CN117601106A - Three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving - Google Patents
Three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving Download PDFInfo
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- CN117601106A CN117601106A CN202410083082.4A CN202410083082A CN117601106A CN 117601106 A CN117601106 A CN 117601106A CN 202410083082 A CN202410083082 A CN 202410083082A CN 117601106 A CN117601106 A CN 117601106A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 170
- 210000003205 muscle Anatomy 0.000 title claims abstract description 148
- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 28
- 230000036544 posture Effects 0.000 abstract description 3
- 210000001508 eye Anatomy 0.000 description 142
- 210000005252 bulbus oculi Anatomy 0.000 description 12
- 241000288906 Primates Species 0.000 description 11
- 238000005096 rolling process Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000008602 contraction Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 230000016776 visual perception Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005266 casting Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 208000019749 Eye movement disease Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004424 eye movement Effects 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 230000004382 visual function Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Prostheses (AREA)
Abstract
The invention belongs to the technical field of bionic robots, and particularly discloses a three-degree-of-freedom parallel bionic eye actuating mechanism based on flexible driving of artificial muscles. According to the bionic eye actuating mechanism, the universal spherical hinge is used on the base platform to be connected with the hemispherical bionic eye structure, the three-degree-of-freedom flexible body driving structure is matched for driving the eye muscle flexible body, and the six artificial muscles of the rectus muscle flexible body and the oblique muscle flexible body are utilized for adjusting, so that the bionic eye adopting the bionic eye actuating mechanism has three motion postures of yaw, pitch and roll, and the requirements of compact structure, high precision, small noise and high motion flexibility of the bionic eye can be met.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a three-degree-of-freedom parallel bionic eye actuating mechanism based on flexible driving of artificial muscles.
Background
Along with the continuous breakthrough of visual bionics in the front edge fields of robots and the like, the bionic eye technology along the two aspects of visual perception and eye movement control becomes an important component part in the field of bionic robots; because the primate biological vision system has flexible control and visual perception capability, the existing bionic eye technology can simulate the structure and visual function of the primate biological eyeball, so that the primate biological eyeball has characteristics or functions similar to those of a biological system eye.
The existing bionic eye technology research is mainly focused on realizing the movement capacity of the eyeball, but not the bionic function of the primate biological eyeball, but the bionic eye with the bionic function is closer to the primate biological eyeball, and the flexibility and stable visual perception capacity of a bionic eye system can be effectively ensured.
The motion of primate biological eyeball is mainly controlled by six extraocular muscles attached to eyeball, but the prior bionic eye adopts the motion of simulated extraocular muscles such as springs, connecting rods and the like, and the springs, the connecting rods and the like can not only produce abnormal sound in the actual simulation adjustment process, but also can not be avoided by the prior means, and the simulated extraocular muscles can not be accurately adjusted due to the limitations of the simulated extraocular muscles such as springs, connecting rods and the like, so that the prior bionic eye has larger noise in the use process, low motion flexibility and difficult realization of high-precision adjustment of the bionic eye.
The Chinese patent with the publication number of CN110497389B discloses a three-degree-of-freedom parallel bionic eye actuator driven by a rope spring, which mainly comprises a three-degree-of-freedom parallel mechanism and three rope driving branched chains. Three springs are respectively arranged on three branched chains of the three-degree-of-freedom parallel mechanism, so that the movable platform can always bear forces in opposite directions of the tensile force of the rope, and three driving rods drive the movable platform to realize three-degree-of-freedom movement through the rope. The camera is arranged on the movable platform and can realize three-degree-of-freedom motion. The mechanism has the advantages of less driving, compact structure, high speed, high rigidity and high precision. The three-degree-of-freedom parallel bionic eye actuating mechanism driven by the rope spring adopts rope and spring driving, has the defects of large noise, low movement flexibility and the like in the using process, and is difficult to realize high-precision adjustment of the bionic eye through spring driving.
Disclosure of Invention
In order to solve the technical problems, the invention provides the three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving, which adopts artificial muscle driving, and has the advantages of compact structure, high precision, small noise and high movement flexibility.
Based on the above purpose, the invention is realized by the following technical scheme:
the three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving comprises a hemispherical bionic eye structure, wherein a three-degree-of-freedom flexible body driving structure is arranged on the hemispherical bionic eye structure, one end, far away from the hemispherical bionic eye structure, of the three-degree-of-freedom flexible body driving structure is provided with a base platform connected with a spherical hinge of the hemispherical bionic eye structure, and the base platform is provided with a pulley structure matched with the three-degree-of-freedom flexible body driving structure.
