CN103963074A - Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism - Google Patents
Three-degree-of-freedom bionic eye platform based on flexible cable driving parallel mechanism Download PDFInfo
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- CN103963074A CN103963074A CN201410173507.7A CN201410173507A CN103963074A CN 103963074 A CN103963074 A CN 103963074A CN 201410173507 A CN201410173507 A CN 201410173507A CN 103963074 A CN103963074 A CN 103963074A
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Abstract
The invention discloses a bionic eye based on a flexible cable driving parallel mechanism. The three-degree-of-freedom bionic eye based on the flexible cable driving parallel mechanism comprises an eye ball, a basic body, a driving part, flexible cables and a spring. The three-degree-of-freedom bionic eye is characterized in that a gyroscope and a camera are installed at the front end of the eye ball and are connected with and driven by a stepping motor; the eye ball and a spherical surface of the basic body are movably connected in a matched mode; the eye ball is supported by the spring in a return mode and connected with three linear stepping motors through the three flexible cables which are evenly distributed in the circumferential direction. The gyroscope and the camera, installed on the eye ball, can be driven by the stepping motor and the three linear stepping motors to move in a three-degree-of-freedom mode.
Description
Technical field
The present invention relates to robot bionic vision field, is a kind of bionic eye based on flexible cable driven Parallel Kinematic Manipulator that can be applied to intelligence machine human visual system.
Background technology
Have more than 90% information to obtain by eyes as human perception objective world, concerning robot, " eyes " are a kind of important awareness apparatus.Human eye has many special natural functions, can only watch and follow the tracks of a target attentively as two, can compensate the kinetic sight line of head departs from, can switch fast fixation object, energy smooth pursuit target, can see object in movement background etc. clearly, these functions are to be realized by forms of motion different in eye movement.When robot works in non-structured environment, attitude is easy to change, also in the urgent need to this function of similar human eye.And in order to realize the function of apery eye, a kind of novel smart structure that can imitate human eye three-degree-of-freedom motion is absolutely necessary.Current Robot industry is in the urgent need to such robot eye with the many specific functions of human eye, once and have such robot bionic eye, robot vision technology and even Robot industry can produce a large leap, also can cause far-reaching influence to existing many industries.
Human eye has six muscle, is respectively superior rectus, inferior rectus muscle, internal rectus muscle, musculus rectus lateralis, musculus obliquus dorsalis and inferior oblique muscle.These six muscle one end are connected on crystalline lens, and the other end is connected with annulus tendineus communis.Wherein four rectus drive eyeballs do around the 2DOF at eyeball center and rotatablely move, and 2 obliques drive eyeballs to do 1 free degree motion around central visual axis, so human eye has three degree of freedom.
Summary of the invention
The object of the invention is to for above problem, propose a kind of robot bionic eye based on flexible cable driven Parallel Kinematic Manipulator, can do the motion of many complexity, ensure obtaining of visual information.
For achieving the above object, the solution of the present invention is:
Hemispherical Shell before and after the central dividing plate of bionical eyeball is threaded connection, a stepper motor is installed in the front center position of dividing plate, and this stepper motor can drive camera and gyroscope to rotate, the spin motion of simulation human eye.By utilizing the capable of adjusting tensioning power of a spring, bionical eyeball is embedded and had in the matrix of spherical cavity, the external diameter of eyeball equals the internal diameter of spherical cavity, and therefore eyeball can carry out the rotation of limited angle in spherical cavity.Because the tension of spring, the gravity effect of device that is arranged on eyeball dividing plate front portion is negligible, and therefore eyeball can keep horizontal level in the time not being subject to external force.Dividing plate marginal position is below fixed three flexible cables with the interval of 120 °, and the other end of flexible cable is wrapped on turnbuckle through the locating hole on rear aperture and the pedestal of eyeball respectively.Turnbuckle connects pulling force sensor and linear stepping motor, and its effect is the tensile force that regulates flexible cable, and this tension force can be measured by pulling force sensor.The motion of the characteristic according to flexible cable driven Parallel Kinematic Manipulator: a n free degree at least needs n+1 root flexible cable to drive, and therefore three linear stepping motors can be simulated the effect of four rectus, rotates in ball-type chamber by the length drives eyeball of controlling flexible cable.This rotation is the motion of 2 frees degree, the free degree of the rotation of stepper motor before additional dividing plate, and camera has obtained three degree of freedom, thereby can do the motion of imitating human eye.
