CN206216742U - A kind of nine-degree of freedom binocular bionic eye - Google Patents
A kind of nine-degree of freedom binocular bionic eye Download PDFInfo
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- CN206216742U CN206216742U CN201621276195.3U CN201621276195U CN206216742U CN 206216742 U CN206216742 U CN 206216742U CN 201621276195 U CN201621276195 U CN 201621276195U CN 206216742 U CN206216742 U CN 206216742U
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- neck
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Abstract
The utility model belongs to Intelligent bionic machinery people's technical field, more particularly to a kind of nine-degree of freedom binocular bionic eye.A kind of nine-degree of freedom binocular bionic eye, its technical scheme is：It includes：The binocular bionic eye and neck mechanism being made up of left eye ball machine structure, right eye ball machine structure；Left eye ball machine structure includes：In eyeball and can spinning camera, for control eyeball side-to-side movement the first motor and for control eyeball move up and down the second motor；Left eye ball machine structure is rack-mount；Right eye ball machine structure is identical with the composition of left eye ball machine structure, rack-mount in the way of specular；Neck mechanism includes：For the 3rd neck motor for driving binocular bionic eye to rotate, for driving binocular bionic eye to make the first neck motor of upper and lower elevating movement；For driving binocular bionic eye to make the second neck motor of roll motion.The acquisition of vision information of whole scene can be realized using the utility model.
Description
Technical field
The utility model belongs to Intelligent bionic machinery people's technical field, more particularly to a kind of nine-degree of freedom binocular bionic eye.
Background technology
Eyes are one of most important organs that the mankind interact with external environment condition, and human perception external environment condition has 90%
Information above is obtained by eyes." eyes " are also one of most important awareness apparatus for bio-robot,
Research to bionic eye, it is possible to increase the independence and environmental suitability of Intelligent bionic machinery people, promotes Intelligent bionic machinery people
The development of core visual technology, therefore research bionic eye is the study hotspot of Intelligent bionic machinery people's technical field.
Human anatomy, Physiologic Studies show that every human eye has six muscle, and three degree of freedom, the eyes of the mankind exist
Unify under the control of brain, swept in phase, smoothing tracking, incorgruous, vestibular oculomotor reflex, optokinetic reflex, stable state is watched attentively
Deng motion.The muscle of human cervix is various, mainly has by the muscle of function control head movement：Nutator, musculus scalenus anterior,
Mediscalenus, scalenus posterior, smallest scalene muscle, cucullaris, complexus, semispinal muscle of neck, musculus longissimus capitis, musculi splenius capitis, splenius muscle of neck etc.,
Entirety realizes head pitching, torticollis, the motion of left rotation and right rotation three degree of freedom.
Current bionic eye mechanism can realize little, the patent of the acquisition of vision information of whole scene
The sighting device of a kind of Prosthetic Hand and people's neck is proposed in CN200910248719.6, the Prosthetic Hand mechanism of the device is by left and right
Ccd video camera is constituted, and only left rotation and right rotation one degree of freedom；The apery neck mechanism of the device only has left rotation and right rotation and pitching two
The individual free degree, and the two frees degree realize that structure is more complicated by motor with the transmission of worm and wormwheel.Patent
CN201110308977.6 proposes service robot wide-angle binocular vision identifying and positioning device, and the binocular vision of the device is still
It is made up of left and right two video cameras, and only left rotation and right rotation one degree of freedom；The head of the device only has left rotation and right rotation and pitching
Two frees degree.Patent CN201220166296.0 proposes a kind of bio-robot eye movement mechanism, the left and right of the mechanism
Two eyeballs and eyeball link are fixed together, and cut with scissors by two Hookes respectively and frame is connected, by the drive of electric pushrod
It is dynamic to realize the upper and lower synchronous axial system of two eyeballs；Drive leading screw to rotate the linear motion for realizing sliding block by motor, and then realize two
Ball or so synchronous axial system；Each eyeball of the mechanism only has two frees degree, and two eyeballs can only synchronous axial system, it is impossible to realize different
To motion；The mechanism does not have neck.Patent CN201210551864.3 proposes a kind of with panoramic capture and positioning
Binocular solid bionic eye mechanism, each eyeball of the mechanism has three degree of freedom, and neck only has left rotation and right rotation one degree of freedom, and
Specific mechanical structure and the kind of drive are not proposed.Patent CN201510649137.4 proposes a kind of Three Degree Of Freedom binocular and imitates
Sheng Yan mechanisms, the neck of the mechanism only has left rotation and right rotation one degree of freedom.
