CN103963074B - Three-degree-of-freedom bionic eye eyeball platform based on Wire driven robot parallel institution - Google Patents
Three-degree-of-freedom bionic eye eyeball platform based on Wire driven robot parallel institution Download PDFInfo
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- CN103963074B CN103963074B CN201410173507.7A CN201410173507A CN103963074B CN 103963074 B CN103963074 B CN 103963074B CN 201410173507 A CN201410173507 A CN 201410173507A CN 103963074 B CN103963074 B CN 103963074B
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- 210000005252 bulbus oculi Anatomy 0.000 title claims abstract description 73
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- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000013011 mating Effects 0.000 claims abstract description 4
- 230000001681 protective effect Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 2
- 210000001508 eye Anatomy 0.000 abstract description 18
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Abstract
The invention discloses a kind of bionic eye based on Wire driven robot parallel institution.A kind of Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution, including eyeball, matrix, drive part, flexible cable and spring, it is characterised in that: described eyeball front end, equipped with a gyroscope and a photographic head, is connected by a motor and drives；Described eyeball is flexibly connected with matrix mating spherical surfaces；Described eyeball is supported by spring reset, and is connected three linear stepping motors by three equally distributed flexible cables of circumference；Under the driving of motor and three linear stepping motors, it is arranged on epibulbar gyroscope and photographic head can do three degree of freedom motion.
Description
Technical field
The present invention relates to robot bionic visual field, be a kind of can apply to intelligent machine human visual system based on soft
The bionic eye of rope driven Parallel Kinematic Manipulator.
Background technology
As human perception objective world has the information of more than 90% to be obtained by eyes, for robot, " eye
Eyeball " it is a kind of important awareness apparatus.Human eye has many special natural functions, as two can only be watched and follow the tracks of attentively a mesh
Mark, can compensate the sight line deviation that head movement causes, and can be switched fast fixation object, energy smooth pursuit target, can see motion clearly
Object etc. in background, these functions are to be realized by forms of motion different in ocular movement.Robot is non-structured
When working in environment, attitude is easy to change, also in the urgent need to this function of similar human eye.And in order to realize Prosthetic Hand
Function, a kind of novel smart structure that can imitate human eye three-degree-of-freedom motion is requisite.Current Robot industry is compeled
It is essential and wants such robot eye with the many specific functions of human eye, and once had such robot bionic eye, machine
People's vision technique or even Robot industry can produce a big leap, and existing many industries be will also result in far-reaching shadow
Ring.
Human eye has six muscle, is superior rectus, inferior retcus, medial rectus, lateral rectus, superior obliquus and inferior obliquus respectively.This
Article six, muscle one end is connected on crystalline lens, and the other end is connected with common tendinous ring.Wherein four rectus drive eyeball to do around eyeball
The 2DOF rotary motion at center, 2 obliques drive eyeball to do the 1 degree of freedom motion around central visual axis, so human eye has
Three degree of freedom.
Summary of the invention
Present invention aims to problem above, propose a kind of robot bionic based on Wire driven robot parallel institution
Eye, can do many complicated motions, it is ensured that the acquisition of visual information.
For reaching above-mentioned purpose, the solution of the present invention is:
The central dividing plate of bionical eyeball is threaded connection before and after's hemispherical Shell, and a stepping is installed in the front center position of dividing plate
Motor, this motor can drive photographic head and gyroscope to rotate, the spin motion of simulation human eye.By utilizing one
The adjusting tensioning power of individual spring, embeds bionical eyeball in the matrix with spherical cavity, and the external diameter of eyeball is equal to spherical cavity
Internal diameter, therefore eyeball can carry out the rotation of limited angle in spherical cavity.Because the tension of spring, be arranged on eyeball every
The gravity impact of the device of prelaminar part is negligible, and therefore eyeball can keep horizontal level not by external force time.Dividing plate
Marginal position below fixes three flexible cables with the interval of 120 °, and the other end of flexible cable is respectively through the rear aperture of eyeball and base
Hole, location on seat is wrapped on tightener.Tightener connects pulling force sensor and linear stepping motor, and its effect is that regulation is soft
The tensile force of rope, and this tension force can be measured by pulling force sensor.Characteristic according to Wire driven robot parallel institution: n freely
The motion of degree at least needs n+1 root Wire driven robot, and therefore three linear stepping motors can simulate the effect of four rectus, passes through
The length drives eyeball controlling flexible cable rotates at ball-type intracavity.This rotation is the motion of 2 degree of freedom, stepping before additional dividing plate
The degree of freedom of the rotation of motor, photographic head obtains three degree of freedom, such that it is able to do the motion imitating human eye.
