CN106985162A - A kind of robot eye ball sport device - Google Patents
A kind of robot eye ball sport device Download PDFInfo
- Publication number
- CN106985162A CN106985162A CN201710152269.5A CN201710152269A CN106985162A CN 106985162 A CN106985162 A CN 106985162A CN 201710152269 A CN201710152269 A CN 201710152269A CN 106985162 A CN106985162 A CN 106985162A
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- Prior art keywords
- iii
- eccentricity
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- motor
- gear
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Studio Devices (AREA)
Abstract
The invention discloses a kind of robot eye ball sport device, including power set, transmission mechanism and the fixed part of supporting mechanism three.The rotation of large and small eccentric disc is driven by large and small eccentric disc motor, the movement of power transmission shaft two degrees of freedom is realized；Power transmission shaft rotation is driven by driving shaft motor, realizes that camera has Three Degree Of Freedom；The angle that motor is turned over is measured by corresponding encoder respectively, the accurate position for calculating camera and posture feed back to control system, so as to realize the closed-loop control of camera.Mechanical structure of the present invention is simple, and stable movement is reliable, and overall space-consuming is smaller.The pose of camera can be monitored and controlled in real time by the present invention, greatly extend the visual field, have a wide range of application.
Description
Technical field
The present invention relates to robot visual guidance and monitoring field, particularly a kind of robot eye ball sport device.
Background technology
Robot replaces the mankind in ground/underground, the water surface/under water, in the air/space carries out operation is the science service mankind
Typical case embodies.In such non-structure environment, the information of human perception objective world more than 80% is obtained by eyes
, for robot, " eyes " are also a kind of perception body undoubtedly.Therefore, the operation in above-mentioned non-structure environment
Robot nearly all be equipped with NI Vision Builder for Automated Inspection.But, due to land, sea and air robot（For example：Miniature self-service rotor craft,
Ground moving investigation/explosive-removal robot, underwater robot）Movement environment（For example：Mobile robot ground is jolted, under water machine
Device people is disturbed by surge, current）, itself attitudes vibration and body vibration（For example：Gyroplane airborne vibration）Deng influence so that
Existing robotic vision system is difficult to meet the application requirement in these vibration, the environment that jolt, and tracking video figure often occurs
The problems such as the beating of picture, image blurring and tracking target loss.In the research of robot common technology, bionics techniques day
Benefit attracts attention.Human eye has many special natural functions, and such as two can only watch and track same target attentively, can compensate because of head
Sight skew, can be switched fast the target that sight is watched attentively, sight can be made smoothly to track target, can track height caused by portion's motion
Object of speed motion etc., these functions are what different forms of motion in eye movement were realized.Current robot compels to be essential
Possesses the robot eye of many specific functions of human eye.There are such robot eye, robot vision technology or even robot
One big leap will occur for industry, and far-reaching influence will be also produced to existing many industries.
The content of the invention
The defect existed for prior art, it is an object of the invention to provide a kind of robot eye ball sport device.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of robot eye ball sport device, including power set, transmission mechanism and the fixed part of supporting mechanism three；The power
Device includes large eccentricity coil motor, small eccentricity coil motor, driving shaft motor and three encoders being arranged in corresponding motor；
The transmission mechanism includes large eccentricity coil motor gear, large eccentricity disk ring gear, large eccentricity disk, small eccentricity coil motor gear, small
Eccentric disc gear, large eccentricity disk needle bearing, small eccentricity disk needle bearing, small eccentricity disk, small eccentricity dribbling bearing, power transmission shaft,
