CN201012286Y - Parallel-connection air-actuated artificial muscle driving bionic eyes - Google Patents
Parallel-connection air-actuated artificial muscle driving bionic eyes Download PDFInfo
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- CN201012286Y CN201012286Y CNU2007201069512U CN200720106951U CN201012286Y CN 201012286 Y CN201012286 Y CN 201012286Y CN U2007201069512 U CNU2007201069512 U CN U2007201069512U CN 200720106951 U CN200720106951 U CN 200720106951U CN 201012286 Y CN201012286 Y CN 201012286Y
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 60
- 210000001508 eye Anatomy 0.000 title claims abstract description 41
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- 210000005252 bulbus oculi Anatomy 0.000 claims abstract description 44
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 4
- 210000001328 optic nerve Anatomy 0.000 claims description 3
- 230000006870 function Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000004424 eye movement Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a bionic eye driven by the parallel pneumatic artificial muscle. A spherical bionic eyeball is arranged in the matrix and can freely rotate; the spherical bionic eyeball is fixed with a CCD camera which can rotate along with the spherical bionic eyeball; the data line of the CCD camera is linked with the signal processing part through the data line; one end of six pieces of artificial pneumatic muscle respectively passes through the matrix with a channel and is connected with the spherical bionic eyeball; four pieces are divided into four equal parts according to the circle and are connected with the spherical bionic eyeball, respectively simulating the superior rectus, the medial rectus, the inferior rectus and the lateral rectus of a human eye; the other two pieces are respectively arranged on the upper and lower parts of the spherical bionic eyeball on the back side of the above four pieces of artificial pneumatic muscle to simulate the superior oblique and inferior oblique of a human eye; the six pieces of artificial pneumatic muscle completely simulate the muscle drive structure of a human eye so as to make the bionic eye flexibly rotate like a human eye.
Description
Technical field
The utility model relates to robot vision technology and bionics techniques, especially relates to the bionic eye that a kind of Pneumatic artificial muscle in parallel drives.
Background technology
It is to pass through eyes that there is the information more than 90% human perception objective world.Concerning robot, " eyes " also are a kind of important awareness apparatus.Robotics integrates numerous high-tech, and non-manufacturing field is not only moved towards in its application from the manufacturing field, and just with surprising rapidity constantly to non-industrial circle expansion such as military, anti-riot, medical, service, amusement.And the development of the visual performance-robot eye of one of its important function although obtained remarkable progress, but still relatively lags behind in other function, the fields such as action of for example walking, arm finger.This also is the one of the main reasons that causes robot up to now can't enter family.In the research of robot common technology, bionics techniques is received concern day by day.Human eye has many special natural functions, can only watch and follow the tracks of same target attentively as two, can compensate the kinetic sight line of excuse portion and depart from, and can switch the target that sight line is watched attentively fast, can make sight line tracking target smoothly, can follow the tracks of swiftly passing object etc.These functions are to be realized by forms of motion different in the eye movement.Current robot presses for the bionic machine human eye that possesses the many specific functions of human eye.Such robot eye has been arranged, and a big leap will take place in robot vision technology and even robot industry, also will produce far-reaching influence to existing many industries.
Summary of the invention
The purpose of this utility model is to provide a kind of bionic eye of Pneumatic artificial muscle driving in parallel.
The technical scheme that its technical problem that solves the utility model adopts is:
Spherical bionical eyeball places the matrix with spherical frame, and spherical bionical eyeball can freely rotate in matrix; Be fixed with the CCD camera that can rotate with the bionical eyeball of sphere in the spherical bionical eyeball, the data wire of the simulating human eyes optic nerve of CCD camera is connected to signal processing by the data wire passage; Article six, artificial pneumatic muscles one end passes channelled matrix respectively and is connected with spherical bionical eyeball, the other end connects with source of the gas respectively, wherein four artificial pneumatic muscles are connected with spherical bionical eyeball by the same circumference quartering, superior rectus, internal rectus muscle, inferior rectus muscle and the musculus rectus lateralis of these four artificial pneumatic muscles difference simulating human eyes; The artificial pneumatic muscles of two other lays respectively at the top and the bottom of four the spherical bionical eyeballs of artificial pneumatic muscles rear side in front, the musculus obliquus dorsalis of simulating human eyes and inferior oblique muscle; These six artificial pneumatic muscles have been simulated the muscle drives structure of human eyes fully.
