Binocular eyeball mechanism with variable visual field

Abstract

The invention provides a vision-variable binocular eyeball mechanism, and relates to the field of robot mechanisms, the vision-variable binocular eyeball mechanism comprises a base and an eyeball mounting seat arranged on the base; two eyeball body modules are movably arranged on the eyeball mounting seat, each eyeball body module comprises an industrial camera, a main movement track and an auxiliary movement track, the main movement track and the auxiliary movement track are arranged on the eyeball body module, and the main movement track and the auxiliary movement track are arranged in a space orthogonal mode; each eyeball body module is correspondingly provided with a driving module; the driving module drives the first driving sliding block and the second driving sliding block to move, so that independent rotation of the eyeball body module in the pitching direction and the yawing direction is achieved. The robot has the beneficial effects that the steering engines are intensively fixed to the base, and a second-stage movable platform is not needed; the bushing is used as a sliding bearing set for dry friction to replace a rolling bearing, so that the structure is simplified; the modular design is adopted, parts are convenient to produce, and assembling is facilitated.

Description

Technical Field

[0001] The present disclosure relates to the field of robotic mechanisms, and in particular to a binocular eyeball mechanism with variable vision fields. Background Art

[0002] At present, with the rapid development of technology, bionic eyeball technology has shown great application potential in many fields such as robotics, intelligent monitoring, and virtual reality. It can not only endow devices with a more realistic appearance but also significantly improve their visual perception and interaction capabilities. However, a series of problems that need to be solved urgently have emerged in the actual application of existing bionic eyeball mechanisms.

[0003] Currently, in existing bionic eyeball mechanisms, the left and right eyeballs usually move in a linked state, and it is difficult to decouple the degrees of freedom. From a biological perspective, the human eyes can rotate and focus independently to achieve precise observation of different targets. For example, when we read a book, the left and right eyes can focus on different text areas respectively, and the brain integrates the information to obtain a complete understanding. However, existing bionic eyeball mechanisms cannot achieve such independent movement, which greatly reduces their ability to obtain visual information in complex environments. In the scenario of interaction between a robot and a human, the non-independent eyeballs will make the robot's performance appear less natural and flexible, reducing the user experience.

[0004] Another major drawback of existing bionic eyeball mechanisms is their relatively large overall volume or complex transmission. In some application scenarios with high space requirements, such as small robots and wearable devices, the large volume will severely limit the design and application scope of the devices. Take smart glasses as an example. If the bionic eyeball mechanism is too large, the glasses will become heavy and extremely uncomfortable to wear. Moreover, the complex transmission structure not only increases the manufacturing cost and maintenance difficulty of the mechanism but also reduces its reliability and stability. During long-term use, the complex transmission components are prone to failure, resulting in deviation of eyeball movement or abnormal operation.

[0005] In addition, the structural design of components in existing bionic eyeball mechanisms is relatively idealized, making manufacturing difficult. To pursue higher performance and more realistic bionic effects, some designs adopt complex geometric shapes and high-precision dimensional requirements. However, in the actual manufacturing process, it is very difficult to achieve these design requirements. For example, the internal structure of some bionic eyeballs is designed with tiny transmission components such as gears and linkages. These components have extremely high dimensional accuracy requirements, and errors are likely to occur during the manufacturing process, resulting in a decline in the performance of the entire mechanism. Moreover, special materials and manufacturing processes also increase the production cost and manufacturing cycle.

[0006] Based on the above problems, it is particularly urgent to develop a new binocular eyeball platform. This new platform should have the ability to make the two eyeballs move independently, and be able to achieve variable visual fields and variable focal lengths in any direction. Through the independently moving eyeballs, the device can obtain visual information more flexibly, improving its adaptability and interaction ability in complex environments. Summary of the Invention

[0007] In view of the above, it is necessary to disclose a binocular eyeball mechanism with variable visual fields, enabling the two eyeballs to be independently driven, with a simplified structure and effectively reduced design size.

