CN102581847A - Three-degree-of-freedom bionic eye parallel mechanism - Google Patents
Three-degree-of-freedom bionic eye parallel mechanism Download PDFInfo
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- CN102581847A CN102581847A CN2012100750475A CN201210075047A CN102581847A CN 102581847 A CN102581847 A CN 102581847A CN 2012100750475 A CN2012100750475 A CN 2012100750475A CN 201210075047 A CN201210075047 A CN 201210075047A CN 102581847 A CN102581847 A CN 102581847A
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Abstract
The invention relates to a three-degree-of-freedom bionic eye parallel mechanism, which mainly comprises three motors, three screw-and-nut sets, lengthened barrels, single-degree-of-freedom hinges, spherical hinges, a gyroscope, a limit switch and a frame. Rotation of the motors is transmitted to a moving platform through couplings, screw-and-nuts and the spherical hinges so as to control movement of the moving platform. A camera is fixed on the moving platform. The gyroscope is mounted on the moving platform. The motor is determined to rotate towards directions according to attitudes of the moving platform measured by the gyroscope. The moving platform is moved to be reset under closed-loop control. The three-degree-of-freedom bionic eye parallel mechanism is highly rigid, high in control precision and convenient for face forming.
Description
Technical field
The present invention relates to a kind of bionical eye of Three Degree Of Freedom parallel institution that can imitate the various forms of motion of eyes.Specifically, through three driven by motor feed screw nuts, the attitude of control moving platform, to confirm the attitude of eyes: the eyes here replace with microcam, and video camera is placed on the moving platform, and moving platform is controlled by three sleeve screw rod nut bodies.
Technical background
Bionical eye is exactly that the principle of simulating biological eye system is built the Human Visual System; Make it have the feature or function that is similar to the biosystem eyes, the main imitation of bionical eye human eye also has other animal of imitation; Like fly; Because fly is a compound eye, fix, remarkable advantages all arranged in course stabilization, target near aspects such as static target, tracked mobile targets, imitate hawk, frog, pigeon in addition; But human eyes are five-star; Also study the most thorough, so bionical eye generally is meant the apery eye. the people of foreign study is a lot, and domestic also few of people at present carries out the research of this respect. the structure of present bionical eye has four motors of gondola usefulness to spur camera through rope; Camera fixing is in semi circular shells and serial mechanism, and Canadian sphere linkage, Zhejiang University replace the structure of three pairs of muscle of human eyes with six artificial-muscles.
All there is drawback separately in above-mentioned three kinds of structures: first kind, rope is an elastic component, and control accuracy is difficult to guarantee; Second kind is serial mechanism, and wherein the suffered moment of torsion of the motor that swings up and down of control is very big, and total rigidity is relatively poor.The third spherical surface parallel connected structure is though its corresponding speed is very fast.But the size of total is very big, and camera falls in, and is outstanding around the front end, the moulding of inconvenient people's face.
Summary of the invention
The objective of the invention is to above problem, provide the bionical eye of a kind of Three Degree Of Freedom parallel institution can satisfy following performance requirement: the free degree and the control accuracy that one, guarantee moving platform; Two, the mechanical performance requirement under the satisfied environment that jolts; Three, the overall structure size is suitable, is convenient to the moulding of people's face.
In order to reach above-mentioned requirements, design of the present invention is:
The present invention is 3-DOF (3DOF) parallel institution that is added the control of three sleeve screw rod nuts by three motors; Three motors respectively are fixed on the silent flatform through a single-degree-of-freedom hinge; Motor shaft links to each other with screw mandrel through shaft coupling, is connected on the moving platform through feed screw nut and a spherical hinge.On moving platform, adorn a gyroscope, measure the attitude of moving platform, on the left baffle on every drive line, adorn a travel switch, be used to reset.Reset behind each the startup, learn the position and the deflection information of moving platform according to the attitude information that gyroscope on the moving platform records, thereby learn the turning to of motor of control feed screw nut motion, the signal according to travel switch determines whether reset position at last.In addition, in order to alleviate the weight of baffle plate, on baffle plate, be designed with many holes.
The single-degree-of-freedom hinge refers to and can only rotate around the X axle, and spherical hinge refers to the three degree of freedom that rotates around X axle, Y axle and Z axle.