Further, the hemispherical bionic eye structure comprises a bionic eye hemispherical shell, an inner boss is arranged on the inner top surface of the bionic eye hemispherical shell, and the inner boss is connected with an image collector arranged on the bionic eye hemispherical shell; a movable platform bracket is arranged in the bionic eye hemispherical shell.
Further, the three-degree-of-freedom flexible body driving structure comprises an eye muscle flexible body which is arranged on the bionic eye hemisphere shell and sleeved with the surface of the bionic eye hemisphere shell, the eye muscle flexible body comprises a bionic eye hemisphere surface which is sleeved on the bionic eye hemisphere shell and attached to the bionic eye hemisphere shell, a shooting hole matched with an image collector is formed in the center of the bionic eye hemisphere surface, a straight muscle flexible body which is in clearance fit is symmetrically arranged on the bionic eye hemisphere surface, an oblique muscle flexible body which is in clearance fit with the straight muscle flexible body is symmetrically arranged on the bionic eye hemisphere surface, and the oblique muscle flexible body is connected with the bionic eye hemisphere surface through an oblique muscle connecting body arranged on the bionic eye hemisphere surface.
Further, the rectus muscle flexible bodies are distributed on the upper, lower, left and right positions of the bionic eye hemispherical surface, the rectus muscle flexible bodies are directly connected with the muscle driver, and the number of the rectus muscle flexible bodies is four; the number of the oblique muscle flexible bodies is two, and the joint of the two oblique muscle flexible bodies is positioned at the same side of the hemispherical surface of the bionic eye; the oblique muscle flexible body passes through the pulley structure on the other side and is connected with the muscle driver; the bionic eye hemispherical surface, the rectus muscle flexible body and the oblique muscle flexible body in the eye muscle flexible body are all made of a silica gel casting mold, and the proportion of the silica gel to the curing agent is 50:1.
further, the pulley structure comprises a limiting frame matched with the oblique muscle flexible body, rollers are arranged at two ends of the limiting frame, and the rollers are connected with the limiting frame through fixed terminals.
Further, the limiting frame comprises limiting support rods, type limiting rods matched with the roller and the fixed end are arranged at two ends of the limiting support rods, and type limiting rods are sleeved on the oblique muscle flexible body and are in clearance fit with the oblique muscle flexible body.
Further, the end part of the limit supporting rod is provided with a hollow roller matched with a type limit rod, the hollow roller is sleeved in the roller and is in clearance fit with the roller, the hollow roller is connected with a connecting shaft arranged on the fixed terminal, and the connecting shaft is matched with the hollow of the hollow roller; one end of the fixed terminal, which is far away from the hollow roller, is in clearance fit with a type limiting rod; the pulley structure is arranged on one side of the base platform; the type stop lever is sleeved with a stop collar, the stop collar is matched with a stop collar groove arranged on the type stop lever, side ring grooves are formed in the side faces of the stop collar, annular adjusting pieces are arranged in the side ring grooves, and the annular adjusting pieces are connected with annular adjusting pieces on the side faces of the adjacent stop collars through adjusting bearings.
Further, the optical axis of the image collector passes through the sphere center of the bionic eye, and the direction of the optical axis of the image collector coincides with the direction of the line of sight of the bionic eye; the movable platform bracket is provided with an arc notch which can accommodate the power line and the data line to pass through.
Further, a universal spherical hinge connected with the base platform is arranged on the movable platform support, and the spherical hinge of the universal spherical hinge is connected with the center of the movable platform support; the bottom of the universal spherical hinge is connected to the base platform through a bolt, and the spherical hinge is connected to the movable platform bracket of the hemispherical bionic eye to form a spherical revolute pair.