[0008] To this end, the present invention provides a binocular eyeball mechanism with variable visual fields, including a base and an eyeball mounting seat arranged on the base;

[0009] Two eyeball body modules are movably arranged on the eyeball mounting seat, and each eyeball body module includes:

[0010] An industrial camera, and a main motion track and a secondary motion track arranged on the eyeball body module, the main motion track and the secondary motion track being arranged orthogonally in space;

[0011] A drive module is correspondingly arranged for each eyeball body module, and the drive module includes:

[0012] A first active slider slidably engaged with the main motion track;

[0013] A second active slider slidably engaged with the secondary motion track;

[0014] The drive module drives the first active slider and the second active slider to move respectively, so as to realize the independent rotation of the eyeball body module in the pitch direction and the yaw direction.

[0015] Furthermore, the drive module includes a first servo motor and a second servo motor. The output shaft of the first servo motor is connected with a servo end upper gear, the servo end upper gear is engaged with an eyeball end upper gear, and the first active slider is connected to the eyeball end upper gear; the output shaft of the second servo motor is connected with a servo end side gear, the servo end side gear is engaged with an eyeball end side gear, and the second active slider is connected to the eyeball end side gear.

[0016] Furthermore, both the first active slider and the second active slider are square sliders, and the corresponding main motion track and secondary motion track are square guide grooves with matching cross-sectional shapes; the base is provided with a servo motor mounting seat, and the first servo motor and the second servo motor are fixed on the servo motor mounting seat.

[0017] Furthermore, the eyeball body module includes:

[0018] A main mounting frame, which fixedly bears the industrial camera and is provided with the main motion track;

[0019] A secondary installation frame, which is coaxially sleeved on the outside of the main installation frame and is provided with the secondary motion track;

[0020] The mating surfaces of the main mounting frame and the auxiliary mounting frame are cylindrical surfaces, and the auxiliary mounting frame can rotate relatively at a limited angle around the axis of the main mounting frame.

[0021] Furthermore, a rotation gap is provided between the inner cylindrical surface of the auxiliary mounting frame and the outer cylindrical surface of the main mounting frame, forming an adjustable rotation pair.

[0022] Furthermore, it also includes a protective cover arranged at the front end of the optical path of the industrial camera, and the protective cover is fixed to the front end of the eyeball body module through a quick release mechanism.

[0023] Furthermore, the eyeball mounting seat is provided with at least two sets of sliding bearing groups, which respectively correspond to the rotating shafts supporting the first active sliding block and the second active sliding block.

[0024] Furthermore, it also includes:

[0025] A first driven slider is disposed in the main motion track and is arranged diagonally with the first active slider;

[0026] The second driven slider is arranged in the auxiliary motion track and is arranged diagonally with the second active slider.

[0027] Furthermore, it also includes: a packaging shell, which covers the eyeball mounting seat, the eyeball body module and the driving module, and is provided with a cable management channel; and is connected to an external device through a mounting interface on the back of the base.

[0028] Furthermore, the mounting interface includes an array of standardized threaded mounting holes, and the cable management channel includes a cable outlet groove structure.

[0029] Compared with the prior art, the present invention adopts the method of centrally fixing the first servo and the second servo on the base, without the need for a secondary moving platform; and adopts a bushing as a dry friction sliding bearing group to replace the rolling bearing, thereby simplifying the structure; the transmission structure is simplified, effectively reducing the design size and making it more compatible; and a modular design is adopted to facilitate the production of parts and facilitate assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods, the drawings required for use in the description of the implementation methods will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1Schematic diagram of the structure of a binocular eyeball mechanism with variable field of view Figure 1 。

[0032] Figure 2 Schematic diagram of the structure of a binocular eyeball mechanism with variable field of view Figure 2 。

[0033] Figure 3 Schematic diagram of the internal structure of a binocular eyeball mechanism with variable field of view.