Described band CCD camera spherical bionical eyeball be the ball convex, the matrix that the eyeball place is installed is the ball impression type, both match and form spherical revolute pair.Described Pneumatic artificial muscle is the logical mutually rubber of multilayer.
The beneficial effect that the utlity model has is: this bionic eye is with a spheroid simulating human eyeball that the CCD camera is housed, eyeball places base frame, and connect with six Pneumatic artificial muscles, the eye structure of simulating human makes the bionic eye can the equally flexible rotation of anthropoid eyes.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 is a left view of the present utility model;
Fig. 3 is a rearview of the present utility model;
Fig. 4 is the schematic diagram after the utility model removes matrix.
Among the figure: 1, spherical bionical eyeball, 2, matrix, 3, the CCD camera, 4,5,6,7,8,9, artificial pneumatic muscles, 10, the data wire passage.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the bionical eyeball 1 of sphere of the present utility model places the matrix 2 with spherical frame, and spherical bionical eyeball 1 can freely rotate in matrix 2; Being fixed with in the spherical bionical eyeball 1 can be with the CCD camera 3 of bionical eyeball 1 rotation of sphere, and the data wire of the simulating human eyes optic nerve of CCD camera 3 is connected to signal processing by the data wire path 10; Article six, artificial pneumatic muscles 4,5,6,7,8,9 one ends pass channelled matrix 2 respectively and are connected with spherical bionical eyeball 1, the other end connects with source of the gas respectively, wherein four artificial pneumatic muscles 4,5,6,7 are connected with spherical bionical eyeball 1 by the same circumference quartering, superior rectus, internal rectus muscle, inferior rectus muscle and the musculus rectus lateralis of these four artificial pneumatic muscles 4,5,6,7 difference simulating human eyes; The artificial pneumatic muscles 8,9 of two other lays respectively at the top and the bottom of four the spherical bionical eyeballs 1 of artificial pneumatic muscles 4,5,6,7 rear sides in front, the musculus obliquus dorsalis of simulating human eyes and inferior oblique muscle; These six artificial pneumatic muscles 4,5,6,7,8,9 have been simulated the muscle drives structure of human eyes fully.
Described band CCD camera 3 spherical bionical eyeball 1 be the ball convex, the matrix 2 that the eyeball place is installed is the ball impression type, both spherical revolute pairs of formation that match.
Described Pneumatic artificial muscle is the logical mutually rubber of multilayer.Artificial pneumatic muscles produces the displacement drive eye movement by air pressure change.The shape of artificial pneumatic muscles changes with installing hole, has arbitrary shape, and installing hole can play guiding and change is exerted oneself and direction of motion function.Bionic eye has the visual feedback function by the CCD camera, so bionic eye can realize flexible rotation as required, and concrete rotating manner is just as the rotating manner of human eyeball.In this invention, article six, artificial pneumatic muscles 4,5,6,7,8,9 is superior rectus, internal rectus muscle, inferior rectus muscle, musculus rectus lateralis, musculus obliquus dorsalis and the inferior oblique muscle of simulating human eyes respectively, these six artificial pneumatic muscles are to the effect of the freeing eyeball effect just as six muscle of human eyes, be specially: superior rectus upwards inwardly rotates eyeball, internal rectus muscle inwardly rotates eyeball, inferior rectus muscle inwardly rotates eyeball downwards, musculus rectus lateralis outwards rotates eyeball, musculus obliquus dorsalis outwards rotates eyeball downwards, and inferior oblique muscle upwards outwards rotates eyeball.So in this invention, six artificial pneumatic muscles make six muscle of the complete simulating human eyes of bionical oculogyral mode to oculogyral effect.
