be extended and retracted into the circular groove (5), and the first electric push rod (14) is respectively connected to the circular groove (5). The power module is connected with the control system (12); The upper body model (4) includes an integrally formed chest and back and a waist, the waist is located below the chest and the back, the outer dimensions of the waist are smaller than the outer dimensions of the chest and the back, and the circular groove (5) is located at the front of the chest and back, Two symmetrically arranged arc-shaped models (7) are provided outside the waist, and the arc-shaped models (7) can move radially along the waist; A compression spring is arranged between the waist and the inner side of the arc-shaped model (7), hooks are arranged on both sides of the arc-shaped model (7), and a chain successively sleeved by a plurality of hanging rings is arranged at the waist. The model (7) is connected to the waist through hooks and rings and compression springs; The waist is symmetrically provided with two second electric push rods, the free ends of the two second electric push rods are in one-to-one correspondence with the inner sides of the two arc-shaped models (7), and the second electric push rods are respectively connected to the power supply The module is connected to the control system (12); Control the gear motor of any one of the neck joint (1), shoulder joint (2), elbow joint (3), waist joint (8), hip joint (10) and knee joint (11) through the control system, corresponding to Drive the head model, upper arm model, lower arm model, upper body model (4), thigh model and calf model to rotate to realize dynamic display of clothes. 2. The articulated industrial robot according to claim 1, characterized in that, second hemisphere models (13) are respectively provided on both sides of the back of the crotch model (9), and two second hemisphere models (13) The rear end of the device is respectively connected with the crotch model (9) through the third electric push rod, and the third electric push rod is respectively connected with the power module and the control system (12).

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