Three-degree-of-freedom bionic eye based on artificial muscle driving

Abstract

The application belongs to the technical field of bionic robots, and specifically discloses a three-degree-of-freedom bionic eye driven by artificial muscles, which comprises a bionic eye structure, the bionic eye structure is connected with a three-degree-of-freedom flexible driving structure, the bionic eye structure is provided with a trolley structure matched with the three-degree-of-freedom flexible driving structure, and the trolley structure comprises a trolley support, and the trolley support is provided at both ends with a trolley roller matched with the three-degree-of-freedom flexible driving structure. The bionic eye structure and the three-degree-of-freedom flexible driving structure are connected through a spherical hinge, six artificial muscles of a rectus muscle flexible body and an oblique muscle flexible body are matched, and under the adjustment of the trolley structure, the bionic eye has three motion postures of yaw, pitch and roll, not only conforms to the physiological structure and motion form of primate eyeballs, but also can realize the flexibility and stable visual perception ability of primate eyeballs through bionics.

Description

Technical Field

[0001] This invention belongs to the field of bionic robot technology, specifically relating to a three-degree-of-freedom bionic eye driven by artificial muscles. Background Technology

[0002] With continuous breakthroughs in visual bionics technology in the field of robotics, bionic eye technology has become an important component of the bionic robotics field. Bionic eye technology aims to mimic the structure and visual function of primate eyes, giving them characteristics or functions similar to those of primate eyes. However, existing bionic eye research mainly focuses on achieving eye movement and visual capabilities, and cannot achieve the bionic functions of primate eyes. But bionic eyes with bionic functions not only closely resemble primate eyes, but can also achieve the flexibility and stable visual perception capabilities of primate eyes through biomimicry.

[0003] The movement of primate eyes is mainly controlled by six extraocular muscles attached to the eyeball. However, existing bionic eyes mostly use springs, rods, etc. to simulate the movement of extraocular muscles. In actual simulation adjustment, springs and rods not only produce abnormal noise, but this noise cannot be avoided by existing means. Furthermore, due to the limitations of springs and rods in simulating extraocular muscles, the simulated eye muscles cannot be precisely adjusted. As a result, existing bionic eyes are noisy, have low movement flexibility, and are difficult to achieve high-precision adjustment.

[0004] Chinese Patent CN110497389B discloses a rope-spring driven three-degree-of-freedom parallel bionic eye actuator, which mainly comprises a three-degree-of-freedom parallel mechanism and three rope drive branches. Each of the three branches of the three-degree-of-freedom parallel mechanism has three springs, ensuring that the moving platform is always subjected to forces in opposite directions of the rope tension. The three drive rods drive the moving platform through the ropes, achieving three-degree-of-freedom motion. A camera mounted on the moving platform can also achieve three-degree-of-freedom motion. This mechanism has the advantages of fewer drives, a compact structure, high speed, high rigidity, and high precision. However, this rope-spring driven three-degree-of-freedom parallel bionic eye actuator, while using ropes and springs, suffers from drawbacks such as high noise and low motion flexibility. Furthermore, it is difficult to achieve high-precision adjustment of the bionic eye through spring drive alone. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a three-degree-of-freedom bionic eye based on artificial muscle actuation, which features a compact structure, high control precision, low noise, and high motion flexibility.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0007] A three-degree-of-freedom bionic eye based on artificial muscle drive includes a bionic eye structure, a three-degree-of-freedom flexible drive structure connected to the bionic eye structure, and a trolley structure that cooperates with the three-degree-of-freedom flexible drive structure on the bionic eye structure. The trolley structure includes a trolley support, and trolley rollers that cooperate with the three-degree-of-freedom flexible drive structure are provided at both ends of the trolley support.

