Binocular device for robot

Abstract

This binocular device for a robot comprises: a base; a left camera installed on the upper side of the base; a right camera installed on the upper side of the base so as to be spaced apart from the left camera; a motion generation device comprising a main shaft and formed to enable the main shaft to undergo linear movement, rotation, and spiral movement; a left-right tilting mechanism connected to the motion generation device and formed to simultaneously tilt the left camera and the right camera at a predetermined angle in the left direction or the right direction when the main shaft linearly moves in a direction parallel to the base; an up-down tilting mechanism connected to the motion generation device and formed to simultaneously tilt the left camera and the right camera at a predetermined angle in an up direction or a down direction with respect to the base when the main shaft spirally moves; a focus adjustment mechanism connected to the motion generation device and formed to enable adjusting a focus angle between the left camera and the right camera when the main shaft rotates; and a first motor and a second motor for operating the motion generation device.

Description

Binoculars for robots

[0001] The present disclosure relates to a robot, and more specifically to a binocular device for a robot.

[0002] With the advancement of robotics technology, various types of robots are being developed for use in a wide range of environments, including industrial, service, and personal applications. To perform tasks in these environments, robots often need to perceive surrounding objects, spatial relationships, and changes in the environment.

[0003] To support such recognition, the robot may be equipped with a vision system comprising multiple imaging devices. For example, the robot may include two eyes for recognizing objects, distances, and relative positions within the surrounding space. The two eyes may be mounted movably to expand the space that can be recognized or observed.

[0004] The information disclosed in the background art is information that the inventors already knew or obtained before or during the process of achieving the embodiments of the present application, or technical information obtained during the process of achieving the embodiments. Accordingly, it may include information that does not constitute prior art already known to the public.

[0005] A binocular device for a robot according to one or more embodiments of the present disclosure may include: a base; a left camera installed on the upper side of the base; a right camera installed on the upper side of the base spaced apart to the right of the left camera; a motion generating device including a main shaft, wherein the main shaft is formed to perform linear movement, rotation, and helical movement; a left-right tilting mechanism connected to the motion generating device and formed to simultaneously tilt the left camera and the right camera to the left or right at a certain angle when the main shaft moves linearly in a direction parallel to the base; an up-down tilting mechanism connected to the motion generating device and formed to simultaneously tilt the left camera and the right camera to the upper or lower direction at a certain angle when the main shaft moves helically; a focus adjustment mechanism connected to the motion generating device and formed to adjust the focus angle between the left camera and the right camera when the main shaft rotates; and a first motor and a second motor for operating the motion generating device.

[0006] According to one or more embodiments of the present disclosure, the motion generating device may include: a linear bushing movably installed at a first end of the main shaft and formed to rotate the main shaft; a screw bushing coupled to a second end of the main shaft and formed to spirally move the main shaft; a first bushing gear installed on the outer surface of the linear bushing and formed to rotate by the first motor; and a second bushing gear installed on the outer surface of the screw bushing and formed to rotate by the second motor.

[0007] According to one or more embodiments of the present disclosure, the main shaft may include a helical groove formed on the outer surface of the main shaft; and a plurality of guide grooves formed at regular intervals in the circumferential direction on the outer surface of the main shaft and formed as straight lines corresponding to the length of the main shaft.

[0008] According to one or more embodiments of the present disclosure, the linear bushing may include: a hollow portion into which the main shaft is inserted; and a plurality of guide projections formed on the inner circumference of the hollow portion and engaging with a plurality of guide grooves of the main shaft.

[0009] According to one or more embodiments of the present disclosure, the screw bushing may include: a hollow portion into which the main shaft is inserted; and a helical projection formed on the inner circumference of the hollow portion and engaging with a helical groove of the main shaft.

[0010] According to one or more embodiments of the present disclosure, the left and right tilting mechanism may include: a sub-shaft formed to move parallel to the main shaft and to which the left camera and the right camera are connected; and a horizontal link formed to pivot around a link axis perpendicular to the base and to receive linear movement of the main shaft, and including a first stage and a second stage connected to the center of the sub-shaft. When the main shaft of the motion generating device moves linearly, the sub-shaft moves linearly by means of the horizontal link, so that the left camera and the right camera can be simultaneously tilted to the left or right at a certain angle.

[0011] According to one or more embodiments of the present disclosure, the left and right tilting mechanism may further include: a lead screw installed at the center of the main shaft; a screw nut coupled to the lead screw and connected to a first end of the horizontal link; and a linear movement guide member installed below the screw nut and guiding the linear movement of the screw nut.

