CN102122108A - Independently moving and independently rotating two-degree-of-freedom parallel mechanism - Google Patents
Independently moving and independently rotating two-degree-of-freedom parallel mechanism Download PDFInfo
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- CN102122108A CN102122108A CN201110081610.5A CN201110081610A CN102122108A CN 102122108 A CN102122108 A CN 102122108A CN 201110081610 A CN201110081610 A CN 201110081610A CN 102122108 A CN102122108 A CN 102122108A
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Abstract
The invention relates to an independently moving and independently rotating two-degree-of-freedom parallel mechanism, which comprises a sleeve (3) and a hollow shaft (1) slidably and rotatably supported in the sleeve; a hollow shaft rack part (6) and a hollow shaft gear part (10) are formed on the hollow shaft; a first motor is fixed on one side of the sleeve, and a second motor is fixed on the other side of the sleeve; a first motor gear (7) of the first motor is engaged with the hollow shaft gear part; and a second motor gear (12) of the second motor is engaged with the hollow shaft gear part (10). A camera can be automatically focused through the independently moving and independently rotating two-degree-of-freedom parallel mechanism; the parallel mechanism can give out a control signal through the automatic control technology to directly control the motor to drive the movement of a convex lens, and can acquire the change of the convex lens relative to the original position so as to provide correlation parameters for the measurement of the camera; the parallel mechanism is flexible and convenient, and the response speed accords with focusing request; moreover, the parallel mechanism further can greatly simplify the circuit design.
Description
Technical field
The present invention relates to a kind of independently moving and the independent two-degree-of-freedom parallel mechanism that rotates.
Background technology
The modern precision measuring technique is that collection precision optical machinery, optics, electronics, sensor, a computer technology are the comprehensive cross discipline of one, and various technology had obtained to develop rapidly in recent years more than vision measurement was integrated just.In vision measurement, whether target imaging reflects truly that actual measurand is most important, distinct image is the basis that successive image is handled and analyzed, and it is directly connected to the measuring accuracy of total system, and image focusing wherein key factor just whether correctly.
In the prior art, various automatic focusing modes respectively have its limitation.The focusing method of infrared distance measurement and supersonic sounding for example when measured target has stronger absorption to infrared light or ultrasound wave, will make range measurement system malfunctioning or focus inaccurate; And contrast method focusing detects the restriction that is subjected to illumination condition, and when the dark weak or subject of light and background light and shade difference were very little, focusing will be had any problem, even ineffective.The little pore model of the general employing of video camera imaging, its lens focus maintains static after demarcating, but object moves variation, cause variable in distance, thereby imaging is thickened, at this moment just need focusing again, but again to defocused focal length variations the unknown, because for now, most of video cameras can not be known defocused focal length, therefore measure and become impossible.
Summary of the invention
The purpose of this invention is to provide a kind of independently moving and the independent two-degree-of-freedom parallel mechanism that rotates, to overcome above-mentioned defective, it can not change lens focus, and realizes the automatic focusing of video camera.
Above-mentioned purpose is to realize by following technical scheme of the present invention: independently move the two-degree-of-freedom parallel mechanism with independent rotation, comprise sleeve, front bearing, rear bearing, and slidably be bearing in tubular shaft in the described sleeve rotatably by this front bearing and rear bearing, be formed with hollow rack shaft part and cannon pinion part on the outer ring of this tubular shaft, offer first engaging groove and second engaging groove on the described sleeve corresponding to described hollow rack shaft part and cannon pinion part, one side of described sleeve is fixed with first motor, opposite side is fixed with second motor, first motor gear is installed on the output shaft of described first motor, this first motor gear partly meshes via described first engaging groove and described hollow rack shaft, second motor gear is installed on the output shaft of described second motor, and this second motor gear partly meshes via described second engaging groove and described cannon pinion.
Selectively, described first motor is fixed on a side of described sleeve by first motor fixing frame, and described second motor is fixed on the opposite side of described sleeve by second motor fixing frame.