[0008] Furthermore, the bionic eye structure includes a flexible eyeball, within which a bionic eye shell is fitted and conforms to the flexible eyeball. A camera, which cooperates with the flexible eyeball, is mounted on the bionic eye shell. The camera is connected to an inner platform within the bionic eye shell via a camera aperture. A movable platform, which is clearance-fitted to the inner platform, is located within the bionic eye shell. The optical axis of the camera passes through the center of the bionic eyeball, and its direction coincides with the line of sight of the bionic eye. An arc-shaped slot is formed on the movable platform to accommodate power lines and image transmission lines. The movable platform is a cross-shaped platform.

[0009] Furthermore, the three-degree-of-freedom flexible actuation structure includes a rectus muscle flexible body and an oblique muscle flexible body symmetrically arranged on the flexible body of the eyeball with a gap fit. The end of the rectus muscle flexible body away from the flexible body of the eyeball is provided with a common tendon ring platform connected to the oblique muscle flexible body. The rectus muscle flexible body is provided with a rectus muscle tether with a gap fit. The oblique muscle flexible body is provided with an oblique muscle tether with a gap fit. The two ends of the rectus muscle flexible body are respectively bonded to the flexible body of the eyeball and the common tendon ring platform, and the rectus muscle tether passes through the body to reinforce the connection. The two ends of the oblique muscle flexible body are respectively bonded to the flexible body of the eyeball and the common tendon ring platform, and the oblique muscle tether passes through the body to reinforce the connection.

[0010] Furthermore, the rectus muscles are distributed in four positions—superior, inferior, left, and right—on the ocular flexible body, representing the superior, inferior, medial, and lateral rectus muscles of primates, respectively. There are four rectus muscles in total. There are two oblique muscles, connected on the same side of the ocular flexible body, representing the superior and inferior oblique muscles of primates. The oblique muscles pass through the trochlear structure and connect to the ocular flexible body via oblique muscle connectors located on it. The ocular flexible body and the rectus muscles... Both the flexible body and the oblique muscle flexible body are made of silicone casting molds with a silicone to curing agent ratio of 50:1. The inner middle of the flexible body of the rectus muscle and the flexible body of the oblique muscle have hollowed-out polygonal shapes with gaps. The thickness of the remaining ribs between the hollowed-out polygonal shapes is 3mm, which facilitates the stretching of the flexible body of the rectus muscle and the flexible body of the oblique muscle. The artificial muscle is composed of an eyeball flexible body, a rectus muscle tether and an oblique muscle tether, a rectus muscle flexible body or an oblique muscle flexible body. The hollowed-out polygonal shapes contain micro-springs, and the two ends of the micro-springs are connected to the inner wall of the hollowed-out polygonal shapes.

[0011] Furthermore, the trolley support includes a trolley support rod connected to the moving platform. Both ends of the trolley support rod are provided with an incline limiting rod that cooperates with the trolley roller. The incline limiting rod is sleeved on the oblique muscle flexible body and has a clearance fit with the oblique muscle flexible body. The end of the trolley support rod is provided with a hollow roller that cooperates with the incline limiting rod.

[0012] Furthermore, the end of the C-shaped limiting rod away from the trolley support rod is provided with a connecting shaft fitted inside the trolley roller with a clearance fit, and the connecting shaft is fitted with a hollow roller with a clearance fit; the hollow roller is fitted inside the trolley roller with a clearance fit; the trolley support rod is provided with a pair of trolley fixing rods symmetrical to the center of the trolley support rod; the connecting shaft is provided with a fixing terminal fitted with the C-shaped limiting rod with a clearance fit, and the fixing terminal is provided with an auxiliary shaft connected to the hollow roller, and the auxiliary shaft is fitted with the hollow part of the hollow roller; the end of the fixing terminal away from the hollow roller is fitted with the C-shaped limiting rod with a clearance fit; the trolley structure is installed on one side of the base platform; a limiting ring is fitted on the C-shaped limiting rod, and the limiting ring is fitted with a limiting ring groove provided on the C-shaped limiting rod; the side of the limiting ring is provided with a side ring groove, and an annular adjusting piece is provided in the side ring groove; the annular adjusting piece is connected to the annular adjusting piece on the side of the adjacent limiting ring through an adjusting bearing.

