CN117718945A - Two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving - Google Patents
Two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving Download PDFInfo
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- CN117718945A CN117718945A CN202410083007.8A CN202410083007A CN117718945A CN 117718945 A CN117718945 A CN 117718945A CN 202410083007 A CN202410083007 A CN 202410083007A CN 117718945 A CN117718945 A CN 117718945A
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention belongs to the technical field of bionic robots, and particularly discloses a bionic eye based on a two-degree-of-freedom parallel mechanism driven by artificial muscles, which comprises a two-degree-of-freedom flexible driving parallel mechanism, wherein a bionic eye structure is arranged on the two-degree-of-freedom flexible driving parallel mechanism, and comprises an eyeball flexible body; the two-degree-of-freedom flexible driving parallel mechanism comprises a rectus muscle flexible body and a rectus muscle rope, wherein the rectus muscle flexible body and the rectus muscle rope are symmetrically arranged and are connected with each other, and the tail end of the rectus muscle flexible body is provided with a total tendon ring platform matched with the rectus muscle rope. According to the invention, the bionic eye structure connected by the spherical hinge is matched with four artificial muscles of the rectus muscle flexible body in the two-degree-of-freedom flexible driving parallel mechanism, so that the bionic eye has two motion postures of yaw and pitch, and the two-degree-of-freedom accurate adjustment of the bionic eye can be realized by conforming to the physiological structure and main motion form of human eyeballs and stepless adjustment of the rectus muscle flexible body by the rectus muscle rope.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving.
Background
The eyes are important organs for human to perceive the outside, have exquisite structure and complex functions, are one of main senses for communication, interaction and perception with the outside, and are important ways for people to acquire information and know the world. Along with the development of science and technology and the deep research of human eyes, bionic eye technology is generated, and becomes an important research and application direction in the fields of biomedical engineering, material science, mechanical engineering, electronic engineering and the like; in the technical field of robots, the visual perception capability of the robots is improved by carrying bionic eye equipment on the robots, so that the robots can obtain the capability of perceiving the outside as human beings.
Six extraocular muscles are distributed around the human eyeball, wherein the main movement, horizontal movement and pitching movement of the eyeball are respectively controlled by four rectus muscles; so that the bionic eye can complete the realization of the bionic function of the main motion mechanism of the human eyeball only by two degrees of freedom; the motion of simulation eye rectus muscle such as current bionic eye adopts spring, connecting rod more, and spring and connecting rod etc. at actual simulation accommodation process, not only can produce abnormal sound, and abnormal sound can't avoid through current means to because the limitation of simulation eye rectus muscle such as spring and connecting rod, lead to the unable accurate regulation of simulation eye rectus muscle, lead to current bionic eye noise great in the use, the motion flexibility is not high, and is difficult to realize the high accuracy regulation of 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 bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles, which has the advantages of compact structure, low noise, high movement flexibility and high adjustment precision.
Based on the above purpose, the invention is realized by the following technical scheme:
the bionic eye based on the artificial muscle driving two-degree-of-freedom parallel mechanism comprises a two-degree-of-freedom flexible driving parallel mechanism, wherein a bionic eye structure is arranged on the two-degree-of-freedom flexible driving parallel mechanism and comprises an eyeball flexible body; the two-degree-of-freedom flexible driving parallel mechanism comprises a rectus muscle flexible body and a rectus muscle rope, wherein the rectus muscle flexible body and the rectus muscle rope are symmetrically arranged and are connected with each other, and the tail end of the rectus muscle flexible body is provided with a total tendon ring platform matched with the rectus muscle rope.
Further, an eyeball shell is sleeved in the eyeball flexible body, an inner boss is arranged on the eyeball shell, and the inner boss is matched with a camera hole arranged on the eyeball flexible body; a camera connected with the internal boss is arranged on one side of the eyeball flexible body far away from the rectus muscle flexible body; an eyeball support which is in clearance fit with the inner wall surface of the eyeball shell is arranged in the eyeball shell; the eyeball flexible body is sleeved on the surface of the eyeball shell; the eyeball support is in clearance fit with the eyeball casing and is fixed through bolts.