Therefore, a kind of bionic eye mechanism of the acquisition of vision information that can realize whole scene is studied extremely important.
The content of the invention
The purpose of this utility model is：For the weak point of above-mentioned existing bionic eye mechanism, there is provided one kind can be realized
The nine-degree of freedom binocular bionic eye of the acquisition of vision information of whole scene.
The technical solution of the utility model is：A kind of nine-degree of freedom binocular bionic eye, it includes：By left eye ball machine structure, the right side
The binocular bionic eye and the neck mechanism for driving the bionical eye movement of binocular of eyeball mechanism composition；
Left eye ball machine structure includes：Eyeball, in eyeball and can spinning camera, for control eyeball or so transport
The first dynamic motor and the second motor for controlling eyeball to move up and down；Left eye ball machine structure is rack-mount；
Right eye ball machine structure is identical with the composition of left eye ball machine structure, and right eye ball machine structure is with left eye ball machine structure with the side of specular
Formula is arranged on the two ends of support；
Neck mechanism includes：Output shaft is mutually first neck motor, second neck motor and the 3rd neck of plumbness
Portion's motor；The output shaft of the 3rd neck motor is vertically arranged, for driving binocular bionic eye to be rotated around its output shaft, the
One neck motor is used to drive binocular bionic eye to do upper and lower elevating movement；Second neck motor is used to drive binocular bionic eye to do a left side
Right oscillating motion.
Beneficial effect：Using the utility model, the visual field adjustment of small range can be entered by two Three-degree-of-freedom bionic eye balls
Row adjustment, large-scale scene switching can be adjusted by Three Degree Of Freedom neck joint, so as to the vision for realizing whole scene is believed
Breath is obtained.
Brief description of the drawings
Fig. 1 is schematic three dimensional views of the present utility model；
Fig. 2 is top view of the present utility model；
Fig. 3 is left view of the present utility model；
Fig. 4 is rearview of the present utility model.
Specific embodiment
Referring to accompanying drawing, a kind of nine-degree of freedom binocular bionic eye, it includes：It is made up of left eye ball machine structure I, right eye ball machine structure II
Binocular bionic eye and neck mechanism III；
Left eye ball machine structure I has three degree of freedom, and it includes：In eyeball and can spinning camera 59, use
The second motor 15 in the first motor 12 of control eyeball side-to-side movement and for controlling eyeball to move up and down；Left eye ball machine structure
I is arranged on support 39；
Right eye ball machine structure II is identical with the composition of left eye ball machine structure I, is arranged on support 39 in the way of specular；
Neck mechanism III has three degree of freedom, and it includes：Output shaft is mutually the first neck motor 41 of plumbness,
Two neck motors 47 and the 3rd neck motor 56；3rd neck motor 56 is vertically arranged, and is revolved for driving binocular bionic eye to do
Transhipment is dynamic, and first neck motor 41 is used to drive binocular bionic eye to do upper and lower elevating movement；Second neck motor 47 is used to drive
Binocular bionic eye does roll motion.