[0013] Furthermore, the rectus muscle cable includes two interlocking rectus muscle traction cables, one end of which is connected to an arc-shaped rectus muscle plate located on the inner side of the flexible eyeball, and the other end of which is connected to a rectus muscle foramen located on the common tendon ring platform; the oblique muscle cable includes two interlocking oblique muscle traction cables, one end of which is connected to an arc-shaped oblique muscle plate located on the inner side of the flexible eyeball, and the other end of which is connected to an oblique muscle foramen located on the common tendon ring platform; the arc-shaped rectus muscle plate and the arc-shaped oblique muscle plate are arc-shaped metal plates.

[0014] Furthermore, the flexible ocular body has a reserved hole for rectus muscle that mates with the rectus muscle traction cable, and the flexible ocular body has a through hole for rectus muscle that mates with the rectus muscle traction cable; the flexible ocular body has a reserved hole for oblique muscle that mates with the oblique muscle traction cable, and the flexible oblique muscle has a through hole for oblique muscle that mates with the oblique muscle traction cable; during installation, the arc-shaped rectus muscle plate and the arc-shaped oblique muscle plate are tightly attached to the inner wall of the flexible ocular body, and the rectus muscle traction cable and the oblique muscle traction cable pass through the flexible ocular body, the flexible rectus muscle body or the flexible oblique muscle body, and the common tendon ring platform in sequence.

[0015] Furthermore, the common tendon ring platform is provided with a rectus groove that mates with the rectus flexible body and rectus foramen, and an oblique groove that mates with the oblique flexible body and oblique foramen; both the rectus traction cable and the oblique traction cable are provided with multiple adjusting balls that mate with the rectus through-hole and the oblique through-hole respectively, and the adjusting balls are provided with adjusting rings that mate with the rectus through-hole and the oblique through-hole.

[0016] Furthermore, the common tendon ring platform is provided with screws corresponding to the rectus muscle flexible bodies one by one. The end of the screw away from the common tendon ring platform is set on the ball joint bracket. The ball joint bracket is provided with a ball joint that cooperates with the moving platform. The ball joint is connected to the ball joint hole set in the center of the moving platform. The ball joint and the moving platform form a spherical rotating pair. The trolley fixing rod is connected to the screw on the side closer to the oblique muscle flexible body.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] (1) This invention connects the bionic eye structure and the three-degree-of-freedom flexible drive structure through a ball joint, and with the six artificial muscles of the rectus and oblique muscles, and under the adjustment of the pulley structure, the bionic eye has three movement postures: yaw, pitch and roll. This not only conforms to the physiological structure and movement form of primate eyes, but also realizes the flexibility and stable visual perception of primate eyes through bionics. By using rectus and oblique muscle ropes to pull and drive the rectus and oblique muscles of the artificial muscles respectively, the precision of the rectus and oblique muscles can be precisely adjusted. During the adjustment process, the rectus and oblique muscles will not produce abnormal noise and have high movement flexibility. The hollow space between the rectus and oblique muscles not only facilitates infinite extension and retraction to realize the high precision adjustment of the bionic eye, but also reduces the weight of the rectus and oblique muscles, improves the adjustment accuracy of the two, reduces the wear of the rectus and oblique muscles during the use of the bionic eye, and reduces the generation of abnormal noise during use.

[0019] (2) The present invention uses a silicone casting mold to make the flexible eyeball in the artificial muscle. The flexible rectus muscle is biomimetic to the superior rectus muscle, inferior rectus muscle, medial rectus muscle and lateral rectus muscle of primates. The flexible oblique muscle is biomimetic to the superior oblique muscle and inferior oblique muscle of primates. It conforms to the eyeball structure of primates. The three-degree-of-freedom biomimetic eye conforms to the eyeball structure of primates and can realize the low noise, high precision and high flexibility adjustment of the biomimetic eye.