Conceiving according to foregoing invention, the present invention uses following technical proposals:
A kind of Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution, including eyeball, matrix, drive part, soft
Rope and spring, it is characterised in that: described eyeball front end, equipped with a gyroscope and a photographic head, is connected by a motor
Drive；Described eyeball is flexibly connected with matrix mating spherical surfaces；Described eyeball is supported by spring reset, and is uniformly divided by three circumferences
The flexible cable of cloth connects three linear stepping motors；Under the driving of motor and three linear stepping motors, it is arranged on eyeball
On gyroscope and photographic head can do three degree of freedom motion.On described eyeball, a dividing plate is had to be threaded connection and one
Front hemispherical Shell and a later half spherical shell collectively constitute eyeball shell.Described motor is installed in the front center position of dividing plate.
This motor can drive gyroscope and photographic head to rotate by a pallet；On described matrix, there are a front protection cover and one
Rear shield is threaded connection, the spherical cavity of composition indent.Rear protective cover is bolted on the base mounting plate.Described pedestal is solid
It is scheduled on base plate.On described drive part, the output shaft of three described linear stepping motors passes through respectively with three pulling force of screw thread
Sensor and three tighteners are sequentially connected with.Three described step-by-step linear electric motors are fixed on base plate.Described eyeball and matrix
On spherical cavity match, both collectively constitute spherical revolute pair.After the dividing plate of described eyeball, center is fixed described spring and is
One turriform spring.The end of this spring welds an annulus, and the bolt of a M10, through the centre bore on annulus and base plate, is used
One M4 bolt fastens the position of this bolt.The edge of the dividing plate of described eyeball has opened three through holes with 120 °, equispaced,
Three flexible cable one end are fixed in these three hole by alignment pin, and the other end, through the hole, three location on base plate, is wrapped in
On described three tighteners.There is hollow hole on the dividing plate of described eyeball and the base plate of matrix, facilitate power line and data wire
Pass through.There is larger open at the later half spherical shell rear portion of described eyeball, and this opening can accommodate three flexible cables, spring, power line and data
Line passes through, and rear quarter shell can not be interfered with flexible cable Rotation of eyeball when.
The present invention compared with prior art, has following obvious prominent substantive distinguishing features and notable technology is entered
Step:
1) work space of Three Degree Of Freedom Wire driven robot parallel institution be semi-cone angle be the cone of ± 15 °, and this circle
Spin motion at any angle can be realized on the optional position of taper
2) compared with general parallel institution, the Wire driven robot parallel institution that the present invention uses has simple in construction, lightweight,
Low cost, the features such as adaptability is good
3) closed loop control can be realized by gyroscope and pulling force sensor thus obtain higher positioning precision, flexible cable
Tension Adjustable joint can be measured, and the power of whole mechanism is reasonably distributed, and integral rigidity is adjustable.
4) applied range of the present invention, can be widely used for joint of robot, and following the tracks of device etc. needs three degree of freedom to revolve
Turn the occasion required.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the Wire driven robot parallel institution of the present invention.
Fig. 2 is the partial sectional view of the present invention.
Fig. 3 is the front view of the present invention.
Fig. 4 is the rearview eliminating drive part of the present invention.
Fig. 5 is the drive part schematic diagram of the present invention.
Detailed description of the invention
It is as follows that the preferred embodiment of the present invention combines detailed description.
Embodiment one: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of based on Wire driven robot parallel institution three freely
Degree bionic eye, including eyeball (1), matrix (2), drive part (3), flexible cable (8) and spring (7), it is characterised in that: described eye
Ball (1) front end, equipped with a gyroscope (5) and a photographic head (4), is connected by a motor (6) and drives；Described eyeball
(1) it is flexibly connected with matrix (2) mating spherical surfaces；Described eyeball (1) is resetted by spring (7) and supports, and is uniformly divided by three circumferences
The flexible cable (8) of cloth connects three linear stepping motors (12)；In motor (6) and the driving of three linear stepping motors (12)
Under, the gyroscope (5) being arranged on eyeball (1) and photographic head (4) can do three degree of freedom motion.