Further, the diameter of the base platform is smaller than the diameter of the inner cavity of the bionic eye hemisphere, the base platform does not interfere with the bionic eye hemisphere and the eye muscle flexible body when the bionic eye ball rotates, and the base platform is provided with an arc notch which can accommodate the power line and the data line.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the bionic eye actuator, the universal spherical hinge is used on the base platform to be connected with the hemispherical bionic eye structure, the three-degree-of-freedom flexible body driving structure is matched for driving the eye muscle flexible body, and the six artificial muscles of the rectus muscle flexible body and the oblique muscle flexible body are utilized for adjusting, so that the bionic eye adopting the bionic eye actuator has three motion postures of yaw, pitch and roll, the three rotational degrees of freedom of the bionic eye actuator can be adjusted, the motion form of a primate biological eyeball is more met, the bionic eye actuator is closer to the bionic function of the primate biological eyeball, and the requirements of compact structure, high precision, small noise and high motion flexibility of the bionic eye can be met.
(2) According to the bionic eye actuator, the eye muscle flexible body in the artificial muscle is manufactured in a mode of using a silica gel casting mold, six flexible bodies are formed by four rectus muscle flexible bodies and two oblique muscle flexible bodies on the eye muscle flexible body, and six external eye muscles of the upper rectus muscle, the lower rectus muscle, the internal rectus muscle, the external rectus muscle, the upper oblique muscle and the lower oblique muscle of a primate organism are respectively simulated, and the bionic eye of the bionic eye actuator accords with a primate organism eyeball structure, so that low-noise, high-precision and high-flexibility adjusting action of the bionic eye can be realized.
(3) According to the invention, the pulley structure is matched with the upper oblique muscle flexible body and the lower oblique muscle flexible body to regulate the bionic eye hemispherical shell through the bionic eye hemispherical shell, so that the transverse rolling motion of the bionic eye is conveniently realized, the bionic eye adopted by the invention is more in accordance with the motion mechanism of the primate biological eyeball transverse rolling, and the upper straight muscle flexible body, the lower straight muscle flexible body, the left straight muscle flexible body and the right straight muscle flexible body are matched with the upper straight muscle flexible body and the right straight muscle flexible body to regulate the bionic eye hemispherical shell through the bionic eye hemispherical shell, so that the yaw motion and the pitch motion of the bionic eye can be realized, the yaw motion, the pitch motion and the transverse rolling motion of the bionic eye can be perfectly realized, the three-degree-of-freedom regulating capability is realized, and the aim of three-degree-of-freedom regulation of the bionic eye can be realized.
(4) According to the invention, the eye muscle flexible bodies are matched with the universal spherical hinges, and the four rectus muscle flexible bodies are matched up and down and left and right to respectively realize two rotational degrees of freedom of bionic eye yawing and pitching movements; the eye muscle flexible body is matched with the universal spherical hinge and the pulley structure, and two oblique muscle flexible bodies are matched to realize one rotation degree of freedom of bionic eye rolling movement; three degrees of freedom are altogether; the rectus muscle flexible body, the oblique muscle flexible body and the bionic eye hemispherical surface all adopt artificial muscle flexible bodies, and the artificial muscle flexible bodies are driven in parallel, so that the bionic eye actuating mechanism has the characteristics of compact structure, high precision, small noise and the like.
(5) The three-degree-of-freedom flexible body driving structure comprises a hemispherical bionic eye structure, a pulley structure and a three-degree-of-freedom flexible body driving structure, wherein the hemispherical bionic eye structure mainly comprises a bionic eye hemispherical shell and a movable platform bracket, the hemispherical bionic eye structure is connected with a base platform through a universal spherical hinge, and the bionic eye hemispherical shell is driven through an eye muscle flexible body of the three-degree-of-freedom flexible body driving structure; the pulley structure consists of a limit frame, a roller and a fixed terminal; the bionic eye has two degrees of freedom by stretching four rectus muscle flexible bodies of the eye muscle flexible bodies, and the bionic eye can rotate around a sight line shaft by pulling the two oblique muscle flexible bodies through a pulley structure, so that the bionic eye has a third degree of freedom; the invention controls the bionic eye by using the artificial muscle flexible body and the pulley structure, so that the motion of the bionic eye accords with the motion mechanism of human eyes, and the invention has the characteristics of compact structure, high precision and small noise.