[0020] (3) The present invention uses traction ropes and silicone to make artificial muscles. By stretching the rectus muscle traction ropes and the oblique muscle traction ropes, the extension and contraction of the rectus muscle flexible body and the oblique muscle flexible body are controlled respectively, thereby imitating the extension and contraction of the extraocular muscles during the eye movement of primates, achieving the purpose of biomimetic simulation of the eye movement of primates. This enables the three-degree-of-freedom biomimetic eye to have the ability of primate eye movement of yaw, pitch and roll, thereby achieving the purpose of three-degree-of-freedom adjustment of the biomimetic eye.

[0021] (4) The present invention uses a common tendon ring platform to mimic the common tendon ring in the eyeball structure of primates, and uses it to control the stretching and contraction of the rectus muscle flexible body and the oblique muscle flexible body. Its structure conforms to the physiological structure of the eyeball of primates. The rectus muscle rope and oblique muscle rope in the rectus muscle flexible body and the oblique muscle flexible body are adjusted by the common tendon ring platform, thereby adjusting the stretching and contraction length of the rectus muscle flexible body and the oblique muscle flexible body. Thus, the bionic eye shell is adjusted by the eyeball flexible body, so that the adjusted camera has a three-degree-of-freedom adjustment capability, and achieves the purpose of realizing the three-degree-of-freedom adjustment of the bionic eye through the bionic primate eyeball.

[0022] (5) This invention uses a pulley structure in conjunction with two upper and lower oblique muscle flexible bodies to adjust the bionic eye shell through the eyeball flexible body, which facilitates the bionic eye to achieve lateral rolling motion. This makes the bionic eye using this invention more in line with the lateral rolling motion mechanism of primate eyes. In addition, with the upper, lower, left and right four rectus muscle flexible bodies, the bionic eye shell can be adjusted through the eyeball flexible body to achieve yaw and pitch motion. This invention can perfectly realize the three motion postures of yaw, pitch and roll of the bionic eye, and has three degrees of freedom adjustment capability. This invention imitates the structure of primate eyes and uses three degrees of freedom artificial muscle flexible drive, which has the characteristics of compact structure, high control precision, high flexibility and low noise.

[0023] (6) The bionic eye structure of the present invention is mainly composed of a camera, a flexible eyeball, a bionic eye shell, and a moving platform; the three-degree-of-freedom flexible drive structure is mainly composed of a common tendon ring platform, a rectus muscle flexible body, and an oblique muscle flexible body. The flexible eyeball is connected to the flexible eyeball through rectus muscle ropes and oblique muscle ropes. The common tendon ring platform is connected to a ball joint bracket through a screw. A ball joint bracket is installed on the ball joint bracket to connect to the moving platform; the trolley structure is installed on the screw through a nut; the present invention controls the extension and retraction of the flexible eyeball by stretching the rectus muscle ropes and oblique muscle ropes respectively, thereby driving the bionic eye shell and camera to extend and retract, so that the three-degree-of-freedom bionic eye has three-degree-of-freedom motion adjustment capability. Since the drive adjustment is carried out in a manner similar to artificial muscles, the motion of the present invention conforms to the motion mechanism of primate eyes and has the characteristics of compact structure, high control precision, and low noise.

[0024] (7) The present invention enables the bionic eye to have two degrees of freedom by stretching the four straight muscle flexible bodies of the eyeball flexible body. After the adjustment of the trolley structure, the two oblique muscle flexible bodies can make the bionic eye rotate around the line of sight axis, thus giving it a third degree of freedom. The present invention uses artificial muscle flexible bodies and trolley structure to control the bionic eye, so that the movement of the bionic eye conforms to the movement mechanism of the human eye, and at the same time has the characteristics of compact structure, high precision and low noise. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention in Embodiment 1;

[0026] Figure 2 This is a schematic diagram of the structure of the present invention in Embodiment 1;

[0027] Figure 3 This is the front view of the present invention in Embodiment 1;

