CN110493588B - Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism - Google Patents
Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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Abstract
本发明涉及一种绳簧驱动的双目可调对焦距离的仿生眼执行机构，动平台通过一个十字轴连接在一个具有一个移动自由度的约束杆上，三个驱动杆分别拉动三条绳索，并带动动平台实现三自由度的运动。动平台上装有双目调节机构，第四个驱动杆通过第四条绳索带动双目调节机构运动，实现双摄像头对焦点距离的调节。本机构与相同自由度的绳驱动机构相比至少少一个驱动，与常规结构机构相比具有结构紧凑，运动灵活以及双目可调对焦距离的优点。
The invention relates to a bionic eye actuator driven by a rope spring with binocular adjustable focusing distance. A moving platform is connected to a restraining rod with one degree of freedom of movement through a cross shaft, and three driving rods respectively pull three ropes, and Drive the moving platform to achieve three-degree-of-freedom motion. The moving platform is equipped with a binocular adjustment mechanism, and the fourth drive rod drives the binocular adjustment mechanism to move through the fourth rope, so as to realize the adjustment of the focus distance of the dual cameras. Compared with the rope drive mechanism with the same degree of freedom, the mechanism has at least one drive less, and compared with the conventional structure mechanism, the mechanism has the advantages of compact structure, flexible movement and binocular adjustable focusing distance.
Description
Technical Field
The invention relates to a posture control device of an optical sensor with multiple degrees of freedom, in particular to a binocular adjustable bionic eye actuating mechanism which is applied to the technical field of bionic eye mechanisms.
Background
In many cases, the bionic eye mechanism needs to be designed to be small and flexible. The conventional transmission structure requires a large installation space, and thus the mechanism design is bulky. The rope driving mechanism can be driven by a rope, the actuating mechanism can be designed to be small, but the rope can not provide thrust, so that the mechanism needs to adopt a driving number which is at least one more than the degree of freedom to complete the work task, and the defects of complex mechanism and high control difficulty are caused.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to overcome the defects in the prior art and provide a rope-spring-driven binocular focusing distance-adjustable bionic eye actuating mechanism, which adopts a rope and spring driving mode, has the same driving number and degree of freedom, and has a series of advantages of less driving, compact structure, larger working space, flexible movement capability and binocular focusing distance-adjustable function.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
a bionic eye executing mechanism driven by a rope spring and capable of adjusting focusing distance comprises a rack, a movable platform, a first camera, a second camera, a first driving rod, a second driving rod, a third driving rod, a fourth driving rod, a restraining rod, a first spring, a first rope, a second rope, a third rope, a fourth rope, a cross shaft and a binocular focusing mechanism;
the first driving rod is connected with the frame in a sliding mode through a first sliding pair, one end of a first rope is fixedly connected to the first driving rod, the other end of the first rope is fixedly connected to the movable platform, the second driving rod is connected with the frame in a sliding mode through a second sliding pair, one end of a second rope is fixedly connected to the second driving rod, the other end of the second rope is fixedly connected to the movable platform, the third driving rod is connected with the frame in a sliding mode through a third sliding pair, one end of a third rope is fixedly connected to the third driving rod, the other end of the third rope is fixedly connected to the movable platform, the restraint rod is connected with the frame in a sliding mode through a fourth sliding pair, a first spring penetrates through the restraint rod to be clamped between one end of the restraint rod and the frame, the restraint rod is connected with one shaft of the cross shaft in a rotating mode through the first rotating pair, and the other,
the binocular focusing mechanism comprises a first camera rod, a second camera rod, a first connecting rod, a second connecting rod, a pull rod and a second spring, wherein the first camera is arranged on the first camera rod, the second camera is arranged on the second camera rod, the first camera rod is connected with the movable platform through a third revolute pair, the first camera rod is connected with the first connecting rod through a fourth revolute pair, the first connecting rod is connected with the pull rod through a fifth revolute pair, the second camera rod is connected with the movable platform through a sixth revolute pair, the second camera rod is connected with the second connecting rod through a seventh revolute pair, the second connecting rod is connected with the pull rod through an eighth revolute pair, the pull rod is connected with the movable platform through a fifth revolute pair, and the second spring penetrates through the pull rod and is clamped between one end of the pull rod and the movable platform,
the fourth driving rod is connected with the rack in a sliding mode through a sixth sliding pair, one end of a fourth rope is fixedly connected to the fourth driving rod, and the other end of the fourth rope is fixedly connected to the pull rod.