Above-mentioned single-degree-of-freedom hinge is made up of holder, bolster, deep groove ball bearing, jump ring and motor cabinet.Holder is screwed on silent flatform, and bearing fixing is on holder, and bolster is connected on the holder through bearing, and with the motion of jump ring limit axial, the direct back shaft of motor cabinet links to each other, thereby forms the single-degree-of-freedom hinge.Specifically can be with reference to accompanying drawing 4.
Nut links to each other with the extended type cylinder through screw, and drum links to each other with spherical hinge through screw.
Spherical hinge is directly connected on the moving platform.
Left baffle is fixed on the base plate through screw, and baffle plate mainly plays the effect that the restriction drum rotates, and has frictional force because the feed screw nut rotates; And what be connected with drum with the upper end is spherical hinge; Do not add baffle plate, screw mandrel can drive the drum rotation during operation, influences control accuracy.In addition, a travel switch is installed on the baffle plate, is used to reset.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of Three Degree Of Freedom bionic eye parallel institution; Comprise base, telescopic driving-chain and upper mounting plate; It is characterized in that: circumferentially be uniformly distributed with the bottom that installing hole is used to install three electric expansion formulas of single-degree-of-freedom hinge driving-chain on the said base, the upper end of these three electric expansion formula driving-chains all links to each other with upper mounting plate through spherical hinge.
The structure of said electric expansion formula driving-chain: have a holder to be screwed on said base plate; A bearing fixing is arranged on holder; A back shaft is installed on the holder through this bearing; And limiting its axially-movable with a jump ring, a motor cabinet directly links to each other with back shaft, thereby forms the single-degree-of-freedom hinge.A motor is fixed on the motor cabinet, and the output shaft of motor links to each other with a rhizoid bar through a shaft coupling, and this screw mandrel revolves combo with a nut and becomes leading screw and nut mechanism, constitutes moving sets; Nut connects an extended type cylinder, and the extended type cylinder links to each other through screw with spherical hinge.
Said spherical hinge is directly connected to the upper mounting plate support of upper mounting plate, and the upper mounting plate support links to each other with a camera pallet; Camera support and camera pallet are realized the fixed installation to camera.
Two left baffle are arranged on each side chain next door: left baffle is fixed on the base plate through screw; Baffle plate mainly plays the effect that the restriction drum rotates; Have frictional force because the feed screw nut rotates, and what be connected with the extended type drum with the upper end is spherical hinge, does not add the words of baffle plate; Screw mandrel can drive the drum rotation during operation, influences control accuracy; In addition, for weight reduction, the many holes of design on left baffle.
Gyroscope is housed on upper mounting plate, is used to feed back the upper mounting plate attitude information and realizes closed-loop control, on the left baffle on every electric expansion formula driving-chain a travel switch is housed, be used to reset; In control circuit, adopt DSP2812 as main control chip, through the RS232 agreement gyroscope attitude information is transferred in the main control chip; Wherein adopt the MAX232 chip as driver, each travel switch is directly received and is obtained switching signal on the control chip, learn these attitudes and positional information after; Main control chip drives three motors through the L298 chip for driving; Realization resets, and three of motor code device signal lines are directly received main control chip in addition, realizes closed-loop control.
The present invention compares with other bionical ocular structures, mainly contains following advantage:
One. control accuracy is higher, and the overall structure rigidity property is better, and is not yielding, can be applicable to the environmental work operation of jolting, and corresponding speed is fast.
Two. the overall structure size is suitable, and frame for movement is simple and clear, is convenient to the moulding of people's face.
Three. use gyroscope and travel switch feedback attitude information, realize closed-loop control.
Description of drawings
Fig. 1 is a frame for movement general assembly drawing of the present invention.
Fig. 2 is a B place partial enlarged drawing among Fig. 1.
Fig. 3 is an A place partial enlarged drawing among Fig. 1.
Fig. 4 is a C place partial enlarged drawing among Fig. 1.
Fig. 5 is a back shaft part drawing among Fig. 4.
Fig. 6 is the control circuit theory diagram.
Fig. 7 is the detailed schematic diagram of control circuit.