[0028] Figure 4 This is a side view of the present invention in Embodiment 1;

[0029] Figure 5 This is a rear view of the present invention in Embodiment 1;

[0030] Figure 6 This is a schematic diagram showing the connection between the ball joint bracket, the moving platform, and the bionic eye shell of the present invention in Embodiment 1;

[0031] Figure 7 This is a schematic diagram of the internal structure of the present invention in Embodiment 1;

[0032] Figure 8 This is an exploded view of the present invention in Embodiment 1;

[0033] Figure 9 This is a schematic diagram of the trolley structure in Example 1;

[0034] Figure 10 This is a schematic diagram of the motion direction of the three motion postures of yaw, pitch and roll in Embodiment 1 of the present invention.

[0035] In the diagram, the components are: camera 1, flexible eyeball 2, moving platform 3, ball joint 4, ball joint support 5, screw 6, flexible rectus muscle 7, rectus muscle cable 8, oblique muscle cable 9, common tendon ring platform 10, flexible oblique muscle 11, trolley support 12, trolley roller 13, flexible rectus muscle 14, flexible rectus muscle 15, bionic eye shell 16, camera hole 17, arc-shaped rectus muscle plate 18, oblique muscle traction cable 19, rectus muscle traction cable 20, oblique muscle groove 21, rectus muscle groove 22, arc-shaped oblique muscle plate 23, inner platform 24, rectus muscle reserved hole 25, oblique muscle reserved hole 26, flexible rectus muscle 27, oblique muscle flexible body 28, oblique muscle through hole 29, rectus muscle hole 30, oblique muscle hole 31, rectus muscle through hole 32, trolley support rod 33, U-shaped limiting rod 34, connecting shaft 35, hollow roller 36, and trolley fixing rod 37. Detailed Implementation

[0036] The present invention will be further described in detail below through specific embodiments, but this does not limit the scope of the present invention.

[0037] Example 1

[0038] A three-degree-of-freedom bionic eye based on artificial muscle actuation, its structure is as follows: Figure 1-10 As shown, it includes a bionic eye structure, which is connected to a three-degree-of-freedom flexible drive structure, and a trolley structure that cooperates with the three-degree-of-freedom flexible drive structure.

[0039] The bionic eye structure includes a flexible eyeball 2, inside which is a bionic eye shell 16 that fits into the flexible eyeball 2. A camera 1 that cooperates with the flexible eyeball 2 is provided on the bionic eye shell 16. The camera 1 is connected to an inner platform 24 located inside the bionic eye shell 16 through a camera hole 17. A moving platform 3 that is clearance-fitted with the inner platform 24 is provided inside the bionic eye shell 16.

[0040] The three-degree-of-freedom flexible actuation structure includes rectus muscle flexible bodies 14, 15, 7, and 27 and oblique muscle flexible bodies 11 and 28 symmetrically arranged on the flexible eyeball body 2 with interlocking spaces. A common tendon ring platform 10, connected to the oblique muscle flexible bodies 11 and 28, is provided at the end of each rectus muscle flexible body 14, 15, 7, and 27 away from the flexible eyeball body 2. Rectus muscle ropes 8, interlocking with each rectus muscle flexible body 14, 15, 7, and 27, are provided within each rectus muscle flexible body 14, 15, 7, and 27. Oblique muscle ropes 9, interlocking with each oblique muscle flexible body 11 and 28, are provided within each oblique muscle flexible body 11 and 28. The rectus muscle flexible bodies 14, 15, 7, and 27 are distributed at four positions on the upper, lower, left, and right sides of the flexible eyeball body 2, with four rectus muscle flexible bodies 14, 15, 7, and 27 in total. There are two oblique muscle flexible bodies 11 and 28, with the connection point of the two oblique muscle flexible bodies 11 and 28 located on the same side of the flexible eyeball body 2.