[0012] According to one or more embodiments of the present disclosure, the focus adjustment mechanism may include: a first focus gear installed on the main shaft; a sub-shaft installed parallel to the main shaft and comprising a central portion, a left threaded portion formed on one side of the central portion, and a right threaded portion formed on the other side of the central portion; a second focus gear installed at one end of the sub-shaft and meshing with the first focus gear; a left nut installed on the left threaded portion of the sub-shaft and connected to the left camera; and a right nut installed on the right threaded portion of the sub-shaft and connected to the right camera.

[0013] According to one or more embodiments of the present disclosure, the left camera may be formed to be able to rotate left and right at a certain angle with respect to a first vertical axis perpendicular to the base, and the right camera may be formed to be able to rotate left and right at a certain angle with respect to a second vertical axis perpendicular to the base.

[0014] According to one or more embodiments of the present disclosure, the vertical tilting mechanism may include: a first tilting gear installed on the main shaft; a second tilting gear meshing with the first tilting gear; a tilting shaft installed at the center of the second tilting gear parallel to the main shaft; a right bisection link installed adjacent to the second tilting gear, with one end connected to the tilting shaft and the other end connected to the right camera; and a left bisection link spaced apart from the right bisection link by a certain distance, with one end connected to the tilting shaft and the other end connected to the left camera.

[0015] According to one or more embodiments of the present disclosure, the left camera may be formed to be able to rotate vertically at a certain angle with respect to a horizontal axis parallel to the tilting shaft, and the right camera may be formed to be able to rotate vertically at a certain angle with respect to the horizontal axis.

[0016] According to one or more embodiments of the present disclosure, the main shaft includes a spline portion, and the first tilting gear includes a spline boss formed to allow the spline portion to be detachably inserted, and the first tilting gear may be rotatably supported by a rotational support installed on the base.

[0017] According to one or more embodiments of the present disclosure, the left camera may include a left tilting bracket that supports the left camera so that it can tilt in the left-right and up-down directions, and the right camera may include a right tilting bracket that supports the right camera so that it can tilt in the left-right and up-down directions.

[0018] According to one or more embodiments of the present disclosure, the left tilting bracket may include: a horizontal hinge portion installed behind the left camera and supporting the left camera to tilt in an up-and-down direction; a vertical hinge portion installed integrally with the horizontal hinge portion and perpendicular to the horizontal hinge portion, supporting the horizontal hinge portion to tilt in a left-and-right direction; and a connecting portion formed to protrude from the horizontal hinge portion toward the motion generating device. The right tilting bracket may include: a horizontal hinge portion installed behind the right camera and supporting the right camera to tilt in an up-and-down direction; a vertical hinge portion installed integrally with the horizontal hinge portion and perpendicular to the horizontal hinge portion, supporting the horizontal hinge portion to tilt in a left-and-right direction; and a connecting portion formed to protrude from the horizontal hinge portion toward the motion generating device.

[0019] According to one or more embodiments of the present disclosure, when the left-right tilting mechanism is operated, the left camera is formed to tilt left and right around the vertical hinge portion of the left tilting bracket, and the right camera is formed to tilt left and right around the vertical hinge portion of the right tilting bracket; and when the up-down tilting mechanism is operated, the left camera is formed to tilt up and down around the horizontal hinge portion of the left tilting bracket, and the right camera is formed to tilt up and down around the horizontal hinge portion of the right tilting bracket.

[0020] The above-described or other aspects, features, and benefits of embodiments of the present disclosure will become more apparent from the following description with reference to the accompanying drawings. In the accompanying drawings:

[0021] FIG. 1 is a perspective view showing a part of a robot equipped with a binocular device according to one or more embodiments of the present disclosure.

[0022] FIG. 2 is a front view showing a part of a robot equipped with a binocular device according to one or more embodiments of the present disclosure.

[0023] FIG. 3 is a perspective view showing a binocular device for a robot according to one or more embodiments of the present disclosure.

[0024] FIG. 4 is a side view showing a linear bushing coupled to the main shaft of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0025] FIG. 5 is a perspective view showing the main shaft and linear bushing of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0026] FIG. 6 is a cross-sectional view showing a screw bushing coupled to the main shaft of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0027] FIG. 7 is a perspective view showing the main shaft and screw bushing of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0028] FIG. 8 is a perspective view of a binocular device for a robot according to one or more embodiments of the present disclosure, viewed in the Y direction.

[0029] FIG. 9 is a plan view of a binocular device for a robot according to one or more embodiments of the present disclosure of FIG. 8.