Further, one end of the rectus muscle flexible body is bonded with the outer side surface of the eyeball flexible body, the other end of the rectus muscle flexible body is bonded with a total tendon ring platform, and a platform groove matched with the rectus muscle flexible body is formed in the total tendon ring platform; the rectus muscle rope is arranged in the rectus muscle flexible body; one end of the rectus muscle flexible body is glued with the eyeball flexible body, the other end of the rectus muscle flexible body is glued with the total tendon ring platform, and meanwhile, the rectus muscle rope passes through the middle of the rectus muscle flexible body.
Further, the rectus muscle rope comprises two adjusting ropes which are in clearance fit, and one end of each adjusting rope is connected with an arc-shaped connecting sheet arranged on the inner side surface of the eyeball flexible body; the arc-shaped connecting sheet is an arc-shaped iron sheet; when the device is installed, the arc-shaped iron sheet is clung to the inner side of the eyeball flexible body, and the rope sequentially passes through the eyeball flexible body, the rectus muscle flexible body and the total tendon ring platform from the reserved hole site, and the reserved hole site and the rope are in clearance fit.
Further, the adjusting rope is matched with the rectus muscle flexible body through a reserved hole site arranged on the eyeball flexible body; the straight muscle flexible body is internally provided with through hole positions which are respectively in clearance fit with the adjusting ropes.
Further, a platform hole site in clearance fit with the adjusting rope is arranged on the total tendon ring platform, and the platform hole site is arranged in the platform groove.
Further, the through hole sites are symmetrically arranged at the middle position of the rectus flexible body along the longitudinal direction of the rectus flexible body; the reserved hole site is arranged at the joint of the eyeball flexible body and the rectus muscle flexible body.
Further, four rectus muscle flexible bodies are symmetrically arranged on the eyeball flexible body, and the included angle between every two adjacent rectus muscle flexible bodies is 90 degrees; the inner side surface of the rectus muscle flexible body is distributed with hollow polygons which are in clearance fit, the hollow polygons are hexagonal hollow and triangular hollow, and the thickness of the remained ribs between the hollow polygons is 3mm.
Further, the camera of the camera is oriented to coincide with the direction of the line of sight of the bionic eye; the artificial muscle consists of an eyeball flexible body, a rectus flexible body and a rectus rope.
Further, the bionic eye structure also comprises a spherical hinge bracket arranged on the eyeball bracket; a spherical hinge connected with the spherical hinge of the eyeball support is arranged on one side surface of the spherical hinge support, the spherical hinge is connected with a spherical hinge hole arranged in the center of the eyeball support, screw rods which are in one-to-one correspondence with the rectus muscle flexible bodies are arranged on the other side surface, and one end of each screw rod, which is far away from the spherical hinge support, is connected with the total tendon ring platform; the screw is a 5M screw; the bionic eye structure is connected with a spherical hinge by an eyeball support and is fixed by a nut, and the spherical hinge is arranged on the spherical hinge support by a bolt; the adjusting rope is sleeved with a plurality of adjusting balls matched with the through holes, and the adjusting balls are sleeved with adjusting rolling rings matched with the through holes; the hollow polygon is internally provided with a miniature spring, and two ends of the miniature spring are connected with the inner wall surface of the hollow polygon.
Compared with the prior art, the invention has the following beneficial effects:
(1) According to the invention, the bionic eye structure connected by the spherical hinge is matched with four artificial muscles of the rectus muscle flexible body in the two-degree-of-freedom flexible driving parallel mechanism, so that the bionic eye has two motion postures of yaw and pitch, and the two-degree-of-freedom accurate adjustment of the bionic eye can be realized by conforming to the physiological structure and main motion form of human eyeballs and stepless adjustment of the rectus muscle flexible body by the rectus muscle rope; the rectus muscle flexible body can perfectly simulate the movement regulation of the rectus muscle of the eye in the regulation process, and the purposes of high movement flexibility and low noise regulation of the bionic eye can be realized.