[0041] The trolley structure includes a trolley support 12, with trolley rollers 13 at both ends of the trolley support 12 that cooperate with the three-degree-of-freedom flexible drive structure; the trolley support 12 includes a trolley rod 33 connected to the moving platform 3, with chamfered limiting rods 34 at both ends of the trolley rod 33 that cooperate with the trolley rollers 13, the chamfered limiting rods 34 being sleeved on the oblique flexible bodies 11 and 28 and having clearance fit with the oblique flexible bodies 11 and 28; and a hollow roller 36 at the end of the trolley rod 33 that cooperates with the chamfered limiting rod 34. The end of the U-shaped limiting rod 34 away from the trolley support rod 33 is provided with a connecting shaft 35 that is sleeved inside the trolley roller 13 and has a clearance fit with the trolley roller 13. The connecting shaft 35 is in clearance fit with the hollow roller 36. The hollow roller 36 is sleeved inside the trolley roller 13 and has a clearance fit with the trolley roller 13. The trolley support rod 33 is provided with a pair of trolley fixing rods 37 that are symmetrical about the center of the trolley support rod 33.

[0042] The rectus muscle rope 8 includes two rectus muscle traction cables 20 with interlocking gaps. One end of the rectus muscle traction cable 20 is connected to an arc-shaped rectus muscle plate 18 located on the inner side of the flexible eyeball 2, and the other end is connected to a rectus muscle fork 30 located on the common tendon ring platform 10. The oblique muscle rope 9 includes two oblique muscle traction cables 19 with interlocking gaps. One end of the oblique muscle traction cable 19 is connected to an arc-shaped oblique muscle plate 23 located on the inner side of the flexible eyeball 2, and the other end is connected to an oblique muscle fork 31 located on the common tendon ring platform 10. The flexible eyeball 2 has a rectus muscle reserved hole 25 that interlocks with the rectus muscle traction cable 20. The flexible rectus muscles 14, 15, 7, and 27 have rectus muscle through holes 32 that interlock with the rectus muscle traction cable 20. The flexible eyeball 2 has an oblique muscle reserved hole 26 that interlocks with the oblique muscle traction cable 19. The flexible oblique muscles 11 and 28 have oblique muscle through holes 29 that interlock with the oblique muscle traction cable 19.

[0043] The common tendon ring platform 10 is provided with a rectus groove 22 that mates with the rectus muscle flexible bodies 14, 15, 7, 27 and the rectus muscle foramen 30, and an oblique groove 21 that mates with the oblique muscle flexible bodies 11, 28 and the oblique muscle foramen 31. The common tendon ring platform 10 is provided with screws 6 that correspond one-to-one with the rectus muscle flexible bodies 14, 15, 7, 27. The end of the screw 6 away from the common tendon ring platform 10 is set on the ball joint bracket 5. The ball joint bracket 5 is provided with a ball joint 4 that mates with the moving platform 3. The trolley fixing rod 37 is connected to the screw 6 on the side closer to the oblique muscle flexible bodies 11 and 28 respectively.