According to foregoing invention design, the present invention adopts following technical proposals:
A Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator, comprises eyeball, matrix, drive part, and flexible cable and spring, is characterized in that: described eyeball front end is equipped with a gyroscope and a camera, is connected and is driven by a stepper motor; Described eyeball coordinates and is flexibly connected with matrix sphere; Described eyeball is supported by spring reset, and connects three linear stepping motors by three circumferential equally distributed flexible cables; Under the driving of stepper motor and three linear stepping motors, be arranged on epibulbar gyroscope and camera and can do three degree of freedom motion.On described eyeball, be threaded connection with a front hemispherical Shell and a later half spherical shell and jointly form eyeball shell by a dividing plate.Described stepper motor is installed in front center position at dividing plate.This stepper motor can drive gyroscope and camera rotation by a pallet; On described matrix, there are a front protection cover and a rear shield to be threaded connection, the spherical cavity of composition indent.Rear protective cover is bolted on base plate.Described pedestal is fixed on base plate.On described drive part, the output shaft of three described linear stepping motors is connected successively by respectively with three pulling force sensors of screw thread and three turnbuckles.Three described step-by-step linear electric motors are fixed on base plate.Spherical cavity on described eyeball and matrix matches, and both form spherical revolute pair jointly.After the dividing plate of described eyeball, the fixing described spring in center is a turriform spring.The end of this spring welds an annulus, and the bolt of a M10 is through the centre bore on annulus and base plate, with the position of this bolt of M4 bolted.The edge of the dividing plate of described eyeball has opened three through holes with 120 ° of equispaceds, and three flexible cable one end are fixed in these three holes by alignment pin, and the other end, through three locating holes on base plate, is wrapped on described three turnbuckles.On the dividing plate of described eyeball and the base plate of matrix, there is hollow hole, facilitate power line and data wire to pass through.There is larger opening at the later half spherical shell rear portion of described eyeball, and this opening can hold three flexible cables, spring, and power line and data wire pass through, and later half spherical shell can not be interfered with flexible cable oculogyral time.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and significantly technological progress:
1) working space of Three Degree Of Freedom flexible cable driven Parallel Kinematic Manipulator is that semi-cone angle is the taper shape of ± 15 °, and can realize spin motion at any angle on this conical optional position
2) compared with general parallel institution, the flexible cable driven Parallel Kinematic Manipulator that the present invention adopts has simple in structure, lightweight, the feature such as cost is low, and adaptability is good
3) thus can realize closed-loop control by gyroscope and pulling force sensor obtains higher positioning precision, the adjustable measurement of tension force of flexible cable, the power of whole mechanism distributes rationally, integral rigidity is adjustable.
4) applied range of the present invention, can be widely used in joint of robot, the occasion that tracking means etc. need three degree of freedom rotation to require.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of flexible cable driven Parallel Kinematic Manipulator of the present invention.
Fig. 2 is partial sectional view of the present invention.
Fig. 3 is front view of the present invention.
Fig. 4 is the rearview of removing drive part of the present invention.
Fig. 5 is drive part schematic diagram of the present invention.
Detailed description of the invention
Details are as follows by reference to the accompanying drawings for the preferred embodiment of the present invention.
Embodiment mono-: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator, comprise eyeball (1), matrix (2), drive part (3), flexible cable (4) and spring (7), it is characterized in that: described eyeball (1) front end is equipped with a gyroscope (5) and a camera (4), connect and drive by a stepper motor (6); Described eyeball (1) coordinates and is flexibly connected with matrix (2) sphere; Described eyeball (1) is resetted and is supported by spring (7), and connects three linear stepping motors (12) by three circumferential equally distributed flexible cables (8); Under the driving of stepper motor (6) and three linear stepping motors (12), the gyroscope (5) and the camera (4) that are arranged on eyeball (1) can do three degree of freedom motion.