(2) According to the invention, the flexible body parts of the rectus muscle flexible body and the eyeball flexible body in the artificial muscle are manufactured by adopting the mode of the silica gel casting mould, the rectus muscle flexible body can perfectly simulate the upper rectus muscle, the lower rectus muscle, the inner rectus muscle and the outer rectus muscle of the external muscle of the eyeball of a human, the acoustic adjustment of the bionic eye is conveniently realized, the rectus muscle flexible body is convenient to carry out electrodeless expansion and contraction through the hollow polygon with the hollow middle on the inner side surface, the high-precision adjustment of the bionic eye is realized, the service life of the bionic eye is greatly prolonged, and the abnormal noise in the use process is reduced.
(3) The invention adopts the total tendon ring platform to simulate the total tendon ring in the eyeball structure of human beings, and is used for controlling the extraocular muscles to carry out telescopic movement, thereby being convenient for the bionic eye to realize two-degree-of-freedom adjustment; the invention imitates the structure of human eyeballs, adopts two-degree-of-freedom artificial muscle flexible parallel driving, and has the characteristics of compact structure, low noise, high movement flexibility and the like.
(5) The invention comprises a bionic eye structure and a two-degree-of-freedom flexible driving parallel mechanism; the bionic eye structure consists of a camera, an eyeball flexible body, an eyeball shell and an eyeball support; the two-degree-of-freedom flexible driving parallel mechanism mainly comprises a total tendon ring platform, a rectus muscle flexible body and a rectus muscle rope, wherein the oculus muscle flexible body is connected with the rectus muscle flexible body through the rectus muscle rope, the total tendon ring platform is connected with a spherical hinge bracket through a screw rod, and the spherical hinge bracket is connected with a movable platform through a spherical hinge; according to the invention, the rectus flexible body, the rectus ropes and the spherical hinge are matched with each other, and the rectus flexible body is controlled to stretch and retract so as to simulate the stretching of extraocular muscles during the eyeball movement of a human, and the two-degree-of-freedom movement adjusting capability of the bionic eye is realized through the stretching of the four rectus flexible bodies.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in embodiment 1;
FIG. 2 is a schematic view of the structure of the present invention in embodiment 1;
FIG. 3 is a front view of the present invention in embodiment 1;
FIG. 4 is a side view of the invention in example 1;
FIG. 5 is a rear view of the present invention in example 1;
FIG. 6 is a schematic view showing the connection between the spherical hinge support and the eyeball support according to the present invention in example 1;
FIG. 7 is a schematic view showing the internal structure of the present invention in embodiment 1;
fig. 8 is an exploded view of the present invention in example 1.
In the figure, a camera 1, an eyeball flexible body 2, an eyeball support 3, a spherical hinge 4, a spherical hinge support 5, a screw rod 6, a rectus muscle flexible body 7, a rectus muscle rope 8, a total tendon ring platform 9, an eyeball shell 10, a platform groove 11, an image pick-up hole 12, an internal boss 13, a reserved hole site 14, a hollow polygon 15, a through hole site 16, a platform hole site 17, an arc connecting sheet 18 and a spherical hinge hole 19.
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 structure of the bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles is shown in figures 1-8, and the bionic eye comprises a two-degree-of-freedom flexible drive parallel mechanism, wherein a bionic eye structure is arranged on the two-degree-of-freedom flexible drive parallel mechanism and comprises an eyeball flexible body 2; the two-degree-of-freedom flexible driving parallel mechanism comprises a rectus muscle flexible body 7 and a rectus muscle rope 8 which are symmetrically arranged and connected with the eyeball flexible body 2, and the tail end of the rectus muscle flexible body 7 is provided with a total tendon ring platform 9 matched with the rectus muscle rope 8.