[0044] During the adjustment process of this three-degree-of-freedom bionic eye, the three-degree-of-freedom flexible drive structure, in conjunction with the pulley structure, drives the bionic eye structure to perform three-degree-of-freedom adjustment. This is achieved by adjusting four sets of rectus muscle ropes 8 and two sets of oblique muscle ropes 9 on the side of the common tendon ring platform 10 away from the rectus muscle flexible bodies 14, 15, 7, and 27 and the oblique muscle flexible bodies 11 and 28. During the adjustment of the rectus muscle flexible bodies 14, 15, 7, and 27, the rectus muscle traction cable 20 within the rectus muscle rope 8 is adjusted through its extension and contraction. The rectus muscle traction cable 20, through the rectus muscle hole 30 within the rectus muscle groove 22, drives the extension and contraction of each rectus muscle flexible body 14, 15, 7, and 27. The rectus muscle flexible bodies 14, 15, 7, and 27 deform and contract along the hollowed-out polygonal shape. The rectus muscle traction cable 20 moves within the rectus muscle through hole 32, preventing the rectus muscle flexible bodies from... Deformation of bodies 14, 15, 7, and 27 affects the extension and contraction adjustment of the rectus muscle rope 8. The rectus muscle traction cable 20 drives the flexible eyeball 2 to move in the set direction through the rectus muscle reserved hole 25 and the arc-shaped rectus muscle plate 18. During the adjustment of the oblique muscle flexible bodies 11 and 28, the oblique muscle traction cable 19 in the oblique muscle rope 9 is extended and contracted. The oblique muscle traction cable 19 drives the extension and contraction adjustment of each oblique muscle flexible body 11 and 28 through the oblique muscle hole 31 in the oblique muscle groove 21. The oblique muscle flexible bodies 11 and 28 deform and contract along the hollow polygonal shape. The oblique muscle traction cable 19 moves within the oblique muscle through hole 29 to prevent the deformation of the oblique muscle flexible bodies 11 and 28 from affecting the extension and contraction adjustment of the oblique muscle rope 9. The oblique muscle traction cable 19 drives the flexible eyeball 2 to move in the set direction through the oblique muscle reserved hole 26 and the arc-shaped oblique muscle plate 23.

[0045] With the traction adjustment of the rectus muscle rope 8 and the oblique muscle rope 9, the four rectus muscle flexible bodies 14, 15, 7, and 27 of the flexible eyeball 2 are stretched, giving the bionic eye two degrees of freedom. The two oblique muscle flexible bodies 11 and 28, adjusted by the pulley structure, allow the bionic eye to rotate around the visual axis, thus giving it a third degree of freedom. During the adjustment of the rectus muscle flexible bodies 14, 15, 7, and 27 and the oblique muscle flexible bodies 11 and 28, the flexible eyeball 2 is adjusted along with the rectus muscle flexible bodies 14, 15, 7, and 27 and the oblique muscle flexible bodies 11 and 28. The flexible eyeball 2 drives the bionic eye shell 16 to rotate along the ball joint 4 on the ball joint bracket 5 through the ball joint hole on the moving platform 3. The camera 1 is fixed to the inner plane through the camera hole 17. The camera 1 on platform 24 moves with the bionic eye shell 16, and the screw 6 can keep the ball joint bracket 5 from moving with the bionic eye shell 16, thereby realizing the three-degree-of-freedom bionic adjustment action of the camera 1. Specifically, the contraction of the superior rectus muscle flexible body 14 and the inferior rectus muscle flexible body 15 can control the eyeball flexible body 2 to move vertically around the pitch axis as the rotation axis. The contraction of the left rectus muscle flexible body 7 and the right rectus muscle flexible body 27 will cause the eyeball flexible body 2 to move horizontally around the yaw axis. When the superior oblique muscle flexible body 11 contracts, it will cause the eyeball flexible body 2 to twist inward around the roll axis as the rotation axis. When the inferior oblique muscle flexible body 28 contracts, it will cause the eyeball flexible body 2 to twist outward around the roll axis, so that this three-degree-of-freedom bionic eye has a total of three degrees of freedom.

[0046] When the two oblique muscle flexible bodies 11 and 28 pass through the trolley structure, they move within the U-shaped limiting rod 34 of the trolley support 12. The trolley support rod 33 limits the distance between the two oblique muscle flexible bodies 11 and 28 to a certain range, preventing deviation interference during adjustment and preventing malfunctions caused by interference during the adjustment of the bionic eye. During adjustment, the trolley roller 13 rotates along the hollow roller 36 and connecting shaft 35, converting the adjustment of the oblique muscle flexible bodies 11 and 28 into rolling adjustment, reducing frictional wear during adjustment, and extending the lifespan of the oblique muscle flexible bodies 11 and 28. The service life of 28; the trolley roller 13 is connected to both ends of the U-shaped limiting rod 34 through the connecting shaft 35 and the hollow roller 36, preventing the oblique muscle flexible bodies 11 and 28 from detaching from the U-shaped limiting rod 34, so that the oblique muscle flexible bodies 11 and 28 can be adjusted stably for a long time. At the same time, the detachable connection of the connecting shaft 35 and the hollow roller 36 facilitates the installation, replacement and maintenance of the oblique muscle flexible bodies 11 and 28, and facilitates quick maintenance during the use intervals of this invention; the trolley support rod 33 is fixed to the screw 6 on the side close to the oblique muscle flexible bodies 11 and 28 through two trolley fixing rods 37, thereby connecting the trolley bracket 12 to the ball joint bracket 5.