The specific embodiment
The preferred embodiments of the present invention combine detailed description of the drawings following:
Embodiment one:
Referring to Fig. 1～Fig. 4; The bionical eye of this Three Degree Of Freedom parallel institution comprises base (8), telescopic driving-chain and upper mounting plate (1); It is characterized in that: circumferentially be uniformly distributed with the bottom that installing hole is used to install three electric expansion formulas of single-degree-of-freedom hinge driving-chain on the said base (8), the upper end of these three electric expansion formula driving-chains all links to each other with upper mounting plate (1) through spherical hinge (2).
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is following:
The structure of said electric expansion formula driving-chain: have a holder (20) to be screwed on said base plate (8); There is a bearing (19) to be fixed on the holder (20); A back shaft (17) is installed on the holder (20) through this bearing (19); And limiting its axially-movable with a jump ring (16), a motor cabinet (6) directly links to each other with back shaft (17), thereby forms the single-degree-of-freedom hinge.A motor (7) is fixed on the motor cabinet (6), and the output shaft of motor (6) links to each other with a rhizoid bar (12) through a shaft coupling (5), and this screw mandrel (12) revolves combo with a nut (11) and becomes leading screw and nut mechanism, constitutes moving sets; Nut (11) connects an extended type cylinder (3), and extended type cylinder (3) links to each other through screw with spherical hinge (2).
Said spherical hinge (2) is directly connected to the upper mounting plate support (15) of upper mounting plate (1), and upper mounting plate support (15) links to each other with a camera pallet (14); Camera support and camera pallet (14) are realized the fixed installation to camera.
Two left baffle (4) are arranged on each side chain next door: left baffle (4) is fixed on through screw on the base plate (8); Baffle plate mainly plays the effect that the restriction drum rotates; Have frictional force because screw mandrel (12) nut (11) rotates, and what be connected with extended type drum (3) with the upper end is spherical hinge (2), does not add the words of baffle plate; Screw mandrel can drive the drum rotation during operation, influences control accuracy; In addition, for weight reduction, the many holes of design on left baffle.
Gyroscope (13) is housed on upper mounting plate, is used to feed back the upper mounting plate attitude information and realizes closed-loop control, on the left baffle (4) on every electric expansion formula driving-chain a travel switch (9) is housed, be used to reset; In control circuit, adopt DSP2812 as main control chip, through the RS232 agreement gyroscope attitude information is transferred in the main control chip; Wherein adopt the MAX232 chip as driver, each travel switch is directly received and is obtained switching signal on the control chip, learn these attitudes and positional information after; Main control chip drives three motors through the L298 chip for driving; Realization resets, and three of motor code device signal lines are directly received main control chip in addition, realizes closed-loop control.
Embodiment three:
The bionical eye of this Three Degree Of Freedom parallel institution is made up of three extension type structures, realizes that the rotation of X/Y and three telescopic structures of rectilinear motion of Z axle evenly are fixed on the base plate (8).According to the freedom calculation method,
Article one, must only keep 5 frees degree on the branch road (like Fig. 2): a single-degree-of-freedom hinge (like Fig. 4), a moving sets (realizing), a spherical hinge (2) by screw mandrel (12) nut (11).Wherein the single-degree-of-freedom hinge is an one degree of freedom, and moving sets has one degree of freedom, and spherical hinge has three degree of freedom, altogether 5 frees degree.
Holder (20) is screwed on base plate (8); Bearing (19) is fixed on the holder (20), and bolster (17) is connected on the holder through bearing, and moves with jump ring (16) limit axial; Motor cabinet (6) directly back shaft links to each other, thereby forms the single-degree-of-freedom hinge.Specifically can be with reference to accompanying drawing 4.Motor (7) is fixed on the motor bearing (6), and links to each other with screw mandrel (12) through shaft coupling (5), and screw mandrel (12) is formed leading screw and nut mechanism with nut (11), constitutes moving sets.In addition, nut (11) is linked extended type cylinder (3), and extended type cylinder (3) links to each other through screw with spherical hinge (2).As shown in Figure 3, spherical hinge (2) is directly connected to upper mounting plate support (15), and the upper mounting plate support links to each other with camera pallet (14).Camera support (1) is realized the fixed installation to camera with camera pallet (14).