An eyeball shell 10 is sleeved in the eyeball flexible body 2, an inner boss 13 is arranged on the eyeball shell 10, and the inner boss 13 is matched with a camera hole 12 arranged on the eyeball flexible body 2; the side of the eyeball flexible body 2 far away from the rectus muscle flexible body 7 is provided with a camera 1 connected with an internal boss 13; the eyeball casing 10 is internally provided with an eyeball support 3 which is in clearance fit with the inner wall surface of the eyeball casing 10. One end of the rectus muscle flexible body 7 is glued with the outer side surface of the eyeball flexible body 2, the other end of the rectus muscle flexible body is glued with the total tendon ring platform 9, and the total tendon ring platform 9 is provided with a platform groove 11 matched with the rectus muscle flexible body 7; the rectus muscle cord 8 is disposed within the rectus muscle flexible body 7.
The rectus muscle cord 8 comprises two adjusting cords which are in clearance fit, one end of the adjusting cords being connected to an arc-shaped connecting piece 18 arranged on the inner side of the eyeball flexible body 2. The adjusting rope is matched with the rectus muscle flexible body 7 through a reserved hole site 14 arranged on the eyeball flexible body 2; the rectus muscle flexible body 7 is internally provided with a through hole site 16 which is respectively in clearance fit with the adjusting rope.
The total tendon ring platform 9 is provided with a platform hole site 17 which is in clearance fit with the adjusting rope, and the platform hole site 17 is arranged in the platform groove 11. The straight muscle flexible body 7 is longitudinally and symmetrically arranged at the middle position of the straight muscle flexible body 7 along the straight muscle flexible body 7 through the hole site 16; the reserved hole site 14 is arranged at the joint of the eyeball flexible body 2 and the rectus flexible body 7.
Four rectus muscle flexible bodies 7 are symmetrically arranged on the eyeball flexible body 2, and the included angle between every two adjacent rectus muscle flexible bodies 7 is 90 degrees; hollow polygons 15 which are in clearance fit are distributed on the inner side surface of the rectus muscle flexible body 7; the camera head of the camera 1 is oriented to coincide with the direction of the line of sight of the bionic eye.
The bionic eye structure also comprises a spherical hinge bracket 5 arranged on the eyeball bracket 3; one side surface of the spherical hinge support 5 is provided with a spherical hinge 4 which is connected with the spherical hinge of the eyeball support 3, the other side surface is provided with screw rods 6 which are in one-to-one correspondence with the rectus muscle flexible bodies 7, and one end of each screw rod 6, which is far away from the spherical hinge support 5, is connected with a total tendon ring platform 9.
According to the bionic eye rotation requirement, four groups of rectus muscle ropes 8 on one side, far away from the rectus muscle flexible body 7, of the total tendon ring platform 9 are respectively regulated, the regulation ropes are respectively driven to be telescopically regulated by the rectus muscle flexible bodies 7 through platform hole sites 17 in platform grooves 11, the rectus muscle flexible bodies 7 deform and stretch out and draw back along hollow polygon 15, the regulation ropes move in clearance fit through hole sites 16, the rectus muscle flexible bodies 7 deform to influence the telescopic regulation of the rectus muscle ropes 8, the regulation ropes drive the eyeball flexible bodies 2 to move towards a set direction through reserved hole sites 14 and arc connecting pieces 18, the eyeball shells 10 rotate along spherical hinges 4 on spherical hinge supports 5 along with the eyeball flexible bodies 2, the camera 1 on inner bosses 13 are linked with the eyeball shells 10 through image pick-up holes 12 on the eyeball flexible bodies 2, and the screw rods 6 can keep the spherical hinge supports 5 not to move along with the eyeball shells 10, so that the bionic eye flexible regulation of two degrees of freedom can be realized, and the bionic eye can be accurately regulated by accurately regulating the rectus muscle ropes 8.
Example 2
The two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving is different from embodiment 1 in that: the adjusting rope is sleeved with a plurality of adjusting balls matched with the through hole sites 16, and the adjusting balls are sleeved with adjusting rolling rings matched with the through hole sites 16.
Example 3
The two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving is different from embodiment 1 in that: the hollow polygon 15 is internally provided with a miniature spring, and two ends of the miniature spring are connected with the inner wall surface of the hollow polygon 15.