Embodiment bis-: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, described eyeball (1) is upper, has a dividing plate (15) to be threaded connection with a front hemispherical Shell (13) and a later half spherical shell (16) and jointly forms eyeball (1) shell.In the front center position of dividing plate (15), described stepper motor (6) is installed.This stepper motor (6) can drive gyroscope (5) and camera (4) rotation by a pallet; Described matrix (2) is upper, has a front protection cover (14) and a rear shield (17) to be threaded connection, the spherical cavity of composition indent.Rear protective cover (17) is bolted on base plate (18).Described pedestal (18) is fixed on base plate.Described drive part (3) is upper, and the output shaft of three described linear stepping motors (12) is connected successively by respectively with three pulling force sensors of screw thread (11) and three turnbuckles (10).Three described step-by-step linear electric motors (12) are fixed on base plate.Spherical cavity on described eyeball (1) and matrix (2) matches, and both form spherical revolute pair jointly.The dividing plate (15) of described eyeball (1) the below fixing described spring (7) in center is a turriform spring.The end of this spring (7) welds an annulus, and the bolt (10) of a M10 is through the centre bore (2.) on annulus and base plate (18), with the position of this bolt of M4 bolted.The edge of the dividing plate (15) of described eyeball (1) has opened three through holes with 120 ° of equispaceds, three flexible cables (8) one end is fixed in these three holes by alignment pin, and the other end is wrapped on described three turnbuckles (10) through three locating holes (1.) on base plate (18).On the dividing plate (15) of described eyeball (1) and the base plate (18) of matrix (2), there is hollow hole, facilitate power line and data wire to pass through.There is larger opening at later half spherical shell (16) rear portion of described eyeball (1), and this opening can hold three flexible cables (8), spring (7), and power line and data wire pass through, and later half spherical shell (16) can not be interfered with flexible cable (8) oculogyral time.
Embodiment tri-: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the present invention---mainly comprise based on flexible cable driven Parallel Kinematic Manipulator bionic eye: eyeball (1), matrix (2), drive part (3), flexible cable (4) and spring (7) and other parts.Described eyeball (1) is the spheroid of the composition of hemisphere before and after being threaded connection with central dividing plate (15), and wherein the end of front hemispherical Shell (13) and later half spherical shell (16) all has opening.The front center of dividing plate is fixed one 28 stepper motors (6), and this stepper motor can drive gyroscope (5) and camera (4) rotation by pallet.Gyroscope (5) detects the attitude information of eyeball (1).The camera lens of camera (4) stretches out the opening of front hemispherical Shell (13).Described matrix (2) is to be threaded connection by front protection cover (14) and rear shield (17), the spherical cavity of composition indent, and the internal diameter of this spherical cavity equals the external diameter of eyeball.Rear protective cover (17) is bolted on base plate (18).Dividing plate (15) on eyeball (1) below center is fixed large one end of a turriform spring (7), an annulus is welded in one end that this spring is little, a bolt (10) is through the centre bore (2.) on annulus and base plate (18), with this bolt of M4 bolted.Utilize the pulling force of turriform spring (7) that eyeball (1) is embedded in the ball-type chamber of matrix (2), and under the effect of spring tension and frictional force, eyeball (1) can keep horizontal level in matrix (2).The edge of the dividing plate (15) of described eyeball (1) has opened three through holes with 120 ° of equispaceds, three flexible cables (4) one end is fixed in these three holes by alignment pin, and the other end is wrapped on turnbuckle (10) through three locating holes (1.) on base plate (18).Turnbuckle (10) is connected successively with the output shaft of pulling force sensor (11) and linear stepping motor (12).Three linear stepping motors (12) are arranged in a triangle.Can regulate the tension force of flexible cable (4) by adjusting turnbuckle, and this tension force can be measured by pulling force sensor (11).Linear stepping motor (12) thus the length of the linear telescopic motion control flexible cable by output shaft drives that eyeball (1) does around eyeball center in matrix (2), the rotation of semi-cone angle ± 15 °.The pulling force of this linear stepping motor (12) is 30N, and space rate 25mm/s meets bionic eye requirement.Fix three pulleys below at base plate (18), be used for regulating the position of flexible cable to same plane, therefore, three linear stepping motors (12) can be horizontal.
Method of the present invention is not limited to the embodiment described in detailed description of the invention, and other the embodiment that those skilled in the art's technical scheme according to the present invention draws, belongs to technological innovation scope of the present invention equally.
Claims (7)
1. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator, comprise eyeball (1), matrix (2), drive part (3), flexible cable (4) and spring (7), it is characterized in that: described eyeball (1) front end is equipped with a gyroscope (5) and a camera (4), connect and drive by a stepper motor (6); Described eyeball (1) coordinates and is flexibly connected with matrix (2) sphere; Described eyeball (1) is resetted and is supported by spring (7), and connects three linear stepping motors (12) by three circumferential equally distributed flexible cables (8); Under the driving of stepper motor (6) and three linear stepping motors (12), the gyroscope (5) and the camera (4) that are arranged on eyeball (1) can do three degree of freedom motion.
2. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 1, it is characterized in that: described eyeball (1) is upper, has a dividing plate (15) to be threaded connection with a front hemispherical Shell (13) and a later half spherical shell (16) and jointly forms eyeball (1) shell; In the front center position of dividing plate (15), described stepper motor (6) is installed; This stepper motor (6) can drive gyroscope (5) and camera (4) rotation by a pallet; Described matrix (2) is upper, has a front protection cover (14) and a rear shield (17) to be threaded connection, the spherical cavity of composition indent; Rear protective cover (17) is bolted on base plate (18); Described pedestal (18) is fixed on base plate; Described drive part (3) is upper, and the output shaft of three described linear stepping motors (12) is connected successively by respectively with three pulling force sensors of screw thread (11) and three turnbuckles (10); Three described step-by-step linear electric motors (12) are fixed on base plate.
3. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 1, is characterized in that: the spherical cavity on described eyeball (1) and matrix (2) matches, and both form spherical revolute pair jointly.
4. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 2, is characterized in that: the dividing plate (15) of described eyeball (1) the below fixing described spring (7) in center is a turriform spring; The end of this spring (7) welds an annulus, and the bolt (10) of a M10 is through the centre bore (2.) on annulus and base plate (18), with the position of this bolt of M4 bolted.
5. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 2, it is characterized in that: the edge of the dividing plate (15) of described eyeball (1) has opened three through holes with 120 ° of equispaceds, three flexible cables (8) one end is fixed in these three holes by alignment pin, and the other end is wrapped on described three turnbuckles (10) through three locating holes (1.) on base plate (18).
6. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 2, is characterized in that: on the dividing plate (15) of described eyeball (1) and the base plate (18) of matrix (2), have hollow hole, facilitate power line and data wire to pass through.
7. the Three-degree-of-freedom bionic eye eyeball based on flexible cable driven Parallel Kinematic Manipulator according to claim 2, it is characterized in that: there is larger opening at later half spherical shell (16) rear portion of described eyeball (1), this opening can hold three flexible cables (8), spring (7), power line and data wire pass through, and later half spherical shell (16) can not be interfered with flexible cable (8) oculogyral time.
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| 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 |
| CN105382852A (en) * | 2015-12-02 | 2016-03-09 | 上海大学 | Micro-robot eyeball structure driven by two-degree-of-freedom actuator |
| CN105856201A (en) * | 2016-05-25 | 2016-08-17 | 华南理工大学 | Three-degree-of-freedom robot vision servo platform |
| CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
| 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 |
| CN108068137A (en) * | 2016-11-10 | 2018-05-25 | 深圳光启合众科技有限公司 | Robot eye portion mechanism and with its robot |
| CN108942972A (en) * | 2018-09-25 | 2018-12-07 | 哈尔滨理工大学 | A kind of big visual angle bionic eye of servo motor driving flexible cable traction |
| CN108942957A (en) * | 2018-07-09 | 2018-12-07 | 上海交通大学 | The robot measurement of large span cable driving |
| CN110405784A (en) * | 2019-07-25 | 2019-11-05 | 北京理工大学 | The bionical ocular structure of stabilization high dynamic |
| CN110497397A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Rope and spring driven Three-degree-of-freedom bionic eye executing agency |
| CN113733054A (en) * | 2021-07-30 | 2021-12-03 | 上海大学 | Two-degree-of-freedom bionic eye driven by air bag |
| CN114244974A (en) * | 2021-11-12 | 2022-03-25 | 北京理工大学 | Bionic eye |
| US11614719B2 (en) | 2019-07-25 | 2023-03-28 | Beijing Institute Of Technology | Wide-field-of-view anti-shake high-dynamic bionic eye |
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| CN110405784A (en) * | 2019-07-25 | 2019-11-05 | 北京理工大学 | The bionical ocular structure of stabilization high dynamic |
| US11614719B2 (en) | 2019-07-25 | 2023-03-28 | Beijing Institute Of Technology | Wide-field-of-view anti-shake high-dynamic bionic eye |
| CN110497397A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Rope and spring driven Three-degree-of-freedom bionic eye executing agency |
| CN113733054A (en) * | 2021-07-30 | 2021-12-03 | 上海大学 | Two-degree-of-freedom bionic eye driven by air bag |
| CN114244974A (en) * | 2021-11-12 | 2022-03-25 | 北京理工大学 | Bionic eye |
| CN114244974B (en) * | 2021-11-12 | 2023-01-17 | 北京理工大学 | Bionic eye |
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