Selectively, described front bearing and rear bearing are copper sheathing.
Selectively, described sleeve is connected on the video camera by being threaded.
Advantage of the present invention and effect are: the two-degree-of-freedom parallel mechanism that independently moves and independently rotate of the present invention can make video camera focus automatically, it can provide control signal by automatic control technology, the directly motion of control motor-driven convex lens, and can know the variation of convex lens with respect to the origin-location, for the measurement of video camera provides correlation parameter, not only flexible, response speed meets the focusing requirement, can also simplify circuit design greatly.
Description of drawings
Fig. 1 is the structural representation of the two-degree-of-freedom parallel mechanism of the specific embodiment of the invention.
The cross-sectional schematic of Fig. 2 for dissecing along A-A line among Fig. 1.
Fig. 3 is installed on the video camera for two-degree-of-freedom parallel mechanism of the present invention and the synoptic diagram of convex lens is installed.
Fig. 4 display image can not drop on the CCD face, and is therefore not fogging clear.
Image dropped on the CCD face after Fig. 5 showed the adjustment convex lens, thus clear picture.
Fig. 6 shows when convex lens axis and tubular shaft axis are not parallel, makes imaging clear by adjustment.
Fig. 7 is presented at Fig. 6 imaging clearly on the basis, and second motor rotates convex lens, so imaging is unintelligible.
Among the figure: 1 tubular shaft; 2 front bearings; 3 sleeves; 4 first motors; 5 first motor fixing frames; 6 hollow rack shaft parts; 7 first motor gears; 8 rear bearings; 9 second motors; 10 gear parts; 11 second motor fixing frames; Second motor gear 12.
Embodiment
The embodiment of the present invention's two-degree-of-freedom parallel mechanism independently mobile and that independently rotate is described below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2: two-degree-of-freedom parallel mechanism of the present invention comprises that tubular shaft 1, front bearing 2(for example adopt copper sheathing), sleeve 3, first motor 4, first motor fixing frame 5, first motor gear 7, rear bearing 8(for example adopt copper sheathing), second motor 9, second motor fixing frame 11 and second motor gear 12, described tubular shaft 1 is provided with hollow rack shaft part 6 and cannon pinion part 10.
Above-mentioned position component relation and annexation are as follows:
By last description as seen, of the present invention independently moving and independent rotation two-degree-of-freedom parallel mechanism, its major technique is characterised in that one section of tubular shaft 1 outer ring is processed into hollow rack shaft part 6 and one section and is processed into cannon pinion part 10, tubular shaft 1 is by forward and backward bearing 2,8 are supported in the sleeve 3, can slide between tubular shaft 1 and the bearing 3, also can rotate around bearing 3 axis.First motor 4 is fixed on a side of sleeve 3 by first motor fixing frame 5, on first motor, 4 output shafts first motor gear 7 is installed, first motor gear 7 is meshed with hollow rack shaft part 6, and such first motor 4 drives tubular shaft 1 by first motor gear 7 with hollow rack shaft 6 engagements and moves forward and backward.Second motor 9 is fixed on the opposite side of sleeve 3 by second motor fixing frame 11, on second motor, 9 output shafts second motor gear 12 is installed, second motor gear 12 partly meshes with cannon pinion, and such second motor 9 partly meshes by second motor gear 12 and with cannon pinion and drives tubular shaft 1 and rotate.Because these two self-movements all are to drive tubular shaft, have therefore realized two-degree-of-freedom parallel mechanism.
