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Three-degree-of-freedom bionic eye based on series-parallel control

A technology of degrees of freedom and bionic eyes, applied in the field of bionic robots, can solve the problems of not realizing the three-degree-of-freedom movement of bionic eyes, and achieve the effect of keeping the center position unchanged, high positioning accuracy, and simple mechanism

Active Publication Date: 2017-01-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Patent 201420193242.2 proposes a bionic eyeball, which does not realize the three-degree-of-freedom movement of the bionic eyeball, and the bionic eyeball is not spherical

Method used

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  • Three-degree-of-freedom bionic eye based on series-parallel control
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  • Three-degree-of-freedom bionic eye based on series-parallel control

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Embodiment Construction

[0020] Referring to the accompanying drawings, the three-degree-of-freedom bionic eye based on serial and parallel control includes: eyeball 1, substrate 2, vertical support 6, horizontal support 7, motor drive part 5, upper four-bar linkage mechanism 3 and right four-bar linkage mechanism 4;

[0021] The eyeball 1 is a spherical cavity structure composed of the front eyeball 20 and the back eyeball 21; Axial translation can only swing up and down or left and right, and the center position of the eyeball remains unchanged; the front eyeball seat 22 and the rear eyeball seat 23 are fixed on the base plate 2; a third motor is provided inside the eyeball 1, and the third motor is used to drive the eyeball 1 The image acquisition sensor inside rotates along the optical axis direction of the eyeball 1, where the series control of the rotation degree of freedom is realized; the center of the outer wall of the posterior eyeball 21 is provided with a shifting block 24;

[0022] The m...

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Abstract

The invention belongs to the technical field of bionic robots, and particularly relates to a bionic eye, in particular to a three-degree-of-freedom bionic eye based on series-parallel control. According to the technical scheme, a substrate is fixed to a vertical bracket; the vertical bracket is fixed to a horizontal bracket; an eyeball is arranged on the substrate; leftward and rightward motion of the eyeball is realized through an upper four-bar mechanism; upward and downward motion of the eyeball is realized through a right four-bar mechanism; a third motor is arranged inside the eyeball; and the third motor is used for driving a sensor to rotate along an optical axis of the eyeball. Through a simple bar parallel mechanism, pitching and orientation rotation of a bionic eyeball can be realized, and spinning motion of the bionic eyeball along the optical axis is realized; higher positioning accuracy of the bionic eye can be realized through three-degree-of-freedom motion.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, in particular to a bionic eye. Background technique [0002] Eyes are one of the most important organs of human beings, and human beings obtain objective world information mainly through eyes. For bionic robots, the "eye" is also an important perception device, providing a pair of intelligent eyes for the robot, which can improve the autonomy and environmental adaptability of the robot. Therefore, the study of robot bionic eyes is a research hotspot in the field of robotics today. [0003] The movement mechanism and anatomy of the human eye show that the human eye is approximately spherical and located in the orbit. Each human eye has 6 muscles and three degrees of freedom. The eyes do not move independently, but under the control of nerves, they perform conjugate movements (saccade movement, smooth pursuit), anisotropic movement (vergence movement, divergent movement), stabilization Gaz...

Claims

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Application Information

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IPC IPC(8): B25J19/04
CPCB25J19/04
Inventor 陈晓鹏樊迪孟非刘树明陈旭王淼刘贵林张陶然张伟民刘培志黄强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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