Shaft gear, driving shaft motor gear, lower casing ball bearing, camera；The fixed supporting mechanism include upper casing cover, on
Shell, three studs, driving shaft motor upper mounted plate, driving shaft motor bottom plate, locking nut, clamping screw, lower casings；
The large eccentricity disk is arranged in upper shell by large eccentricity disk needle bearing, and large eccentricity disk ring gear passes through spiral shell with large eccentricity disk
Nail is tightened together, and large eccentricity coil motor gear is arranged on large eccentricity coil motor, large eccentricity coil motor gear and large eccentricity disk
Ring gear is engaged, and large eccentricity coil motor gear is driven by large eccentricity coil motor, so as to drive large eccentricity disk ring gear, is realized big
The rotation of eccentric disc eccentric shaft；The small eccentricity disk is installed on the eccentric axle position of large eccentricity disk by small eccentricity disk needle bearing
Put, small eccentricity disk gear is connected with small eccentricity disk by screw, small eccentricity coil motor gear is arranged on small eccentricity coil motor, and
And engaged with small eccentricity disk gear, the axis of small eccentricity coil motor gear is overlapped with the axis of large eccentricity disk, realizes small eccentricity disk
Moved in using the axis of large eccentricity disk as the circle in the center of circle；The driving shaft motor passes through driving shaft motor upper mounted plate, transmission
Spindle motor bottom plate, locking nut, clamping screw are connected on power transmission shaft, and driving shaft motor gear is arranged on driving shaft motor
On, and engaged with shaft gear, shaft gear is casting together with power transmission shaft, drives biography indirectly by driving shaft motor
Moving axis, described power transmission shaft one end is connected with the small eccentricity dribbling bearing at the eccentric shaft of small eccentricity disk, in the other end and lower casing
Lower casing ball bearing connection at the heart, transmission shaft end connection camera；The large eccentricity coil motor, small eccentricity coil motor pass through
Groove positioning on upper casing cover, upper casing cover is positioned by bolt and upper cage connection, passed through between upper shell and lower casing
Three stud positioning are fixed；The rotation of large and small eccentric disc is driven by large and small eccentric disc motor, power transmission shaft two degrees of freedom is realized
Movement；Power transmission shaft rotation is driven by driving shaft motor, realizes that camera has Three Degree Of Freedom；Pass through corresponding encoder point
The angle that motor is turned over is not measured, and the accurate position for calculating camera and posture feed back to control system, so as to realize camera
Closed-loop control.
The present invention compared with prior art, with it is apparent the characteristics of and advantage：
Mechanical structure of the present invention is simple, and stable movement is reliable, and overall space-consuming is smaller.The present invention can be monitored and controlled in real time
The pose of camera processed, greatly extends the visual field, has a wide range of application.
Brief description of the drawings
Fig. 1 is the axonometric drawing of one embodiment of the invention.
Fig. 2 is Fig. 1 explosive view.
Fig. 3 is the gear engagement figure in upper shell in Fig. 1.
Fig. 4 is the gear engagement figure of power transmission shaft in Fig. 1.
Embodiment
Details are as follows for the preferred embodiments of the present invention combination accompanying drawing：
With reference to Fig. 1~Fig. 4, a kind of robot eye ball sport device, including power set, transmission mechanism and fixed supporting mechanism three
Part；The power set include large eccentricity coil motor I -1, small eccentricity coil motor I -2, driving shaft motor I -3 and three peaces
- the 1-1 of encoder I, I -2-1, I -3-1 in corresponding motor；The transmission mechanism include large eccentricity coil motor gear III -3,
Large eccentricity disk ring gear III -4, large eccentricity disk III -5, small eccentricity coil motor gear III -1, small eccentricity disk gear III -2, large eccentricity
Disk needle bearing III -6, small eccentricity disk needle bearing III -7, small eccentricity disk III -8, small eccentricity dribbling bearing III -9, power transmission shaft III -
10th, shaft gear III -11, driving shaft motor gear III -12, lower casing ball bearing III -13, camera III -14；The fixation