As a preferable technical scheme of the invention, the first spring is always in a compressed state and applies a force to the restraint rod in a direction opposite to that of the rack, the first driving rod, the second driving rod and the third driving rod respectively and independently move, and the first rope, the second rope and the third rope drive the rotating platform to realize moving motion along the direction of the fourth moving pair and two-dimensional rotating motion around the axial direction of the first rotating pair and the second rotating pair. The second spring is always in a compression state and provides a force for the pull rod in the opposite direction relative to the moving platform, the fourth driving rod moves and drives the pull rod to move through the fourth rope, and the pull rod drives the first camera rod and the second camera rod to move through the first connecting rod and the second connecting rod, so that the adjustment of the position of a focusing point of the double cameras is realized.
In a preferred embodiment of the present invention, a circular plate-shaped movable platform is used, and the first rope, the second rope, and the third rope are flexibly connected to the connection points at equal arc length intervals on the outer edge of the movable platform.
As the preferred technical scheme of the invention, the movable platform is made of triangular, star-shaped, square or hexagonal plates, and the first rope, the second rope and the third rope are respectively flexibly connected with the connecting points of the outer edge or the free end of the movable platform. The device structure is more diversified, and the device structure requirements of different equipment compactabilities are met.
Compared with the prior art, the invention has the following obvious and prominent substantive characteristics and remarkable advantages:
1. the rope spring-driven binocular focusing distance-adjustable bionic eye executing mechanism has the advantages of less driving, compact structure, larger working space, flexible movement capability and binocular focusing distance adjustment;
2. the device has simple structure, and is convenient to control and operate and easy to popularize and apply due to the adoption of a mechanical motion mode.
Drawings
Fig. 1 is a schematic structural diagram of a rope spring-driven binocular focal distance-adjustable bionic eye actuator according to an embodiment of the invention.
Fig. 2 is another schematic structural diagram of a rope spring-driven binocular focal distance-adjustable bionic eye actuator according to an embodiment of the invention.
Fig. 3 is a schematic structural view of a pull rod of a binocular focal distance adjustable bionic eye actuator driven by a rope spring according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a first motion of a rope spring-driven binocular focal distance-adjustable bionic eye actuator according to an embodiment of the invention.
Fig. 5 is a schematic diagram of a second motion of a rope spring-driven binocular focal distance-adjustable bionic eye actuator according to an embodiment of the invention.
Detailed Description
The above-described scheme is further illustrated below with reference to specific embodiments, which are detailed below:
the first embodiment is as follows:
in this embodiment, referring to fig. 1 to 5, a rope-spring-driven binocular focusing distance-adjustable bionic eye actuator includes a frame 1, a movable platform 8, a first camera, a second camera, a first driving rod 2, a second driving rod 3, a third driving rod 4, a fourth driving rod 15, a restraining rod 5, a first spring 6, a first rope 16, a second rope 17, a third rope 18, a fourth rope 19, a cross shaft 7, and a binocular focusing distance adjusting mechanism;
the first driving rod 2 is connected with the rack 1 in a sliding mode through a first moving pair 20, one end of a first rope 16 is fixedly connected to the first driving rod 2, the other end of the first rope 16 is fixedly connected to the moving platform 8, the second driving rod 3 is connected with the rack 1 in a sliding mode through a second moving pair 21, one end of a second rope 17 is fixedly connected to the second driving rod 3, the other end of the second rope 17 is fixedly connected to the moving platform 8, the third driving rod 4 is connected with the rack 1 in a sliding mode through a third moving pair 22, one end of a third rope 18 is fixedly connected to the third driving rod 4, the other end of the third rope 18 is fixedly connected to the moving platform 8, the restraint rod 5 is connected with the rack 1 in a sliding mode through a fourth moving pair 23, the first spring 6 penetrates through the restraint rod 5 to be clamped between one end of the restraint rod 5 and the rack 1, the restraint rod 5 is connected with one shaft of the cross shaft 7 in a rotating mode through a first rotating pair 24, and the other shaft of the cross;
the binocular focusing mechanism comprises a first camera rod 9, a second camera rod 10, a first connecting rod 11, a second connecting rod 12, a pull rod 13 and a second spring 14, wherein the first camera is installed on the first camera rod 9, the second camera is installed on the second camera rod 10, the first camera rod 9 is connected with the movable platform 8 through a third revolute pair 26, the first camera rod 9 is connected with the first connecting rod 11 through a fourth revolute pair 27, the first connecting rod 11 is connected with the pull rod 13 through a fifth revolute pair 28, the second camera rod 10 is connected with the movable platform 8 through a sixth revolute pair 29, the second camera rod 10 is connected with the second connecting rod 12 through a seventh revolute pair 30, the second connecting rod 12 is connected with the pull rod 13 through an eighth revolute pair 31, the pull rod 13 is connected with the movable platform 8 through a fifth revolute pair 32, the second spring 14 passes through the pull rod 13 and is clamped between one end of the pull rod 13 and the movable platform 8,
the fourth driving rod 15 is connected with the frame 1 in a sliding way through a sixth sliding pair 33, one end of a fourth rope 19 is fixedly connected with the fourth driving rod 15, and the other end of the fourth rope 19 is fixedly connected with the pull rod 13.