(6) The four rectus muscle flexible bodies are attached to the front part of the equator of the bionic eye hemisphere, the upper oblique muscle flexible bodies pass through the pulley and then are attached to the upper part of the rear half part of the equator of the bionic eye hemisphere, and the lower oblique muscle flexible bodies corresponding to the upper oblique muscle flexible bodies pass through the pulley and then are attached to the lower part of the rear half part of the equator of the bionic eye hemisphere; the contraction of the upper rectus muscle flexible body and the lower rectus muscle flexible body can control the bionic eye hemispherical surface to vertically move by taking a pitching axis as a rotating shaft, the contraction of the left rectus muscle flexible body and the right rectus muscle flexible body can form the horizontal movement of the bionic eye hemispherical surface around a yaw axis, when the upper oblique muscle flexible body contracts, the bionic eye hemispherical surface can be twisted inwards by taking a transverse rolling shaft as the rotating shaft, and when the lower oblique muscle flexible body contracts, the bionic eye hemispherical surface can be twisted outwards around the transverse rolling shaft, so that three degrees of freedom are realized.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in embodiment 1;
FIG. 2 is a schematic view showing the front structure of the present invention in embodiment 1;
FIG. 3 is a schematic view of the structure of the present invention in embodiment 1;
fig. 4 is a schematic structural diagram of the hemispherical bionic eye structure of the present invention in example 1;
FIG. 5 is a schematic view of the structure of the sled according to the present invention in embodiment 1;
FIG. 6 is an exploded view of the present invention in example 1;
fig. 7 is a schematic diagram of the movement directions of the three movement postures of yaw, pitch and roll of the present invention in embodiment 1.
In the figure, an image collector 1, an eye muscle flexible body 2, a bionic eye hemisphere shell 3, a movable platform bracket 4, a limiting frame 5, a roller 6, a fixed terminal 7, a base platform 8, a universal spherical hinge 9, a bionic eye hemisphere 10, an oblique muscle flexible body 11, a rectus muscle flexible body 12, a rectus muscle flexible body 13, a rectus muscle flexible body 14, an oblique muscle flexible body 15, a rectus muscle flexible body 16, limiting support rods 17, type limiting rods 18, hollow rollers 19, a connecting shaft 20 and an inner boss 21.
Detailed Description
The present invention will be described in further detail by way of the following specific examples, which are not intended to limit the scope of the present invention.
Example 1
The three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving is shown in fig. 1-7, and structurally comprises a hemispherical bionic eye structure, wherein a three-degree-of-freedom flexible body driving structure is arranged on the hemispherical bionic eye structure, one end, far away from the hemispherical bionic eye structure, of the three-degree-of-freedom flexible body driving structure is provided with a base platform 8 connected with a spherical hinge of the hemispherical bionic eye structure, and the base platform 8 is provided with a pulley structure matched with the three-degree-of-freedom flexible body driving structure.
The hemispherical bionic eye structure comprises a bionic eye hemispherical shell 3, an inner boss 21 is arranged on the inner top surface of the bionic eye hemispherical shell 3, and the inner boss 21 is connected with an image collector 1 arranged on the bionic eye hemispherical shell 3; a movable platform bracket 4 is arranged in the bionic eye hemisphere housing 3. The optical axis of the image collector 1 passes through the sphere center of the bionic eye, and the direction of the optical axis coincides with the direction of the line of sight of the bionic eye.
The three-degree-of-freedom flexible body driving structure comprises an eye muscle flexible body 2 which is arranged on a bionic eye hemisphere shell 3 and sleeved with the surface of the bionic eye hemisphere shell 3, wherein the eye muscle flexible body 2 comprises a bionic eye hemisphere surface 10 which is sleeved on the bionic eye hemisphere shell 3 and attached to the bionic eye hemisphere shell 3, straight muscle flexible bodies 12, 14, 13 and 16 which are in clearance fit are symmetrically arranged on the bionic eye hemisphere surface 10, and oblique muscle flexible bodies 11 and 15 which are in clearance fit with the straight muscle flexible bodies 12, 14, 13 and 16 are symmetrically arranged on the bionic eye hemisphere surface 10. The rectus flexible bodies 12, 14, 13 and 16 are distributed on the upper, lower, left and right positions of the bionic eye hemispherical surface 10, and the number of the rectus flexible bodies 12, 14, 13 and 16 is four; the number of the oblique muscle flexible bodies 11 and 15 is two, and the joint of the two oblique muscle flexible bodies 11 and 15 is positioned on the same side of the bionic eye hemisphere 10.