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 bionic eye based on the artificial muscle driving two-degree-of-freedom parallel mechanism is characterized by comprising a two-degree-of-freedom flexible driving parallel mechanism, wherein a bionic eye structure is arranged on the two-degree-of-freedom flexible driving parallel mechanism and comprises an eyeball flexible body; the two-degree-of-freedom flexible driving parallel mechanism comprises a rectus muscle flexible body and a rectus muscle rope, wherein the rectus muscle flexible body and the rectus muscle rope are symmetrically arranged and connected with the eyeball flexible body, and the tail end of the rectus muscle flexible body is provided with a total tendon ring platform matched with the rectus muscle rope.
2. The bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles according to claim 1, wherein an eyeball shell is sleeved in the eyeball flexible body, an internal boss is arranged on the eyeball shell and is matched with a camera hole arranged on the eyeball flexible body; a camera connected with an internal boss is arranged on one side of the eyeball flexible body away from the rectus muscle flexible body; an eyeball support which is in clearance fit with the inner wall surface of the eyeball shell is arranged in the eyeball shell.
3. The bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles according to claim 2, wherein one end of the rectus muscle flexible body is glued with the outer side surface of the eyeball flexible body, the other end of the rectus muscle flexible body is glued with a total tendon ring platform, and a platform groove matched with the rectus muscle flexible body is formed in the total tendon ring platform; the rectus muscle cord is disposed within the rectus muscle flexible body.
4. The artificial muscle driving-based two-degree-of-freedom parallel mechanism bionic eye according to claim 3, wherein the rectus muscle rope comprises two adjusting ropes which are in clearance fit, and one end of each adjusting rope is connected with an arc-shaped connecting sheet arranged on the inner side surface of the eyeball flexible body.
5. The artificial muscle driving-based two-degree-of-freedom parallel mechanism bionic eye according to claim 4, wherein the adjusting rope is matched with the rectus muscle flexible body through a reserved hole site arranged on the eyeball flexible body; and through hole sites which are respectively in clearance fit with the adjusting ropes are arranged in the rectus muscle flexible body.
6. The bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles according to claim 5, wherein the total tendon ring platform is provided with a platform hole site in clearance fit with the adjusting rope, and the platform hole site is arranged in the platform groove.
7. The bionic eye based on the two-degree-of-freedom parallel mechanism driven by artificial muscles according to claim 6, wherein the through hole sites are symmetrically arranged at the middle position of the rectus flexible body along the longitudinal direction of the rectus flexible body; the reserved hole site is arranged at the joint of the eyeball flexible body and the rectus muscle flexible body.
8. The artificial muscle driving-based two-degree-of-freedom parallel mechanism bionic eye according to claim 1 or 6, wherein four rectus flexible bodies are symmetrically arranged on the eyeball flexible body, and an included angle between adjacent rectus flexible bodies is 90 degrees; hollow polygons in clearance fit are distributed on the inner side face of the rectus muscle flexible body.
9. The artificial muscle drive based two-degree-of-freedom parallel mechanism bionic eye according to claim 1 or 6, wherein the camera head of the camera is oriented coincident with the line of sight direction of the bionic eye.
10. The artificial muscle drive-based two-degree-of-freedom parallel mechanism bionic eye according to claim 2 or 6, wherein the bionic eye structure further comprises a spherical hinge bracket provided on the eyeball bracket; the side face of one side of the spherical hinge support is provided with a spherical hinge connected with the spherical hinge of the eyeball support, the side face of the other side of the spherical hinge support is provided with a screw rod corresponding to the rectus muscle flexible bodies one by one, and one end of the screw rod, far away from the spherical hinge support, is connected with the total tendon ring platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410083007.8A CN117718945A (en) | 2024-01-19 | 2024-01-19 | Two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410083007.8A CN117718945A (en) | 2024-01-19 | 2024-01-19 | Two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving |
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| CN117718945A true CN117718945A (en) | 2024-03-19 |
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| CN202410083007.8A Pending CN117718945A (en) | 2024-01-19 | 2024-01-19 | Two-degree-of-freedom parallel mechanism bionic eye based on artificial muscle driving |
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| CN (1) | CN117718945A (en) |
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