In this embodiment, referring to fig. 1 to 5, the first spring 6 is always in a compressed state and applies a force to the restraint bar 5 in a direction opposite to the direction of the rack 1, the first driving rod 2, the second driving rod 3 and the third driving rod 4 move independently, and the first rope 16, the second rope 17 and the third rope 18 drive the movable platform 8 to perform a moving motion along the fourth moving pair 23 and a two-dimensional rotating motion around the axial direction of the first rotating pair 24 and the second rotating pair 25; the second spring 14 is always in a compressed state and provides a force to the pull rod 13 in a direction opposite to the moving platform 8, the fourth driving rod 15 moves and drives the pull rod 13 to move through the fourth rope 19, and the pull rod 13 drives the first camera rod 9 and the second camera rod 10 to move through the first connecting rod 11 and the second connecting rod 12, so that the adjustment of the focusing point positions of the two cameras is realized. In the rope spring-driven binocular focusing distance-adjustable bionic eye executing mechanism, the movable platform 8 is connected to the restraint rod 5 with one degree of freedom of movement through the cross shaft 7, and the three driving rods respectively pull the three ropes and drive the movable platform 8 to realize three-degree-of-freedom movement. The moving platform 8 is provided with a binocular adjusting mechanism, and the fourth driving rod 15 drives the binocular adjusting mechanism to move through the fourth rope 19, so that the adjustment of the focusing distance of the two cameras is realized. Compared with a rope driving mechanism with the same degree of freedom, the mechanism has the advantages of compact structure, flexible movement and binocular focusing distance adjustment.
In the present embodiment, referring to fig. 1, 2, 4, and 5, the movable platform 8 having a circular plate shape is used, and the first rope 16, the second rope 17, and the third rope 18 are flexibly connected to the connection points at the outer edge of the movable platform 8 at equal arc length intervals. So as to realize that the driving number of the transmission part is the same as the degree of freedom, and the transmission part has less driving, compact structure, larger working space and flexible movement capability.
Example two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
in the embodiment, the movable platform 8 is made of triangular, star-shaped, square or hexagonal plates, and the first rope 16, the second rope 17 and the third rope 18 are flexibly connected with the connecting points of the outer edges or the free ends of the movable platform 8 respectively. The embodiment enables the device structure to be more diversified, and meets the device structure requirements of different equipment compactabilities.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and all changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitution ways, so long as the technical principle and the inventive concept of the rope spring driven binocular focusing distance adjustable bionic eye actuator of the present invention are met, and all fall within the protection scope of the present invention.