The pulley structure comprises a limiting frame 5 matched with the oblique muscle flexible bodies 11 and 15, two ends of the limiting frame 5 are respectively provided with a roller 6, and the rollers 6 are connected with the limiting frame 5 through fixed terminals 7. The limiting frame 5 comprises a limiting support rod 17, both ends of the limiting support rod 17 are respectively provided with a limiting rod 18 matched with the roller 6 and the fixed terminal 7, and the limiting rods 18 are sleeved on the oblique muscle flexible bodies 11 and 15 and are in clearance fit with the oblique muscle flexible bodies 11 and 15. The end of the limit strut 17 is provided with a hollow roller 19 matched with the limit rod 18, the hollow roller 19 is sleeved in the roller 6 and is in clearance fit with the roller 6, and the hollow roller 19 is connected with a connecting shaft 20 arranged on the fixed terminal 7.
The movable platform bracket 4 is provided with a universal spherical hinge 9 connected with the base platform 8, and the spherical hinge of the universal spherical hinge 9 is connected with the movable platform bracket 4. The diameter of the base platform 8 is smaller than the diameter of the inner cavity of the bionic eye hemisphere shell 3, and an arc notch is formed in the base platform 8.
According to the adjustment requirement of the bionic eye, the three-degree-of-freedom flexible body driving structure is matched with the pulley structure to drive the hemispherical bionic eye structure to perform three-degree-of-freedom adjustment action, the four rectus flexible bodies 12, 14, 13 and 16 of the eye muscle flexible body 2 are stretched to enable the bionic eye to have two degrees of freedom, the two oblique muscle flexible bodies 11 and 15 are pulled through the pulley structure to enable the bionic eye to rotate around a sight line shaft, so that the three-degree-of-freedom bionic eye has a third degree of freedom, and in the adjustment process of the rectus flexible bodies 12, 14, 13 and 16 and the oblique muscle flexible bodies 11 and 15, the bionic eye hemispherical surface 10 is adjusted along with the rectus flexible bodies 12, 14, 13 and 16 and the oblique muscle flexible bodies 11 and 15, the bionic eye hemispherical surface 10 drives the image collector 1, the inner boss 21 and the bionic eye hemispherical shell 3 to rotate along the universal spherical hinge 9 on the base platform 8 through the moving platform support 4, and the three-degree-of-freedom bionic eye hemispherical body 1 is achieved; specifically, the contraction of the upper rectus muscle flexible body 12 and the lower rectus muscle flexible body 14 can control the bionic eye hemispherical surface 10 to vertically move with the pitching axis as the rotation axis, the contraction of the left rectus muscle flexible body 13 and the right rectus muscle flexible body 16 can form the horizontal movement of the bionic eye hemispherical surface 10 around the yaw axis, when the upper oblique muscle flexible body 11 contracts, the bionic eye hemispherical surface 10 can be twisted inwards with the transverse rolling shaft as the rotation axis, and when the lower oblique muscle flexible body 15 contracts, the bionic eye hemispherical surface 10 can be twisted outwards around the transverse rolling shaft, so that three degrees of freedom are provided.
When the two oblique muscle flexible bodies 11 and 15 pass through the pulley structure, the oblique muscle flexible bodies 11 and 15 move in the type limiting rod 18 of the limiting frame 5, and the limiting support rod 17 limits the distance between the two oblique muscle flexible bodies 11 and 15 within a certain distance, so that deviation interference is prevented when the two oblique muscle flexible bodies 11 and 15 are regulated, and faults caused by interference regulation of the two oblique muscle flexible bodies 11 and 15 in the bionic eye regulation process are prevented; when the oblique muscle flexible bodies 11 and 15 are adjusted, the roller 6 rotates along the hollow roller 19, so that the adjustment of the oblique muscle flexible bodies 11 and 15 is converted into rolling adjustment, the friction loss of the oblique muscle flexible bodies 11 and 15 is reduced, and the service life of the oblique muscle flexible bodies 11 and 15 is prolonged; the fixed terminal 7 is connected with the hollow roller 19 through the connecting shaft 20, so that the oblique muscle flexible bodies 11, 15 and the limiting rod 18 are prevented from being separated, the oblique muscle flexible bodies 11, 15 can be conveniently and stably adjusted for a long time, and meanwhile, the oblique muscle flexible bodies 11, 15 are conveniently installed, replaced and maintained through the detachable connection of the connecting shaft 20 and the hollow roller 19, and the quick maintenance operation is convenient in the use clearance process.