Supporting mechanism include upper casing cover II -1, upper shell II -2, three -3-1 of stud II, II -3-2, II -3-3, on driving shaft motor
Fixed plate II -7, driving shaft motor bottom plate II -8, locking nut II -4, clamping screw II -5, lower casing II -6；It is described big
Eccentric disc III -5 is arranged in upper shell II -2 by large eccentricity disk needle bearing III -6, large eccentricity disk ring gear III -4 with it is big partially
Cartridge III -5 is tightened together by screw, and large eccentricity coil motor gear III -3 is arranged on large eccentricity coil motor I -1, large eccentricity
Coil motor gear III -3 is engaged with large eccentricity disk ring gear III -4, and large eccentricity coil motor tooth is driven by large eccentricity coil motor I -1
Wheel III -3, so as to drive large eccentricity disk ring gear III -4, realizes the rotation of the eccentric shaft of large eccentricity disk III -5；The small eccentricity disk
III -8 is installed on the eccentric shaft position of large eccentricity disk III -5 by small eccentricity disk needle bearing III -7, small eccentricity disk gear III -2 with
Small eccentricity disk III -8 by screw be connected, small eccentricity coil motor gear III -1 be arranged on small eccentricity coil motor I -2 on, and with it is small
Eccentric disc gear III -2 is engaged, and the axis of small eccentricity coil motor gear III -1 is overlapped with the axis of large eccentricity disk III -5, realized small
Eccentric disc III -8 is moved in using the axis of large eccentricity disk III -5 as the circle in the center of circle；The driving shaft motor I -3 passes through power transmission shaft
Motor upper mounted plate II -7, driving shaft motor bottom plate II -8, locking nut II -4, clamping screw II -5 are connected in power transmission shaft
On III -10, driving shaft motor gear III -12 is arranged on driving shaft motor I -3, and is engaged with shaft gear III -11, is passed
Moving axis gear III -11 is casting together with power transmission shaft III -10, and power transmission shaft III -10, institute are driven indirectly by driving shaft motor I -3
State the one end of power transmission shaft III -10 with the small eccentricity dribbling bearing III -9 at the eccentric shaft of small eccentricity disk III -8 to be connected, the other end is with
The lower casing ball bearing III -13 of the center of shell II -6 is connected, the end of power transmission shaft III -10 connection camera III -14；It is described big partially
Cartridge motor I -1, small eccentricity coil motor I -2 are positioned by the groove on upper casing cover II -1, and upper casing cover II -1 passes through bolt
Positioning is connected with upper shell II -2, between upper shell II -2 and lower casing II -6 by three -3-1 of stud II, II -3-2, II -
3-3 positioning is fixed；The rotation of large and small eccentric disc III -5, III -8 is driven by large and small eccentric coil motor I -1, I -2, transmission is realized
The movement of the two degrees of freedom of axle III -10；The rotation of power transmission shaft III -10 is driven by driving shaft motor I -3, realizes that camera III -14 has
There is Three Degree Of Freedom；The angle that motor is turned over is measured by the corresponding -1-1 of encoder I, I -2-1, I -3-1 respectively, accurate calculate is taken the photograph
As first III -14 position and posture, control system is fed back to, so as to realize the closed-loop control of camera III -14.
Claims (1)
1. a kind of robot eye ball sport device, including power set, transmission mechanism and the fixed part of supporting mechanism three；Its feature
It is：The power set include large eccentricity coil motor（Ⅰ-1）, small eccentricity coil motor（Ⅰ-2）, driving shaft motor（Ⅰ-3）And
Three encoders in corresponding motor（Ⅰ-1-1、Ⅰ-2-1、Ⅰ-3-1）；The transmission mechanism includes large eccentricity coil motor
Gear（Ⅲ-3）, large eccentricity disk ring gear（Ⅲ-4）, large eccentricity disk（Ⅲ-5）, small eccentricity coil motor gear（Ⅲ-1）, small eccentricity
Disk gear（Ⅲ-2）, large eccentricity disk needle bearing（Ⅲ-6）, small eccentricity disk needle bearing（Ⅲ-7）, small eccentricity disk（Ⅲ-8）, it is small
Eccentric disc ball bearing（Ⅲ-9）, power transmission shaft（Ⅲ-10）, shaft gear（Ⅲ-11）, driving shaft motor gear（Ⅲ-12）, it is lower outer
Shell ball bearing（Ⅲ-13）, camera（Ⅲ-14）；The fixed supporting mechanism includes upper casing cover（Ⅱ-1）, upper shell（Ⅱ-
2）, three pieces studs（Ⅱ-3-1、Ⅱ-3-2、Ⅱ-3-3）, driving shaft motor upper mounted plate（Ⅱ-7）, driving shaft motor bottom plate