Embodiment two: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, on described eyeball (1), have a dividing plate (15) to pass through
Threaded with a front hemispherical Shell (13) with a later half spherical shell (16) collectively constitutes eyeball (1) shell.At dividing plate (15)
Described motor (6) is installed in front center position.This motor (6) can drive gyroscope (5) by a pallet and take the photograph
As head (4) rotates；On described matrix (2), a front protection cover (14) and a rear shield (17) is had to be threaded connection, in composition
Recessed spherical cavity.Rear protective cover (17) is bolted on base plate (18).Described pedestal (18) is fixed on base plate.Institute
Stating on drive part (3), the output shaft of three described linear stepping motors (12) passes through respectively with three pulling force sensors of screw thread
And three tighteners (10) are sequentially connected with (11).Three described step-by-step linear electric motors (12) are fixed on base plate.Described eyeball
(1) spherical cavity and on matrix (2) matches, and both collectively constitute spherical revolute pair.After the dividing plate (15) of described eyeball (1)
It is a turriform spring that described spring (7) is fixed at center.The end of this spring (7) welds an annulus, and the bolt of a M10 is through circle
Centre bore (2.) on ring and base plate (18), fastens the position of this bolt with a M4 bolt.The dividing plate of described eyeball (1)
(15) edge has opened three through holes with 120 °, equispaced, and three flexible cable (8) one end are fixed on these three by alignment pin
In hole, the other end is wrapped on described three tighteners (10) through three hole, location (1.) on base plate (18).Described eye
There is hollow hole on the dividing plate (15) of ball (1) and the base plate (18) of matrix (2), facilitate power line and data wire to pass through.Described
There is larger open at later half spherical shell (16) rear portion of eyeball (1), and this opening can accommodate three flexible cables (8), spring (7), power line and
Data wire passes through, and rear quarter shell (16) can not be interfered with flexible cable (8) Rotation of eyeball when.
Embodiment three: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, the present invention imitates based on Wire driven robot parallel institution
Raw eyes specifically include that eyeball (1), matrix (2), drive part (3), flexible cable (8) and spring (7) and other parts.Described
Eyeball (1) is the spheroid of the composition being threaded connection before and after's hemisphere with central dividing plate (15), wherein before hemispherical Shell (13) and after
The end of hemispherical Shell (16) all has opening.The front center of dividing plate fixes one 28 motors (6), and this motor can pass through
Pallet drives gyroscope (5) and photographic head (4) to rotate.The attitude information of gyroscope (5) detection eyeball (1).The mirror of photographic head (4)
Head 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), group
Becoming the spherical cavity of indent, the internal diameter of this spherical cavity is equal to the external diameter of eyeball.Rear protective cover (17) is bolted at base plate
(18) on.Big one end of a turriform spring (7), the little one end of this spring are fixed in dividing plate (15) on eyeball (1) center below
Welding an annulus, a bolt (10), should with a M4 bolt fastening through the centre bore (2.) on annulus and base plate (18)
Bolt.Eyeball (1) is embedded the ball-type intracavity of matrix (2) by the pulling force utilizing turriform spring (7), and in spring tension and friction
Under the effect of power, eyeball (1) can keep horizontal level in matrix (2).The edge of the dividing plate (15) of described eyeball (1) is with flat
Three through holes have been opened at all 120 ° of intervals, and three flexible cable (8) one end are fixed in these three hole by alignment pin, and the other end passes base
Three hole, location (1.) on seat board (18) are wrapped on tightener (10).Tightener (10) and pulling force sensor (11) and straight line
The output shaft of motor (12) is sequentially connected with.Three linear stepping motors (12) arrange in a triangle.By adjusting tightener
The tension force of flexible cable (8) can be regulated, and this tension force can be measured by pulling force sensor (11).Linear stepping motor (12) is by output
The length of the linear telescopic motor control flexible cable of axle thus drive eyeball (1) to do around eyeball center, semi-cone angle in matrix (2)
The rotation of ± 15 °.The pulling force of this linear stepping motor (12) is 30N, and space rate 25mm/s meets bionic eye requirement.At base
Seat board (18) below fixes three pulleys, is used for regulating the position of flexible cable to same plane, therefore, and three linear stepping motors
(12) can be horizontally arranged.
Method of the present invention is not limited to the embodiment described in detailed description of the invention, those skilled in the art according to
Other the embodiment that technical scheme draws, also belongs to the technological innovation scope of the present invention.