Gyroscope (13) detects the upper mounting plate attitude information; Travel switch (9) thus detect the initial position of screw mandrel movement position control motor.
Claims (5)
1. Three Degree Of Freedom bionic eye parallel institution; Comprise base (8), telescopic driving-chain and upper mounting plate (1); It is characterized in that: circumferentially be uniformly distributed with the bottom that installing hole is used to install three electric expansion formulas of single-degree-of-freedom hinge driving-chain on the said base (8), the upper end of these three electric expansion formula driving-chains all links to each other with upper mounting plate (1) through spherical hinge (2).
2. the bionical eye of Three Degree Of Freedom according to claim 1 parallel institution; The structure that it is characterized in that said electric expansion formula driving-chain: have a holder (20) to be screwed on said base plate (8); There is a bearing (19) to be fixed on the holder (20); A back shaft (17) is installed on the holder (20) through this bearing (19); And limiting its axially-movable with a jump ring (16), a motor cabinet (6) directly links to each other with back shaft (17), thereby forms the single-degree-of-freedom hinge; A motor (7) is fixed on the motor cabinet (6), and the output shaft of motor (6) links to each other with a rhizoid bar (12) through a shaft coupling (5), and this screw mandrel (12) revolves combo with a nut (11) and becomes leading screw and nut mechanism, constitutes moving sets; Nut (11) connects an extended type cylinder (3), and extended type cylinder (3) links to each other through screw with spherical hinge (2).
3. the bionical eye of Three Degree Of Freedom according to claim 1 parallel institution is characterized in that said spherical hinge (2) is directly connected to the upper mounting plate support (15) of upper mounting plate (1), and upper mounting plate support (15) links to each other with a camera pallet (14); Camera support and camera pallet (14) are realized the fixed installation to camera.
4. the bionical eye of Three Degree Of Freedom according to claim 1 parallel institution; It is characterized in that having two left baffle (4): left baffle (4) is fixed on the base plate (8) through screw, and baffle plate mainly plays the effect that the restriction drum rotates, and has frictional force because screw mandrel (12) nut (11) rotates; And what be connected with extended type drum (3) with the upper end is spherical hinge (2); Do not add baffle plate, screw mandrel can drive the drum rotation during operation, influences control accuracy; In addition, for weight reduction, the many holes of design on left baffle.
5. the bionical eye of Three Degree Of Freedom according to claim 1 parallel institution; It is characterized in that on upper mounting plate, being equipped with gyroscope (13); Be used to feed back the upper mounting plate attitude information and realize closed-loop control; On the left baffle (4) on every electric expansion formula driving-chain a travel switch (9) is housed, is used to reset; In control circuit, adopt DSP2812 as main control chip, through the RS232 agreement gyroscope attitude information is transferred in the main control chip; Wherein adopt the MAX232 chip as driver, each travel switch is directly received and is obtained switching signal on the control chip, learn these attitudes and positional information after; Main control chip drives three motors through the L298 chip for driving; Realization resets, and three of motor code device signal lines are directly received main control chip in addition, realizes closed-loop control.