[0047] Example 2

[0048] A three-degree-of-freedom bionic eye based on artificial muscle drive differs from Embodiment 1 in that: both the rectus muscle traction cable 20 and the oblique muscle traction cable 19 are equipped with multiple adjusting balls that respectively cooperate with the rectus muscle through hole 32 and the oblique muscle through hole 29, and the adjusting balls are equipped with adjusting rings that cooperate with the rectus muscle through hole 32 and the oblique muscle through hole 29.

[0049] Example 3

[0050] A three-degree-of-freedom bionic eye based on artificial muscle drive differs from Embodiment 1 in that: a limiting ring is fitted on the C-shaped limiting rod 34, the limiting ring cooperates with the limiting ring groove provided on the C-shaped limiting rod 34, and a side ring groove is provided on the side of the limiting ring, and an annular adjusting plate is provided in the side ring groove. The annular adjusting plate is connected to the annular adjusting plate on the side of the adjacent limiting ring through the adjusting bearing.

[0051] The above description is only a preferred embodiment of the present invention, but is not limited to the above examples. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-degree-of-freedom bionic eye based on artificial muscle driving, characterized in that, The bionic eye structure is connected with a three-degree-of-freedom flexible driving structure, and a pulley structure matched with the three-degree-of-freedom flexible driving structure is arranged on the bionic eye structure. The bionic eye structure comprises an eyeball flexible body, and a bionic eye shell body is sleeved on the eyeball flexible body and is matched with the eyeball flexible body. The three-degree-of-freedom flexible driving structure comprises symmetrical straight muscle flexible bodies and oblique muscle flexible bodies which are matched with the eyeball flexible body in gaps. The pulley support comprises a pulley support rod connected with the moving platform, and both ends of the pulley support rod are provided with a type limit rod matched with the pulley roller.

2. The three degree of freedom bionic eye based on artificial muscle driving according to claim 1, characterized in that, The straight muscle flexible bodies are distributed on the upper, lower, left and right positions of the eyeball flexible body, and the number of the straight muscle flexible bodies is four.

3. The three degree of freedom bionic eye based on artificial muscle driving according to claim 2, characterized in that, The oblique muscle flexible bodies are connected on the same side of the eyeball flexible body.

4. The three degree of freedom bionic eye based on artificial muscle driving according to claim 3, characterized in that, The type limit rod is provided with a connecting shaft matched with the pulley roller in a gap and sleeved in the pulley roller at the end away from the pulley support rod.

5. The three degree of freedom bionic eye based on artificial muscle driving according to claim 4, characterized in that, The straight muscle rope comprises two straight muscle traction ropes matched in a gap.

6. The three degree of freedom bionic eye based on artificial muscle driving according to claim 5, characterized in that, The eyeball flexible body is provided with a straight muscle reserved hole matched with the straight muscle traction rope in a gap.

7. The three degree of freedom bionic eye based on artificial muscle driving according to claim 6, characterized in that, The total tendon ring platform is provided with a straight muscle groove matched with the straight muscle flexible body and the straight muscle hole and an oblique muscle groove matched with the oblique muscle flexible body and the oblique muscle hole. The total tendon ring platform is provided with a screw corresponding to the straight muscle flexible body. The total tendon ring platform is provided with a ball hinge matched with the moving platform.

Images