Further, to make the utility model compact conformation, can by binocular bionic eye and neck mechanism III be designed as
Lower form：
Eyeball in left eye ball machine structure I and right eye ball machine structure II is made up of ball 9 after ball 10 at the moment and eye；Ball 10 is fixed at the moment
On First view ball seat 8, ball 9 is fixed on the second eyeball seat 7 after eye；The eyeball of First view ball seat 8 and second seat 7 is arranged on base
On plate 1；The left and right two ends of the first wobble ring 5 are arranged on the second pole 3 by bearing respectively, on the 3rd pole 4, the second wobble ring 6
Upper and lower ends are respectively by bearing on the first pole 2, substrate 1；After eye shifting block 11 is provided with the center back of ball 9；First
The middle part of wobble ring 5 is provided with horizontal concrete chute, and the middle part of the second wobble ring 6 is provided with vertical chute, and the two is in right-angled intersection；Shifting block 11 is located at
In the chute of the first wobble ring 5 and the infall of the second wobble ring 6；The output shaft of the first motor 12 is connected with the second wobble ring 6, by second
Wobble ring 6 drives shifting block 11 to be moved in the horizontal concrete chute of the first wobble ring 5, and then drives eyeball side-to-side movement；Second motor 15
Output shaft is connected with the first wobble ring 5；Shifting block 11 is driven to be moved in the vertical chute of the second wobble ring 6 by the first wobble ring 5, and then
Eyeball is driven to move up and down；First pole 2, the second pole 3, the 3rd pole 4 are each attached on substrate 1；Substrate 1 is arranged on support
On 39.
First neck motor 41 in neck mechanism III is arranged on the top of center bearing bracket 40, first neck electricity by bearing
The output shaft of machine 41 is connected with support 39；Second neck motor 47 is arranged on swinging mounting 53 by bearing, second neck electricity
The output shaft of machine 47 is connected with center bearing bracket 40；3rd neck motor 56 is fixed on shoulder support 61, the 3rd neck motor 56
Output shaft is connected with swinging mounting 53.
Further, to make each free degree position of the utility model controllable, it is provided with for detecting at the first motor 12
First eyeball Hall disc 13 of position being engaged, pacify for the first spacing magnet stud 18 with the first eyeball Hall disc 13
Mounted in the upside of the second wobble ring 6；The second eyeball Hall disc 16 for test position is provided with second motor 15, with the second eyeball suddenly
It is that your disk 16 is engaged, be arranged on the left side of the first wobble ring 5 for the second spacing magnet stud 19；
It is supporting respectively at first neck motor 41, the second neck motor 47, the 3rd neck motor 56 to be provided with
For the first neck Hall disc 46, second neck Hall disc 52, the 3rd neck Hall disc 58 that position；More specifically, the first neck
Portion's Hall disc 46, second neck Hall disc 52 are fixed on center bearing bracket 40, and the 3rd neck Hall disc 58 is fixed on shoulder support 61
On.
To sum up, preferred embodiment of the present utility model is these are only, protection of the present utility model is not intended to limit
Scope.It is all it is of the present utility model spirit and principle within, any modification, equivalent substitution and improvements made etc. should be included in
Within protection domain of the present utility model.
Claims (5)
1. a kind of nine-degree of freedom binocular bionic eye, it is characterised in that：It includes：By left eye ball machine structure (I), right eye ball machine structure (II)
The binocular bionic eye of composition and the neck mechanism (III) for driving the bionical eye movement of the binocular；
The left eye ball machine structure (I) includes：Eyeball, in eyeball and can spinning camera (59), for controlling
State first motor (12) and the second motor (15) for controlling the eyeball to move up and down of eyeball side-to-side movement；The left side
Eyeball mechanism (I) is arranged on support (39)；
The right eye ball machine structure (II) is identical with the composition of the left eye ball machine structure (I), right eye ball machine structure (II) and left eye ball machine
Structure (I) is in the way of specular installed in the two ends of the support (39)；
The neck mechanism (III) includes：Output shaft is mutually first neck motor (41), the second neck motor of plumbness
And the 3rd neck motor (56) (47)；The output shaft of the 3rd neck motor (56) is vertically arranged, described double for driving
Mesh bionic eye is rotated around its output shaft, and the first neck motor (41) is done up and down for driving the binocular bionic eye
Elevating movement；The second neck motor (47) does roll motion for driving the binocular bionic eye.