Explanation when the present invention uses: in auto-focus process, as shown in Figure 3, sleeve 3 is by being threaded on the video camera, convex lens are installed in the middle of the tubular shaft 1, CCD(is the charge coupled cell imageing sensor) images acquired passes in the computing machine, computing machine is handled image, judge whether image is clear, if it is unintelligible, then give 4 one drive signals of first motor, make 4 runnings of first motor, drive 7 rotations of first motor gear, first motor gear 7 and 6 engagements of hollow rack shaft part, drive tubular shaft 1(convex lens) move along axis direction, adjust object distance and image distance, when image is the most clear, then first motor 4 stops the rotation, Fig. 4 is that image can not drop on the CCD face, and is not fogging clear, and Fig. 5 adjusts the back image to drop on the CCD face (being the charge coupled cell front), clear picture, and know the distance that convex lens move.
Another advantage of the present invention is to infer whether convex lens are installed in the tubular shaft position correct, i.e. convex lens minute surface vertical tubular shaft axis whether.As shown in Figure 6, suppose convex lens minute surface and tubular shaft out of plumb, by adjusting clear picture ground is become on the CCD face, if second motor 9 is rotated, drives tubular shaft 1 rotation by second motor gear 12, as shown in Figure 7, this moment, image thickened unclear, prove that then convex lens minute surface axis and tubular shaft axis are not parallel, must readjust the installation of convex lens this moment, could guarantee the accuracy of measuring like this.
Each concrete technical characterictic described in above-mentioned embodiment can carry out combination in any by any suitable manner, and it falls within the scope disclosed in this invention equally.Simultaneously, also can carry out combination in any between the various embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.In addition, the present invention is not limited to the detail in the above-mentioned embodiment, in technical conceive scope of the present invention, can carry out multiple simple variant to technical scheme of the present invention, and these simple variant all belong to protection scope of the present invention.Protection scope of the present invention is defined by the claims.
Claims (4)
1. independent moving and the independent two-degree-of-freedom parallel mechanism that rotates, it is characterized in that, comprise sleeve (3), front bearing (2), rear bearing (8), and slidably be bearing in tubular shaft (1) in the described sleeve (3) rotatably by this front bearing (2) and rear bearing (8), be formed with hollow rack shaft part (6) and cannon pinion part (10) on the outer ring of this tubular shaft, offer first engaging groove and second engaging groove on the described sleeve (3) corresponding to described hollow rack shaft part (6) and cannon pinion part (10), one side of described sleeve (3) is fixed with first motor (4), opposite side is fixed with second motor (9), first motor gear (7) is installed on the output shaft of described first motor, this first motor gear is via described first engaging groove and described hollow rack shaft part (6) engagement, second motor gear (12) is installed on the output shaft of described second motor, and this second motor gear is via described second engaging groove and described cannon pinion part (10) engagement.
2. according to claim 1 independently moving and the independent two-degree-of-freedom parallel mechanism that rotates, it is characterized in that, described first motor (4) is fixed on a side of described sleeve (3) by first motor fixing frame (5), and described second motor (9) is fixed on the opposite side of described sleeve (3) by second motor fixing frame (11).
3. according to claim 1 independently moving and the independent two-degree-of-freedom parallel mechanism that rotates is characterized in that described front bearing (2) and rear bearing (8) are copper sheathing.