[0030] FIG. 10 is a perspective view showing a state in which a horizontal link is separated from the main shaft of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0031] FIG. 11 is a drawing showing the left camera and the right camera of a binocular device for a robot according to one or more embodiments of the present disclosure in a state where they are tilted to the right.

[0032] FIG. 12 is a cross-sectional view showing a binocular device for a robot according to one or more embodiments of the present disclosure of FIG. 9, cut along line AA.

[0033] FIG. 13 is a perspective view showing a first tilting gear of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0034] FIG. 14 is a cross-sectional view showing the right camera of a robot binocular device according to one or more embodiments of the present disclosure of FIG. 12 tilted downward.

[0035] FIG. 15 is a perspective view of a binocular device for a robot according to one or more embodiments of the present disclosure, viewed in the Y direction.

[0036] FIG. 16 is a plan view of a binocular device for a robot according to one or more embodiments of the present disclosure of FIG. 15.

[0037] FIG. 17 is a partial plan view showing the state in which the left camera and the right camera of a binocular device for a robot are focused according to one or more embodiments of the present disclosure.

[0038] FIG. 18 is a functional block diagram showing a binocular device for a robot according to one or more embodiments of the present disclosure.

[0039] FIG. 19 is a flowchart for explaining the operation of a binocular device for a robot according to one or more embodiments of the present disclosure.

[0040] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or alternatives of said embodiments.

[0041] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0042] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0043] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0044] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0045] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0046] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0047] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0048] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0049] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0050] Additionally, terms such as 'front end', 'rear end', 'upper part', 'lower part', 'upper part', and 'lower part' used in this disclosure are defined based on the drawings, and the shape and location of each component are not limited by these terms.

[0051] The present disclosure aims to provide a binocular device for a robot capable of vertical tilting, horizontal tilting, and focus angle adjustment of a left camera and a right camera using two motors. In some embodiments, the binocular device may include only two motors.

[0052] Hereinafter, a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0053] FIG. 1 is a perspective view showing a part of a robot (100) having a binocular device (1) installed according to one or more embodiments of the present disclosure. FIG. 2 is a front view showing a part of a robot (100) having a binocular device (1) installed according to one or more embodiments of the present disclosure.

[0054] Referring to FIG. 1 and FIG. 2, a binocular device (1) for a robot according to one or more embodiments of the present disclosure may be installed on a robot (100). For example, a binocular device (1) for a robot according to one or more embodiments of the present disclosure may be installed on the head (101) of a humanoid robot (100).

[0055] A binocular device (1) for a robot according to one or more embodiments of the present disclosure may include two cameras that serve as eyes, namely a left camera (2) and a right camera (3). The left camera (2) and the right camera (3) may be spaced apart by a certain distance in the horizontal direction.

[0056] A binocular device (1) for a robot according to one or more embodiments of the present disclosure may be formed to allow up-and-down tilting, left-and-right tilting, and focus angle adjustment of the left camera (2) and the right camera (3).

[0057] A binocular device (1) for a robot according to one or more embodiments of the present disclosure may include an up-down tilting mechanism (5) formed to tilt the left camera (2) and the right camera (3) in an up-down direction, a left-right tilting mechanism (4) formed to tilt the left camera (2) and the right camera (3) in a left-right direction, a focus adjustment mechanism (6) formed to adjust the focus angle between the left camera (2) and the right camera (3), and a motion generating device (7) formed to selectively operate the up-down tilting mechanism (5), the left-right tilting mechanism (4), and the focus adjustment mechanism (6).

[0058] The motion generating device (7) can be formed to selectively operate the up-and-down tilting mechanism (5), the left-and-right tilting mechanism (4), and the focus adjustment mechanism (6).

[0059] The motion generating device (7) includes a main shaft (10) and may be formed to move the main shaft (10). For example, the motion generating device (7) may be formed so that the main shaft (10) performs one of linear movement, rotation, and spiral movement. In other words, the main shaft (10) may selectively perform one of linear movement, rotation, and spiral movement by the motion generating device (7). In some embodiments, the motion generating device (7) may be formed so that the main shaft (10) performs linear movement, rotation, and spiral movement. Linear movement refers to the main shaft (10) moving in a straight line without rotating, rotation refers to the main shaft (10) rotating only without moving in a straight line, and spiral movement refers to the main shaft (10) moving in a straight line while rotating simultaneously.

[0060] For example, the motion generating device (7) may include a main shaft (10), a linear bush (20) installed at one end of the main shaft (10), and a screw bush (30) installed at the other end of the main shaft (10).