[0034] Figure 4 Exploded view of the eyeball body module and the drive module

[0035] Figure 5 Exploded view of the eyeball body module

[0036] Figure 6 Schematic diagram of the separated state of the eyeball body module, the upper gear on the eyeball, and the sliding bearing group

[0037] Description of main component symbols:

[0038] 1. Base; 101. Mounting interface; 2. Eyeball mounting base; 3. Eyeball body module; 301. Industrial camera; 302. Main mounting frame; 3021. Main movement track; 303. Sub-mounting frame; 3031. Sub-movement track; 304. Protective cover; 4. First active slider; 5. Second active slider; 6. First servo; 7. Second servo; 8. Upper gear on the servo; 9. Upper gear on the eyeball; 10. Side gear on the servo; 11. Side gear on the eyeball; 12. Servo mounting base; 13. Sliding bearing group; 14. First driven slider; 15. Second driven slider; 16. Encapsulation housing; 1601. Cable management channel

[0039] The following specific embodiments will further illustrate the present disclosure in conjunction with the above-mentioned drawings. Specific embodiments

[0040] In order to more clearly understand the above-mentioned objects, features, and advantages of the present disclosure, the present disclosure will be described in detail below in conjunction with the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other. In the following description, many specific details are set forth in order to fully understand the present disclosure. The described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this disclosure belongs. The terms used in the description of the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0042] In various embodiments, for the convenience of description rather than limiting the present disclosure, the term "connection" used in the specification and claims of the present patent application for the disclosure is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "below", "left", "right", etc. are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0043] The binocular eyeball mechanism with variable field of view of the present invention aims to achieve the independent rotation of the eyeball body module in the pitch direction and the yaw direction, thereby changing the field of view range, and is applicable to application scenarios that require flexible adjustment of the visual angle, such as robot vision, security monitoring, etc.

[0044] As Figures 1 to 6 shown, a binocular eyeball mechanism with variable field of view of the present invention includes a base 1 and an eyeball mounting seat 2 provided on the base 1. Two eyeball body modules 3 are movably provided on the eyeball mounting seat 2, and each eyeball body module 3 is equipped with a corresponding drive module for driving its independent rotation in the pitch and yaw directions.

[0045] The base 1 is the basic support component of the entire mechanism, which provides a stable mounting platform for the eyeball mounting seat 2. The eyeball mounting seat 2 is fixed on the base 1 for mounting and supporting two eyeball body modules 3 to ensure that they can move within a specified range. Each eyeball body module 3 includes an industrial camera 301, a main motion track 3021, and a secondary motion track 3031. The industrial camera 301, as the core component for visual acquisition, is used to obtain image information. The main motion track 3021 and the secondary motion track 3031 are arranged orthogonally in space, and the specific structure is as follows:

[0046] The main mounting frame 302 fixedly carries the industrial camera 301, and a main motion track 3021 is provided thereon. The main mounting frame 302 is the mounting carrier of the industrial camera 301 to ensure the stability of the camera.

[0047] The secondary mounting frame 303 is coaxially sleeved outside the main mounting frame 302, and a secondary motion track 3031 is provided thereon. The mating surface of the main mounting frame 302 and the secondary mounting frame 303 is a cylindrical surface fit. There is a rotational clearance between the inner cylindrical surface of the secondary mounting frame 303 and the outer cylindrical surface of the main mounting frame 302, forming an adjustable rotating pair, so that the secondary mounting frame 303 can make a limited-angle relative rotation around the axis of the main mounting frame 302.

[0048] Each eyeball body module 3 is correspondingly provided with a driving module. The driving module includes a first servo 6, a second servo 7, a first active slider 4 and a second active slider 5. Among them, the output shaft of the first servo 6 is connected with a servo end upper gear 8, the servo end upper gear 8 meshes with an eyeball end upper gear 9, and the first active slider 4 is connected to the eyeball end upper gear 9. When the first servo 6 works, its output shaft drives the servo end upper gear 8 to rotate. Through gear meshing transmission, the eyeball end upper gear 9 rotates, and then drives the first active slider 4 to rotate.

[0049] The output shaft of the second servo 7 is connected with a servo end side gear 10, the servo end side gear 10 meshes with an eyeball end side gear 11, and the second active slider 5 is connected to the eyeball end side gear 11. When the second servo 7 works, it drives the servo end side gear 10 to rotate. Through gear meshing, the eyeball end side gear 11 rotates, thereby driving the second active slider 5 to rotate.