Example 2
The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving is different from the embodiment 1 in that: the platform support is made of circular plates, and the joint of the platform support and the bionic eye hemisphere shell 3 is coated with sealant to adapt to different environmental requirements.
Example 3
The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving is different from the embodiment 1 in that: the type limiting rod 18 is sleeved with a limiting ring, the limiting ring is matched with a limiting ring groove arranged on the type limiting rod 18, side ring grooves are formed in the side faces of the limiting ring, annular adjusting pieces are arranged in the side ring grooves, and the annular adjusting pieces are connected with annular adjusting pieces on the side faces of the adjacent limiting rings through adjusting bearings.
The above description is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. The three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving is characterized by comprising a hemispherical bionic eye structure, wherein a three-degree-of-freedom flexible body driving structure is arranged on the hemispherical bionic eye structure, one end, far away from the hemispherical bionic eye structure, of the three-degree-of-freedom flexible body driving structure is provided with a base platform connected with a spherical hinge of the hemispherical bionic eye structure, and the base platform is provided with a pulley structure matched with the three-degree-of-freedom flexible body driving structure.
2. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving according to claim 1, wherein the hemispherical bionic eye structure comprises a bionic eye hemispherical shell, an inner boss is arranged on the inner top surface of the bionic eye hemispherical shell, and the inner boss is connected with an image collector arranged on the bionic eye hemispherical shell; a movable platform bracket is arranged in the bionic eye hemispherical shell.
3. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 2, wherein the three-degree-of-freedom flexible body driving structure comprises an eye muscle flexible body which is arranged on the bionic eye hemisphere and sleeved with the surface of the bionic eye hemisphere, the eye muscle flexible body comprises a bionic eye hemisphere which is sleeved on the bionic eye hemisphere and is attached to the bionic eye hemisphere, a straight muscle flexible body which is in clearance fit is symmetrically arranged on the bionic eye hemisphere, and an oblique muscle flexible body which is in clearance fit with the straight muscle flexible body is symmetrically arranged on the bionic eye hemisphere.
4. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 3, wherein the number of the rectus muscle flexible bodies is four, and the rectus muscle flexible bodies are distributed at the upper, lower, left and right positions of the hemispherical surface of the bionic eye; the number of the oblique muscle flexible bodies is two, and the joint of the two oblique muscle flexible bodies is positioned on the same side of the bionic eye hemispherical surface.
5. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 4, wherein the pulley structure comprises a limiting frame matched with the oblique muscle flexible body, rollers are arranged at two ends of the limiting frame, and the rollers are connected with the limiting frame through fixed terminals.
6. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 5, wherein the limiting frame comprises limiting support rods, both ends of the limiting support rods are respectively provided with type limiting rods matched with the roller and the fixed end, and type limiting rods are sleeved on the oblique muscle flexible body and are in clearance fit with the oblique muscle flexible body.
7. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving according to claim 6, wherein the end part of the limit strut is provided with a hollow roller matched with a type limit rod, the hollow roller is sleeved in the roller and is in clearance fit with the roller, and the hollow roller is connected with a connecting shaft arranged on the fixed terminal.
8. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving according to claim 2, wherein the optical axis of the image collector passes through the spherical center of the bionic eye, and the direction of the optical axis coincides with the direction of the line of sight of the bionic eye.
9. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 2, wherein the movable platform support is provided with a universal spherical hinge connected with the base platform, and the spherical hinge of the universal spherical hinge is connected with the movable platform support.
10. The three-degree-of-freedom parallel bionic eye actuator based on artificial muscle flexible driving of claim 2, wherein the diameter of the base platform is smaller than the diameter of the inner cavity of the hemispherical shell of the bionic eye, and the base platform is provided with an arc notch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410083082.4A CN117601106A (en) | 2024-01-19 | 2024-01-19 | Three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410083082.4A CN117601106A (en) | 2024-01-19 | 2024-01-19 | Three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving |
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| Publication Number | Publication Date |
|---|---|
| CN117601106A true CN117601106A (en) | 2024-02-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410083082.4A Pending CN117601106A (en) | 2024-01-19 | 2024-01-19 | Three-degree-of-freedom parallel bionic eye actuating mechanism based on artificial muscle flexible driving |
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| Country | Link |
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| CN (1) | CN117601106A (en) |
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- 2024-01-19 CN CN202410083082.4A patent/CN117601106A/en active Pending
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