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Two-degree of freedom parallel camera pointing mechanism

A technology that points to the mechanism and degrees of freedom. It is applied in the direction of supporting machines, mechanical equipment, machine tables/brackets, etc. It can solve the problems of the overall accuracy of the yaw joint mechanism decreasing, the overall mechanism is not compact, and the overall size is increased, and the axis relationship can be achieved. Easy to guarantee, simple processing and assembly process, and strong dimensional adaptability

Active Publication Date: 2017-09-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a two-degree-of-freedom parallel camera pointing mechanism to solve the problem that in the existing series Yorick series active vision platform, the yaw joints cause the overall precision of the mechanism to decrease due to accumulated errors; The overall size increases with the size of the load and the range of motion, resulting in the problem that the mechanism is not compact as a whole

Method used

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  • Two-degree of freedom parallel camera pointing mechanism
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specific Embodiment approach 1

[0022] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, this embodiment includes a base 1, a moving platform 4, a camera 27, a first motion branch chain and a second motion branch chain, and the first motion branch chain and the second motion branch chain are respectively arranged on the base 1 and the second motion branch chain. between moving platforms 4;

[0023] The first motion branch chain includes a first rotating motor 2 and a U-shaped bar 5, the first rotating motor 2 is arranged on the base 1, the U-shaped bar 5 is arranged above the base 1 and its open end is arranged towards the moving platform 4, The two ends of the moving platform 4 are hinged at the open end of the U-shaped bar 5, and the output shaft 10 of the first rotating motor 2 passes through the base 1 and is connected to the bottom of the U-shaped bar 5;

[0024] The second motion branch chain comprises a second rotary motor 3, an upper arm 6, an intermediate s...

specific Embodiment approach 2

[0025] Specific implementation mode two: combination figure 1 and figure 2 Describe the present embodiment, in the present embodiment, one vertical end place of U-shaped bar 5 is processed with U-shaped bar with left side revolving joint 16, is processed with U-shaped bar with left side revolving joint 16 to match on the moving platform 4. The left side revolving joint 12 is used for the moving platform, and a vertical end of the U-shaped bar 5 is hinged with the left side revolving joint 16 and the moving platform of the moving platform 4 with the left side revolving joint 12 by the U-shaped bar; Another vertical end place of bar 5 is processed with U-shaped bar and uses the right side revolving joint 17, and the moving platform 4 is processed with the right side revolving joint 13 that cooperates with U-shaped bar with the right side revolving joint 17, so The other vertical end of the U-shaped bar 5 is hinged with the right side rotary joint 13 of the moving platform of t...

specific Embodiment approach 3

[0027] Specific implementation mode three: combination figure 1 and figure 2 Describe this embodiment, in this embodiment, the moving platform 4 is a U-shaped plate body, and the middle rotary joint 14 for the moving platform is arranged between the two side plates of the U-shaped plate body. Horizontal juxtaposition.

[0028] In this embodiment, the moving platform 4 is a U-shaped board body, which includes a middle board and two side boards, the middle board is located at the two ends of the two side boards and the three are fixedly connected and integrated. The middle plate and the two side plates are on the same plane, and the three are coplanar.

[0029] In this embodiment, an intermediate rotary joint 14 for the movable platform is arranged below the U-shaped plate body, and the intermediate rotary joint 14 for the movable platform is arranged in the hollow of the U-shaped plate body. Four mounting holes 28 are processed on the movable platform 4. One mounting hole 2...

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Abstract

The invention provides a two-degree of freedom parallel camera pointing mechanism, and relates to the parallel camera pointing mechanism. In the existing Yorick series active vision platform in series form, the overall accuracy of the mechanism decreases due to accumulated errors of yaw joints; and since overall size is increased with the increasing of load size and motion range, the camera pointing mechanism in parallel form has the disadvantage that the mechanism is not compact. The two-degree of freedom parallel camera pointing mechanism comprises a base, a moving platform, a camera, a first moving branched chain and a second moving branched chain, wherein the first moving branched chain and the second moving branched chain are correspondingly arranged between the base and the moving platform; two ends of the moving platform are hinged to the opening end of a U-shaped rod, and an output shaft of a first rotating motor penetrates through the base and is connected with the bottom of the U-shaped rod; and an output shaft of a second rotating motor and the output shaft of the first rotating motor are perpendicularly arranged, an upper arm, a middle arm and a lower arm are sequentially arranged at one side of the U-shaped rod from top to bottom, and the camera is arranged on the top surface of the moving platform. The two-degree of freedom is applied to the field of machine vision.

Description

technical field [0001] The invention relates to a parallel camera pointing mechanism, which belongs to the field of machine vision. Background technique [0002] As a camera attitude adjustment device, the camera pointing mechanism has a wide range of applications in the field of machine vision: robotic eyes, bionic eyes, binocular stereo vision research or other related research work. When the camera pointing mechanism is designed, it generally adopts a series form, and the representative one is the Yorick series active vision platform of Oxford University in the United Kingdom. The Yorick series uses small DC servo motors, which feature a large range of motion and a small and compact size. However, the overall stiffness and bearing capacity of the mechanism depend on the yaw joints; the cumulative error of the yaw joints further reduces the overall accuracy of the mechanism. The parallel camera pointing mechanism is typically the "smart eye" developed by Varal University...

Claims

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Application Information

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IPC IPC(8): F16M11/08F16M11/10G03B17/56
CPCF16M11/08F16M11/10
Inventor 闫继宏蔡汝飞张欣赵杰
Owner HARBIN INST OF TECH