Claims (6)
1. a Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution, including eyeball (1), matrix (2), drive part
(3), photographic head (4) and spring (7), it is characterised in that: described eyeball (1) front end is equipped with a gyroscope (5) and a shooting
Head (4), is connected by a motor (6) and drives；Described eyeball (1) is flexibly connected with matrix (2) mating spherical surfaces；Described eyeball
(1) supported by spring (7) reset, and connected three linear stepping motors (12) by the three equally distributed flexible cable of circumferences (8)；?
Under the driving of motor (6) and three linear stepping motors (12), the gyroscope (5) being arranged on eyeball (1) and photographic head
(4) three degree of freedom motion can be done；On described eyeball (1), a dividing plate (15) is had to be threaded connection and a front hemispherical Shell
(13) and one later half spherical shell (16) collectively constitutes eyeball (1) shell；Described step is installed in the front center position of dividing plate (15)
Enter motor (6)；This motor (6) can drive gyroscope (5) and photographic head (4) to rotate by a pallet；Described matrix (2)
On, after having a front protection cover (14) and one, protective cover (17) is threaded connection, the spherical cavity of composition indent；Rear protective cover
(17) it is bolted on base plate (18)；Described base plate (18) is fixed on base plate；On described drive part (3),
The output shaft of three described linear stepping motors (12) passes through respectively with three pulling force sensors (11) of screw thread and three stringings
Device (10) is sequentially connected with；Three described linear stepping motors (12) are fixed on base plate.
Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution the most according to claim 1, it is characterised in that: institute
The spherical cavity stated on eyeball (1) and matrix (2) matches, and both collectively constitute spherical revolute pair.
Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution the most according to claim 1, it is characterised in that: institute
Stating dividing plate (15) center below of eyeball (1) and fixing described spring (7) is a turriform spring；The end welding one of this spring (7)
Annulus, the bolt of a M10, through the centre bore (2.) on annulus and base plate (18), fastens this M10 spiral shell with a M4 bolt
The position of bolt.
Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution the most according to claim 1, it is characterised in that: institute
The edge of the dividing plate (15) stating eyeball (1) has opened three through holes with 120 °, equispaced, and three flexible cable (8) one end are by location
Pin is fixed in these three hole, and the other end is wrapped in described three tighteners through three hole, location (1.) on base plate (18)
(10) on.
Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution the most according to claim 1, it is characterised in that: institute
State and have hollow hole on the dividing plate (15) of eyeball (1) and the base plate (18) of matrix (2), make power line and data wire pass through.
Three-degree-of-freedom bionic eye eyeball based on Wire driven robot parallel institution the most according to claim 1, it is characterised in that: institute
There is opening at later half spherical shell (16) rear portion stating eyeball (1), and this opening can accommodate three flexible cables (8), spring (7), power line sum
Pass through according to line, and rear quarter shell (16) is not interfered with flexible cable (8) Rotation of eyeball when.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410173507.7A CN103963074B (en) | 2014-04-28 | 2014-04-28 | Three-degree-of-freedom bionic eye eyeball platform based on Wire driven robot parallel institution |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410173507.7A CN103963074B (en) | 2014-04-28 | 2014-04-28 | Three-degree-of-freedom bionic eye eyeball platform based on Wire driven robot parallel institution |
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| CN103963074A CN103963074A (en) | 2014-08-06 |
| CN103963074B true CN103963074B (en) | 2016-08-10 |
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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 |
| CN105856201B (en) * | 2016-05-25 | 2018-10-09 | 华南理工大学 | A kind of Robot Visual Servoing platform of Three Degree Of Freedom |
| 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 |
| CN106989152B (en) * | 2017-04-18 | 2019-02-12 | 中国科学技术大学 | A kind of high-precision wire drive |
| CN107414886B (en) * | 2017-04-27 | 2020-04-03 | 上海大学 | Three-degree-of-freedom bionic eye driven by flexible cable |
| CN108942957A (en) * | 2018-07-09 | 2018-12-07 | 上海交通大学 | The robot measurement of large span cable driving |
| 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 |
| US11614719B2 (en) | 2019-07-25 | 2023-03-28 | Beijing Institute Of Technology | Wide-field-of-view anti-shake high-dynamic bionic eye |
| 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 |
| CN114244974B (en) * | 2021-11-12 | 2023-01-17 | 北京理工大学 | Bionic eye |
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