[0050] Both the first active slider 4 and the second active slider 5 are square sliders, and the corresponding main motion track 3021 and auxiliary motion track 3031 are square guide grooves with matching cross-sectional shapes. The intention of this design is to make the first active slider 4 and the main motion track 3021 or the second active slider 5 and the auxiliary motion track 3031 have a guiding effect and also a restricting effect; combined Figure 6 Look, when the first active slider 4 rotates, it will drive the entire eyeball body module 3 to rotate relative to the eyeball mounting base 2 in the yaw direction. At this time, the second active slider 5 slides in the auxiliary motion track 3031 to achieve cooperation; similarly, when the second active slider 5 rotates, it will drive the entire eyeball body module 3 to rotate relative to the eyeball mounting base 2 in the pitch direction. At this time, the first active slider 4 slides in the main motion track 3021 to achieve cooperation. This design ensures the stability and accuracy of the slider sliding in the track. At the same time, the base 1 is provided with a servo mounting base 12, and the first servo 6 and the second servo 7 are fixed on the servo mounting base 12 to ensure the firm installation of the servo.

[0051] The eyeball mounting base 2 is provided with at least two groups of sliding bearing groups 13, which respectively support the first active slider 4 and the second active slider 5. The first active slider 4 and the second active slider 5 are rotationally assembled on the corresponding sliding bearing groups 13. In this embodiment, the sliding bearing group 13 is a bushing. By using a bushing as a dry friction sliding bearing to replace the rolling bearing, the structure is simplified.

[0052] On the main installation frame 302, main motion tracks 3021 are symmetrically arranged. One of the main motion tracks 3021 is slidably assembled with the first active slider 4, and the other main motion track 3021 is slidably assembled with the first driven slider 14. The first driven slider 14 and the first active slider 4 are diagonally arranged. Similarly, on the secondary installation frame 303, secondary motion tracks 3031 are symmetrically arranged. One of the secondary motion tracks 3031 is slidably assembled with the second active slider 5, and the other secondary motion track 3031 is slidably assembled with the second driven slider 15. The second driven slider 15 and the second active slider 5 are diagonally arranged. The setting of the driven sliders can enhance the motion stability of the mechanism and balance the force during the motion process.

[0053] A protective cover 304 is provided at the front end of the optical path of the industrial camera 301. The protective cover 304 is fixed to the front end of the eyeball body module 3 through a quick-release mechanism. The protective cover 304 can protect the industrial camera 301 from the influence of external factors such as dust, water vapor, and collision. At the same time, the quick-release mechanism facilitates the disassembly and replacement of the protective cover 304, which is convenient for maintenance and cleaning. In this embodiment, the quick-release mechanism is a snap-fit structure.

[0054] The encapsulation housing 16 covers the eyeball mounting seat 2, the eyeball body module 3, and the drive module, playing a role in protecting the internal components. A cable management channel 1601 is provided on the encapsulation housing 16. The cable management channel 1601 includes an outlet groove structure for organizing and guiding the cables to avoid the cables being messy and affecting the normal operation of the mechanism. In addition, an installation interface 101 is provided on the back of the base 1. The installation interface 101 includes a standardized threaded mounting hole array. Through this installation interface 101, this mechanism can be conveniently connected to external devices.

[0055] In the present invention, a drive module composed of a first servo motor 6 and a second servo motor 7 is used to drive the first active slider 4 and the second active slider 5 to move respectively, so as to realize the independent rotation of the eyeball body module 3 in the pitch direction and the yaw direction, adjust the viewing angle of the eyeball body module 3, and realize the function of variable viewing angle.

[0056] During the installation process, first, the eyeball mounting seat 2 is fixed on the base 1, and then the eyeball body module 3 is installed on the eyeball mounting seat 2. Next, the first servo motor 6 and the second servo motor 7 of the drive module are installed on the servo motor mounting seat 12 of the base 1, and the eyeball body module 3 and the encapsulation housing 16 are connected. Finally, this mechanism is connected to external devices through the standardized threaded mounting hole array on the back of the base 1, and the cables are organized and led out through the outlet groove structure.