（Ⅱ-8）, locking nut（Ⅱ-4）, clamping screw（Ⅱ-5）, lower casing（Ⅱ-6）；The large eccentricity disk（Ⅲ-5）By big partially
Cartridge needle bearing（Ⅲ-6）Installed in upper shell（Ⅱ-2）In, large eccentricity disk ring gear（Ⅲ-4）With large eccentricity disk（Ⅲ-5）It is logical
Cross screw to tighten together, large eccentricity coil motor gear（Ⅲ-3）Installed in large eccentricity coil motor（Ⅰ-1）On, large eccentricity coil motor
Gear（Ⅲ-3）With large eccentricity disk ring gear（Ⅲ-4）Engagement, passes through large eccentricity coil motor（Ⅰ-1）Drive large eccentricity coil motor tooth
Wheel（Ⅲ-3）, so as to drive large eccentricity disk ring gear（Ⅲ-4）, realize large eccentricity disk（Ⅲ-5）The rotation of eccentric shaft；It is described small partially
Cartridge（Ⅲ-8）Pass through small eccentricity disk needle bearing（Ⅲ-7）It is installed on large eccentricity disk（Ⅲ-5）Eccentric shaft position, small eccentricity disk
Gear（Ⅲ-2）With small eccentricity disk（Ⅲ-8）It is connected by screw, small eccentricity coil motor gear（Ⅲ-1）Installed in small eccentricity disk electricity
Machine（Ⅰ-2）On, and with small eccentricity disk gear（Ⅲ-2）Engagement, small eccentricity coil motor gear（Ⅲ-1）Axis and large eccentricity disk
（Ⅲ-5）Axis overlap, realize small eccentricity disk（Ⅲ-8）With large eccentricity disk（Ⅲ-5）Axis for the center of circle circle in move；
The driving shaft motor（Ⅰ-3）Pass through driving shaft motor upper mounted plate（Ⅱ-7）, driving shaft motor bottom plate（Ⅱ-8）, locking
Nut（Ⅱ-4）, clamping screw（Ⅱ-5）It is connected in power transmission shaft（Ⅲ-10）On, driving shaft motor gear（Ⅲ-12）Installed in biography
Moving axis motor（Ⅰ-3）On, and and shaft gear（Ⅲ-11）Engagement, shaft gear（Ⅲ-11）With power transmission shaft（Ⅲ-10）
It is casting together, passes through driving shaft motor（Ⅰ-3）Power transmission shaft is driven indirectly（Ⅲ-10）, the power transmission shaft（Ⅲ-10）One end with it is small
Eccentric disc（Ⅲ-8）Eccentric shaft at small eccentricity dribbling bearing（Ⅲ-9）It is connected, the other end and lower casing（Ⅱ-6）Center
Lower casing ball bearing（Ⅲ-13）Connection, power transmission shaft（Ⅲ-10）End connects camera（Ⅲ-14）；The large eccentricity coil motor
（Ⅰ-1）, small eccentricity coil motor（Ⅰ-2）Pass through upper casing cover（Ⅱ-1）On groove positioning, upper casing cover（Ⅱ-1）Pass through bolt
With upper shell（Ⅱ-2）Connection positioning, upper shell（Ⅱ-2）With lower casing（Ⅱ-6）Between pass through three studs（Ⅱ-3-1、Ⅱ-
3-2、Ⅱ-3-3）Positioning is fixed；Pass through large and small eccentric coil motor（Ⅰ-1、Ⅰ-2）Drive large and small eccentric disc（Ⅲ-5、Ⅲ-8）'s
Rotate, realize power transmission shaft（Ⅲ-10）The movement of two degrees of freedom；Pass through driving shaft motor（Ⅰ-3）Drive power transmission shaft（Ⅲ-10）From
Turn, realize camera（Ⅲ-14）With Three Degree Of Freedom；Pass through corresponding encoder（Ⅰ-1-1、Ⅰ-2-1、Ⅰ-3-1）Measure respectively
The angle that motor is turned over, accurately calculates camera（Ⅲ-14）Position and posture, control system is fed back to, so as to realize shooting
Head（Ⅲ-14）Closed-loop control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152269.5A CN106985162A (en) | 2017-03-15 | 2017-03-15 | A kind of robot eye ball sport device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710152269.5A CN106985162A (en) | 2017-03-15 | 2017-03-15 | A kind of robot eye ball sport device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106985162A true CN106985162A (en) | 2017-07-28 |
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ID=59412903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710152269.5A Pending CN106985162A (en) | 2017-03-15 | 2017-03-15 | A kind of robot eye ball sport device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106985162A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582088A (en) * | 2017-09-15 | 2018-09-28 | 广东电网有限责任公司清远供电局 | A kind of backup actuating device suitable for power distribution network switchgear |
| CN111285066A (en) * | 2020-03-13 | 2020-06-16 | 集美大学 | Material transposition wheel device |
-
2017
- 2017-03-15 CN CN201710152269.5A patent/CN106985162A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582088A (en) * | 2017-09-15 | 2018-09-28 | 广东电网有限责任公司清远供电局 | A kind of backup actuating device suitable for power distribution network switchgear |
| CN111285066A (en) * | 2020-03-13 | 2020-06-16 | 集美大学 | Material transposition wheel device |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170728 |
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| RJ01 | Rejection of invention patent application after publication |