Claims (4)
1. The utility model provides a bionical eye actuating mechanism of two mesh adjustable focus distances of rope spring driven, includes frame (1), moves platform (8), first camera and second camera, its characterized in that: the device also comprises a first driving rod (2), a second driving rod (3), a third driving rod (4), a fourth driving rod (15), a constraint rod (5), a first spring (6), a first rope (16), a second rope (17), a third rope (18), a fourth rope (19), a cross shaft (7) and a binocular focusing mechanism;
the first driving rod (2) is connected with the rack (1) in a sliding mode through a first moving pair (20), one end of a first rope (16) is fixedly connected to the first driving rod (2), the other end of the first rope (16) is fixedly connected to a moving platform (8), a second driving rod (3) is connected with the rack (1) in a sliding mode through a second moving pair (21), one end of a second rope (17) is fixedly connected to the second driving rod (3), the other end of the second rope (17) is fixedly connected to the moving platform (8), a third driving rod (4) is connected with the rack (1) in a sliding mode through a third moving pair (22), one end of a third rope (18) is fixedly connected to the third driving rod (4), the other end of the third rope (18) is fixedly connected to the moving platform (8), a restraint rod (5) is connected with the rack (1) in a sliding mode through a fourth moving pair (23), a first spring (6) penetrates through the restraint rod (5) and is clamped between one end of the restraint rod (5) and the rack (1), the restraint rod (5) is rotationally connected with one shaft of the cross shaft (7) through a first revolute pair (24), and the other shaft of the cross shaft (7) is rotationally connected with the movable platform (8) through a second revolute pair (25);
the binocular focusing mechanism comprises a first camera rod (9), a second camera rod (10), a first connecting rod (11), a second connecting rod (12), a pull rod (13) and a second spring (14), wherein the first camera is installed on the first camera rod (9), the second camera is installed on the second camera rod (10), the first camera rod (9) is connected with the movable platform (8) through a third revolute pair (26), the first camera rod (9) is connected with the first connecting rod (11) through a fourth revolute pair (27), the first connecting rod (11) is connected with the pull rod (13) through a fifth revolute pair (28), the second camera rod (10) is connected with the movable platform (8) through a sixth revolute pair (29), the second camera rod (10) is connected with the second connecting rod (12) through a seventh revolute pair (30), and the second connecting rod (12) is connected with the pull rod (13) through an eighth revolute pair (31), the pull rod (13) is connected with the movable platform (8) through a fifth sliding pair (32), a second spring (14) penetrates through the pull rod (13) and is clamped between one end of the pull rod (13) and the movable platform (8),
the fourth driving rod (15) is connected with the rack (1) in a sliding mode through a sixth moving pair (33), one end of a fourth rope (19) is fixedly connected to the fourth driving rod (15), and the other end of the fourth rope (19) is fixedly connected to the pull rod (13).
2. The rope-spring-driven binocular focal-distance-adjustable bionic eye actuator as claimed in claim 1, wherein:
the first spring (6) is always in a compression state and applies a force to the restraint rod (5) in the opposite direction relative to the rack (1), the first driving rod (2), the second driving rod (3) and the third driving rod (4) move independently respectively, and the first rope (16), the second rope (17) and the third rope (18) drive the movable platform (8) to realize moving motion along the direction of the fourth moving pair (23) and two-dimensional rotating motion around the axial direction of the first rotating pair (24) and the second rotating pair (25); the second spring (14) is always in a compressed state and provides a force for the pull rod (13) in the direction opposite to the moving platform (8), the fourth driving rod (15) moves and drives the pull rod (13) to move through the fourth rope (19), and the pull rod (13) drives the first camera rod (9) and the second camera rod (10) to move through the first connecting rod (11) and the second connecting rod (12), so that the adjustment of the focusing point positions of the double cameras is realized.
3. The rope-spring-driven binocular focal-distance-adjustable bionic eye actuator as claimed in claim 1, wherein: and the first rope (16), the second rope (17) and the third rope (18) are respectively flexibly connected with connecting points with equal arc length intervals on the outer edge of the movable platform (8).
4. The rope-spring-driven binocular focal-distance-adjustable bionic eye actuator as claimed in claim 1, wherein: the movable platform (8) is made of triangular, star-shaped, square or hexagonal plates, and the first rope (16), the second rope (17) and the third rope (18) are respectively in flexible connection with the connecting points of the outer edge or the free end of the movable platform (8).
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| CN201910811094.3A CN110493588B (en) | 2019-08-30 | 2019-08-30 | Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism |
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| CN201910811094.3A CN110493588B (en) | 2019-08-30 | 2019-08-30 | Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism |
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| CN110493588B true CN110493588B (en) | 2021-07-06 |
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