[0057] In several specific embodiments provided by the present disclosure, for those skilled in the art, it is obvious that the present disclosure is not limited to the details of the above-mentioned exemplary embodiments, and the present disclosure can be implemented in other specific forms without departing from the spirit or basic characteristics of the present disclosure. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present disclosure is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present disclosure. In addition, it is obvious that the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The words "first", "second", etc. are used to denote names and do not denote any specific order.

[0058] The above embodiments are only used to illustrate the technical solutions of the present disclosure and not to limit them. Although the present disclosure has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present disclosure can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present disclosure.

Claims

1. A binocular eyeball mechanism with variable field of view, characterized in that, It includes a base and an eyeball mounting seat provided on the base; Two eyeball body modules are movably provided on the eyeball mounting seat, and each eyeball body module includes: An industrial camera, and a main motion track and a secondary motion track provided on the eyeball body module, wherein the main motion track and the secondary motion track are arranged orthogonally in space; A driving module is correspondingly provided for each eyeball body module, and the driving module includes: A first active slider slidably engaged with the main motion track; A second active slider slidably engaged with the secondary motion track; The driving module drives the first active slider and the second active slider to move respectively, so as to realize the independent rotation of the eyeball body module in the pitch direction and the yaw direction.

2. The binocular eyeball mechanism with variable visual field according to claim 1, characterized in that, The driving module includes a first servo motor and a second servo motor. The output shaft of the first servo motor is connected with a servo end upper gear, and the servo end upper gear meshes with an eyeball end upper gear, and the first active slider is connected to the eyeball end upper gear; the output shaft of the second servo motor is connected with a servo end side gear, and the servo end side gear meshes with an eyeball end side gear, and the second active slider is connected to the eyeball end side gear.

3. The binocular eyeball mechanism with variable field of view according to claim 2, characterized in that, Both the first active slider and the second active slider are square sliders, and the corresponding main motion track and secondary motion track are square guide grooves with matching cross-sectional shapes; the base is provided with a servo motor mounting seat, and the first servo motor and the second servo motor are fixed on the servo motor mounting seat.

4. The binocular eyeball mechanism with variable visual field according to claim 1, characterized in that, The eyeball body module includes: A main mounting frame, which fixedly carries the industrial camera and is provided with the main motion track; A secondary mounting frame, coaxially sleeved outside the main mounting frame and provided with the secondary motion track; Wherein, the mating surface of the main mounting frame and the secondary mounting frame is a cylindrical surface fit, and the secondary mounting frame can make a relative rotation with a limited angle around the axis of the main mounting frame.

5. The binocular eyeball mechanism with variable field of view according to claim 4, wherein, A rotation gap is provided between the inner cylindrical surface of the secondary mounting frame and the outer cylindrical surface of the main mounting frame to form an adjustable rotating pair.

6. The binocular eyeball mechanism with variable field of view according to claim 1, characterized in that, It further includes a protective cover provided at the front end of the optical path of the industrial camera, and the protective cover is fixed to the front end of the eyeball body module through a quick-release mechanism.

7. The binocular eyeball mechanism with variable field of view according to claim 1, characterized in that, At least two sets of sliding bearing groups are provided on the eyeball mounting seat, correspondingly supporting the rotating shafts of the first active slider and the second active slider respectively.

8. The binocular eyeball mechanism with variable visual field according to claim 1, characterized in that, It further includes: A first driven slider provided in the main motion track, diagonally arranged with the first active slider; A second driven slider provided in the secondary motion track, diagonally arranged with the second active slider.

9. The binocular eyeball mechanism with variable field of view according to any one of claims 1 to 8, characterized in that, It further includes: An encapsulation housing, which covers the eyeball mounting seat, the eyeball body module and the driving module, and is provided with a cable management channel; It is connected to an external device through the mounting interface on the back of the base.

10. The binocular eyeball mechanism with variable field of view according to claim 9, characterized in that, The mounting interface includes a standardized threaded mounting hole array, and the cable management channel includes an outlet groove structure.

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