4. according to claim 1 independently moving and the independent two-degree-of-freedom parallel mechanism that rotates is characterized in that described sleeve (3) is connected on the video camera by being threaded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100816105A CN102122108B (en) | 2011-04-01 | 2011-04-01 | Independently moving and independently rotating two-degree-of-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100816105A CN102122108B (en) | 2011-04-01 | 2011-04-01 | Independently moving and independently rotating two-degree-of-freedom parallel mechanism |
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| Publication Number | Publication Date |
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| CN102122108A true CN102122108A (en) | 2011-07-13 |
| CN102122108B CN102122108B (en) | 2012-08-22 |
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| CN2011100816105A Active CN102122108B (en) | 2011-04-01 | 2011-04-01 | Independently moving and independently rotating two-degree-of-freedom parallel mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102660862A (en) * | 2012-05-25 | 2012-09-12 | 常州信息职业技术学院 | Method and device for detecting fabric skewness |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
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| JP2003195144A (en) * | 2001-12-27 | 2003-07-09 | Victor Co Of Japan Ltd | Lens drive unit |
| CN2665734Y (en) * | 2003-11-29 | 2004-12-22 | 鸿富锦精密工业（深圳）有限公司 | Digital cameras zoom lens module assembly |
| JP2006065138A (en) * | 2004-08-30 | 2006-03-09 | Nidec Copal Corp | Lens driving device |
| CN1869668A (en) * | 2005-05-25 | 2006-11-29 | 致伸科技股份有限公司 | Method and device for investigating quality of optical element |
| CN201063069Y (en) * | 2007-06-19 | 2008-05-21 | 杨德良 | Adjustment and calibration structure for optical instrument |
| CN101303446A (en) * | 2007-05-08 | 2008-11-12 | 明基电通股份有限公司 | Optimized zoom lens gear wheel drive module and zoom lens using the module |
| CN101950071A (en) * | 2010-09-03 | 2011-01-19 | 赵海平 | Beam barrel-type microscope focusing device |
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2011
- 2011-04-01 CN CN2011100816105A patent/CN102122108B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003195144A (en) * | 2001-12-27 | 2003-07-09 | Victor Co Of Japan Ltd | Lens drive unit |
| CN2665734Y (en) * | 2003-11-29 | 2004-12-22 | 鸿富锦精密工业（深圳）有限公司 | Digital cameras zoom lens module assembly |
| JP2006065138A (en) * | 2004-08-30 | 2006-03-09 | Nidec Copal Corp | Lens driving device |
| CN1869668A (en) * | 2005-05-25 | 2006-11-29 | 致伸科技股份有限公司 | Method and device for investigating quality of optical element |
| CN101303446A (en) * | 2007-05-08 | 2008-11-12 | 明基电通股份有限公司 | Optimized zoom lens gear wheel drive module and zoom lens using the module |
| CN201063069Y (en) * | 2007-06-19 | 2008-05-21 | 杨德良 | Adjustment and calibration structure for optical instrument |
| CN101950071A (en) * | 2010-09-03 | 2011-01-19 | 赵海平 | Beam barrel-type microscope focusing device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102660862A (en) * | 2012-05-25 | 2012-09-12 | 常州信息职业技术学院 | Method and device for detecting fabric skewness |
| CN105058421A (en) * | 2015-08-26 | 2015-11-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
| CN105058421B (en) * | 2015-08-26 | 2017-01-18 | 北京航空航天大学 | Compact type mechanical arm joint module integrating two degrees of freedom |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102122108B (en) | 2012-08-22 |
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Effective date of registration: 20181203 Address after: 225261 No. 1 Chengyi Road, Shaobo Town, Jiangdu District, Yangzhou City, Jiangsu Province Patentee after: Jiangdu Institute of High-end Equipment Engineering Technology, Yangzhou University Address before: No. 88, South Road, University of Yangzhou, Jiangsu, Jiangsu Patentee before: Yangzhou University |
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Effective date of registration: 20201124 Address after: No.299, Renmin North Road, Chengbei Park, Jingjiang City, Taizhou City, Jiangsu Province, 214500 Patentee after: Jingjiang Chengjia air conditioning equipment factory Address before: 225261 No. 1 Chengyi Road, Shaobo Town, Jiangdu District, Yangzhou City, Jiangsu Province Patentee before: YANGZHOU UNIVERSITY JIANGDU HIGH-END EQUIPMENT ENGINEERING TECHNOLOGY Research Institute |
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Effective date of registration: 20211025 Address after: 214500 No. 18 Shannan Road, Chengbei Park, Jingjiang City, Taizhou City, Jiangsu Province Patentee after: Jingjiang City Huaxin Technology Park Co.,Ltd. Address before: 214500 No. 299, Renmin North Road, Chengbei Park, Jingjiang City, Taizhou City, Jiangsu Province Patentee before: Jingjiang Chengjia air conditioning equipment factory |