The above-mentioned specific embodiment is used for the utility model of explaining; rather than the utility model limited; in the protection domain of spirit of the present utility model and claim, any modification and change to the utility model is made all fall into protection domain of the present utility model.
Claims (3)
1. bionic eye that Pneumatic artificial muscle in parallel drives, it is characterized in that: spherical bionical eyeball (1) places the matrix (2) with spherical frame, and spherical bionical eyeball (1) can freely rotate in matrix (2); Being fixed with in the spherical bionical eyeball (1) can be with the CCD camera (3) of the bionical eyeball of sphere (1) rotation, and the data wire of the simulating human eyes optic nerve of CCD camera (3) is connected to signal processing by data wire passage (10); Article six, artificial pneumatic muscles (4,5,6,7,8, a 9) end passes channelled matrix (2) respectively and is connected with spherical bionical eyeball (1), the other end connects with source of the gas respectively, wherein four artificial pneumatic muscles (4,5,6,7) are connected with spherical bionical eyeball (1) by the same circumference quartering, and these four artificial pneumatic muscles (4,5,6,7) are superior rectus, internal rectus muscle, inferior rectus muscle and the musculus rectus lateralis of simulating human eyes respectively; The artificial pneumatic muscles of two other (8,9) lays respectively at the top and the bottom of the spherical bionical eyeball of four artificial pneumatic muscles in front (4,5,6,7) rear side (1), the musculus obliquus dorsalis of simulating human eyes and inferior oblique muscle; These six artificial pneumatic muscles (4,5,6,7,8,9) have been simulated the muscle drives structure of human eyes fully.
2. the bionic eye that a kind of Pneumatic artificial muscle in parallel according to claim 1 drives, it is characterized in that: described band CCD camera (3) spherical bionical eyeball (1) be the ball convex, the matrix (2) that the eyeball place is installed is the ball impression type, and both match and form spherical revolute pair.
3. the bionic eye that a kind of Pneumatic artificial muscle in parallel according to claim 1 drives is characterized in that: described Pneumatic artificial muscle is the logical mutually rubber of multilayer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201069512U CN201012286Y (en) | 2007-03-05 | 2007-03-05 | Parallel-connection air-actuated artificial muscle driving bionic eyes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201069512U CN201012286Y (en) | 2007-03-05 | 2007-03-05 | Parallel-connection air-actuated artificial muscle driving bionic eyes |
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| Publication Number | Publication Date |
|---|---|
| CN201012286Y true CN201012286Y (en) | 2008-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201069512U Expired - Fee Related CN201012286Y (en) | 2007-03-05 | 2007-03-05 | Parallel-connection air-actuated artificial muscle driving bionic eyes |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101249027B (en) * | 2008-02-29 | 2010-06-16 | 浙江大学 | Bionics human eyes structure based on flexible parallel connection driven |
| CN101015744B (en) * | 2007-03-05 | 2010-12-08 | 浙江大学 | Ball-supporting porous pneumatic artificial-muscle parallel-connection-drive bionic eye |
| CN103143176A (en) * | 2013-03-12 | 2013-06-12 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
-
2007
- 2007-03-05 CN CNU2007201069512U patent/CN201012286Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101015744B (en) * | 2007-03-05 | 2010-12-08 | 浙江大学 | Ball-supporting porous pneumatic artificial-muscle parallel-connection-drive bionic eye |
| CN101249027B (en) * | 2008-02-29 | 2010-06-16 | 浙江大学 | Bionics human eyes structure based on flexible parallel connection driven |
| CN103143176A (en) * | 2013-03-12 | 2013-06-12 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
| CN103143176B (en) * | 2013-03-12 | 2014-12-10 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080130 |