2. a kind of nine-degree of freedom binocular bionic eye as claimed in claim 1, it is characterised in that：In the left eye ball machine structure (I)
The eyeball be made up of ball (9) after ball at the moment (10) and eye；The ball at the moment (10) is fixed on First view ball seat (8), institute
Ball (9) is fixed on the second eyeball seat (7) after stating eye；The First view ball seat (8) and second eyeball seat (7) are arranged on
On substrate (1)；The left and right two ends of the first wobble ring (5) are arranged on the second pole (3) by bearing respectively, on the 3rd pole (4), the
The upper and lower ends of two wobble rings (6) are respectively by bearing on the first pole (2), the substrate (1)；Ball (9) after the eye
Shifting block (11) is provided with center back；First wobble ring (5) middle part is provided with horizontal concrete chute, the second wobble ring (6) middle part
Vertical chute is provided with, and the two is in right-angled intersection；The shifting block (11) is positioned at first wobble ring (5) and second wobble ring
(6) in the chute of infall；The output shaft of first motor (12) is connected with second wobble ring (6), by the second wobble ring
(6) shifting block (11) motion in the horizontal concrete chute of the first wobble ring (5) is driven, and then drives the eyeball side-to-side movement；Described
The output shaft of two motors (15) is connected with first wobble ring (5)；Shifting block (11) is driven in the second wobble ring by the first wobble ring (5)
(6) motion in vertical chute, and then drive the eyeball to move up and down；First pole (2), second pole (3),
3rd pole (4) is each attached on substrate (1)；The substrate (1) is on the support (39).
3. a kind of nine-degree of freedom binocular bionic eye as claimed in claim 2, it is characterised in that：First motor (12) place sets
There is the first eyeball Hall disc (13), the first magnet stud (18) being engaged with the first eyeball Hall disc (13) is installed in institute
State the second wobble ring (6) upside；Second motor (15) place is provided with the second eyeball Hall disc (16), with the second eyeball Hall
The second magnet stud (19) that disk (16) is engaged is installed in first wobble ring (5) left side.
4. a kind of nine-degree of freedom binocular bionic eye as claimed in claim 1 or 2, it is characterised in that：The neck mechanism (III)
In the first neck motor (41) by bearing in the top of center bearing bracket (40), the first neck motor (41) it is defeated
Shaft is connected with the support (39)；
The second neck motor (47) by bearing be arranged on swinging mounting (53) on, the second neck motor (47) it is defeated
Shaft is connected with the center bearing bracket (40)；
The 3rd neck motor (56) is fixed on shoulder support (61), the output shaft of the 3rd neck motor (56) with it is described
Swinging mounting (53) is connected.
5. a kind of nine-degree of freedom binocular bionic eye as claimed in claim 1, it is characterised in that：The first neck motor
(41), the second neck motor (47), the 3rd neck motor (56) are supporting respectively is provided with first neck Hall disc
(46), second neck Hall disc (52), the 3rd neck Hall disc (58).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276195.3U CN206216742U (en) | 2016-11-25 | 2016-11-25 | A kind of nine-degree of freedom binocular bionic eye |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621276195.3U CN206216742U (en) | 2016-11-25 | 2016-11-25 | A kind of nine-degree of freedom binocular bionic eye |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206216742U true CN206216742U (en) | 2017-06-06 |
Family
ID=58787273
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621276195.3U Withdrawn - After Issue CN206216742U (en) | 2016-11-25 | 2016-11-25 | A kind of nine-degree of freedom binocular bionic eye |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206216742U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571591A (en) * | 2020-05-22 | 2020-08-25 | 中国科学院自动化研究所 | Four-eye bionic eye device, four-eye bionic eye device and target searching method thereof |
| CN113432843A (en) * | 2021-08-27 | 2021-09-24 | 江西佳铭特实业有限公司 | Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof |
-
2016
- 2016-11-25 CN CN201621276195.3U patent/CN206216742U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111571591A (en) * | 2020-05-22 | 2020-08-25 | 中国科学院自动化研究所 | Four-eye bionic eye device, four-eye bionic eye device and target searching method thereof |
| CN111571591B (en) * | 2020-05-22 | 2021-07-30 | 中国科学院自动化研究所 | Four-eye bionic eye device, four-eye bionic eye device and target searching method thereof |
| CN113432843A (en) * | 2021-08-27 | 2021-09-24 | 江西佳铭特实业有限公司 | Automobile vehicle-mounted lamp detection device and vehicle-mounted lamp illumination detection method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170606 Effective date of abandoning: 20181009 |