Bionic mechanical eyeball based on spherical ultrasonic motor

Abstract

The invention relates to a bionic mechanical eyeball based on a spherical ultrasonic motor. The bionic mechanical eyeball consists of an eyeball, three stator mechanisms and a base plate, wherein a mini-sized CMOS (Complementary Metal Oxide Semiconductor) camera and an attitude sensor are loaded in the eyeball, each stator mechanism consists of a tooth-shaped annular elastomer and a compressing mechanism, and a piezoelectric ceramic piece is attached to the tooth-shaped annular elastomer and the compressing mechanism is used for generating a pressing force; the eyeball is contacted with internal tooth circles of the tooth-shaped annular elastomers of the three stator mechanisms respectively in a tangential manner and is subjected to compressing and centering by each compressing mechanism; and meanwhile, the three stator mechanisms are vertically fixed on the base plate and symmetrically distributed by rotating around a center shaft for 120 degrees, and an included angle between the plane where the eyeball and a contact circle of each stator mechanism are located and the base plate surface is 65 degrees. According to the bionic mechanical eyeball based on the spherical ultrasonic motor, the structure is simple and compact, the response speed is quick, the control precision is high, and the visual angle of the mechanical eyeball reaches 50 degrees; and the bionic mechanical eyeball based on the spherical ultrasonic motor can be applied to various complex visual systems.

Description

technical field [0001] The invention relates to the field of robot bionic vision, and is a bionic mechanical eyeball based on a spherical ultrasonic motor that can be applied to an intelligent robot vision system. Background technique [0002] We know that the eyes are the windows of perception, and more than 90% of human information is obtained through vision. If robots can also have "eyes" with many functions like humans, then robot vision technology and robot automation technology will be greatly developed, and the potential of intelligent robots will also be expanded. In fact, studying the "bionic eye" of robots so that they can see and recognize things has always been an important topic in the study of intelligent robots. [0003] With the continuous advancement of science and technology in recent years, many well-known electromechanical system devices similar to eyeball movements have emerged. These eyeball devices mainly adopt technologies such as new structures, new...

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Problems solved by technology

[0004] However, the above-mentioned structures have their own disadvantages: one type adopts a series mechanism of gears or belt transmission, and the torque of the motor that controls the up and down swings in these mechanisms is very large, and the rigidity of the entire structure is relatively poor; the other type uses ropes. Or driven by flexible actuators, because they are elastic parts, it is difficult to guarantee control accuracy and response speed; the third type uses parallel mechanisms, whether it is a spherical parallel mechanism or a push rod parallel mechanism, the size of the entire mechanism is very large, and the movement The space is small; the last type of memory alloy driver can only achieve one degree of freedom at present

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