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| CN2012100750475A CN102581847A (en) | 2012-03-21 | 2012-03-21 | Three-degree-of-freedom bionic eye parallel mechanism |
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| CN2012100750475A CN102581847A (en) | 2012-03-21 | 2012-03-21 | Three-degree-of-freedom bionic eye parallel mechanism |
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|---|---|---|---|---|
| CN103143176A (en) * | 2013-03-12 | 2013-06-12 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
| CN103963074A (en) * | 2014-04-28 | 2014-08-06 | 上海大学 | Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism |
| CN104406575A (en) * | 2014-11-28 | 2015-03-11 | 西安交通大学 | High-precision novel biomimetic eye device and use method |
| CN104942830A (en) * | 2015-07-27 | 2015-09-30 | 中国兵器工业计算机应用技术研究所 | Bionic eye with three degrees of freedom |
| CN105147421A (en) * | 2015-08-04 | 2015-12-16 | 中国兵器工业计算机应用技术研究所 | Three-freedom-degree bionic neck mechanism |
| CN105835036A (en) * | 2016-05-05 | 2016-08-10 | 西安交通大学 | Parallel-connected bionic eye device and control method thereof |
| CN106003154A (en) * | 2016-06-08 | 2016-10-12 | 边绍康 | Bionic eye device, bionic eye equipment and image construction method |
| CN107123355A (en) * | 2017-06-09 | 2017-09-01 | 燕山大学 | A kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule |
| CN107134209A (en) * | 2017-06-09 | 2017-09-05 | 燕山大学 | A kind of heavy tilter with load balance locking device |
| CN107414886A (en) * | 2017-04-27 | 2017-12-01 | 上海大学 | A kind of Three-degree-of-freedom bionic eye of Wire driven robot |
| CN109699554A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
| CN110497397A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Rope and spring driven Three-degree-of-freedom bionic eye executing agency |
| CN111316060A (en) * | 2017-11-13 | 2020-06-19 | 奥钢联管柱有限责任两合公司 | Device for optically measuring the external thread profile of a pipe |
| CN113733054A (en) * | 2021-07-30 | 2021-12-03 | 上海大学 | Two-degree-of-freedom bionic eye driven by air bag |
| CN113771099A (en) * | 2021-09-23 | 2021-12-10 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103143176A (en) * | 2013-03-12 | 2013-06-12 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
| CN103143176B (en) * | 2013-03-12 | 2014-12-10 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
| CN103963074A (en) * | 2014-04-28 | 2014-08-06 | 上海大学 | Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism |
| CN103963074B (en) * | 2014-04-28 | 2016-08-10 | 上海大学 | Three-degree-of-freedom bionic eye eyeball platform based on Wire driven robot parallel institution |
| CN104406575A (en) * | 2014-11-28 | 2015-03-11 | 西安交通大学 | High-precision novel biomimetic eye device and use method |
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| CN105835036B (en) * | 2016-05-05 | 2018-10-30 | 西安交通大学 | A kind of parallel connected bionic eye device and its control method |
| CN105835036A (en) * | 2016-05-05 | 2016-08-10 | 西安交通大学 | Parallel-connected bionic eye device and control method thereof |
| CN106003154A (en) * | 2016-06-08 | 2016-10-12 | 边绍康 | Bionic eye device, bionic eye equipment and image construction method |
| CN109699554B (en) * | 2016-06-23 | 2021-08-17 | 合肥慧问机械设计有限公司 | Full-intelligent execution manipulator for fish pond feeding integrated machine |
| CN109699554A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
| CN107414886B (en) * | 2017-04-27 | 2020-04-03 | 上海大学 | Three-degree-of-freedom bionic eye driven by flexible cable |
| CN107414886A (en) * | 2017-04-27 | 2017-12-01 | 上海大学 | A kind of Three-degree-of-freedom bionic eye of Wire driven robot |
| CN107134209A (en) * | 2017-06-09 | 2017-09-05 | 燕山大学 | A kind of heavy tilter with load balance locking device |
| CN107123355A (en) * | 2017-06-09 | 2017-09-01 | 燕山大学 | A kind of heavy tilter of the six freedom degree two-in-parallel formula of bringing onto load bascule |
| CN107134209B (en) * | 2017-06-09 | 2023-03-31 | 燕山大学 | Heavy type swing platform with load balance locking device |
| CN107123355B (en) * | 2017-06-09 | 2023-03-31 | 燕山大学 | Six-freedom-degree double-parallel heavy swing table with load balancing device |
| CN111316060A (en) * | 2017-11-13 | 2020-06-19 | 奥钢联管柱有限责任两合公司 | Device for optically measuring the external thread profile of a pipe |
| CN110497397A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Rope and spring driven Three-degree-of-freedom bionic eye executing agency |
| CN110450142A (en) * | 2019-09-09 | 2019-11-15 | 哈工大机器人（合肥）国际创新研究院 | A kind of six-degree-of-freedom parallel robot based on double tops instrument component |
| CN113733054A (en) * | 2021-07-30 | 2021-12-03 | 上海大学 | Two-degree-of-freedom bionic eye driven by air bag |
| CN113771099A (en) * | 2021-09-23 | 2021-12-10 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
| CN113771099B (en) * | 2021-09-23 | 2022-12-09 | 中国科学院上海微系统与信息技术研究所 | Parallel type three-degree-of-freedom bionic eye device |
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Application publication date: 20120718 |