[0061] The motion generating device (7) may include a first motor (8) and a second motor (9) to operate the main shaft (10). For example, as shown in FIG. 3, the motion generating device (7) may include a first motor (8) arranged to rotate a linear bush (20) and a second motor (9) arranged to rotate a screw bush (30).

[0062] The left and right tilting mechanism (4) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) moves linearly in a direction parallel to the base (1a), the left and right tilting mechanism (4) can be formed to simultaneously tilt the left camera (2) and the right camera (3) in the left and right directions, that is, in the left or right direction, at a certain angle.

[0063] For example, as illustrated in FIG. 4, the left and right tilting mechanism (4) may include a horizontal link (40) connected to a main shaft (10) and a sub-shaft (50) connected to the horizontal link (40). The main shaft (10) and the sub-shaft (50) may be connected by the horizontal link (40). Thus, when the main shaft (10) moves in a straight line, the sub-shaft (50) can move in a straight line by means of the horizontal link (40).

[0064] A left camera (2) and a right camera (3) can be connected to both sides of the sub-shaft (50) so as to be rotatable left and right. Therefore, when the sub-shaft (50) moves in a straight line left and right, the left camera (2) and the right camera (3) can be tilted left and right.

[0065] The up-and-down tilting mechanism (5) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) moves spirally, the up-and-down tilting mechanism (5) can be formed to simultaneously tilt the left camera (2) and the right camera (3) in the up-and-down direction relative to the base (1a), that is, in the upward or downward direction, at a certain angle.

[0066] For example, as illustrated in FIG. 8, the vertical tilting mechanism (5) may include a tilting gear train (70, 75) and a pair of bisection links (77, 78). The tilting gear train (70, 75) may be formed to convert the helical movement of the main shaft (10) into rotational movement and transmit it to the pair of bisection links (77, 78). The pair of bisection links (77, 78) may be connected by a tilting shaft (76). Thus, when the main shaft (10) of the motion generating device (7) moves helically, the pair of bisection links (77, 78) can move forward and backward, that is, in the Y-axis direction, by means of the tilting gear train (70, 75) and the tilting shaft (76).

[0067] A left camera (2) and a right camera (3) are connected to one end of a pair of bisection links (77, 78). The left camera (2) and the right camera (3) can be installed to tilt at a certain angle with respect to the horizontal axis (H). Thus, when the pair of bisection links (77, 78) move back and forth, the left camera (2) and the right camera (3) can be tilted up and down.

[0068] The focus adjustment mechanism (6) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) rotates, the focus adjustment mechanism (6) can be formed to adjust the focus angle between the left camera (2) and the right camera (3).

[0069] For example, as illustrated in FIG. 8, the focus adjustment mechanism (6) may include a focus gear train (18, 55) and a sub-shaft (50). The focus gear train (18, 55) may be formed to transmit the rotation of the main shaft (10) to the sub-shaft (50). Thus, when the main shaft (10) rotates, the sub-shaft (50) can rotate by means of the focus gear train (18, 55).

[0070] A left camera (2) and a right camera (3) may be installed on the left side (52) and right side (53) of the sub-shaft (50). The left camera (2) and the right camera (3) may be installed to tilt to the left and right at a certain angle with respect to the first vertical axis (V1) and the second vertical axis (V2), respectively. Thus, when the sub-shaft (50) rotates, the left camera (2) and the right camera (3) tilt to opposite directions at a certain angle, thereby allowing the focus angle between the left camera (2) and the right camera (3) to be adjusted.

[0071] Hereinafter, a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail with reference to FIGS. 3 to 17.

[0072] FIG. 3 is a perspective view showing a binocular device (1) for a robot according to one or more embodiments of the present disclosure.

[0073] Referring to FIG. 3, a binocular device (1) for a robot according to one or more embodiments of the present disclosure may include a left camera (2), a right camera (3), a motion generating device (7), a left-right tilting mechanism (4), an up-down tilting mechanism (5), and a focus adjustment mechanism (6).

[0074] A robot binocular device (1) according to one or more embodiments of the present disclosure may be installed on a base (1a). The base (1a) may be part of the interior of a robot (100) on which the robot binocular device (1) is installed. The base (1a) may be formed in various shapes as long as it can support the robot binocular device (1).

[0075] The left camera (2) and the right camera (3) can be installed on the upper side of the base (1a).

[0076] The right camera (3) is installed to the right of the left camera (2) and can be spaced a certain distance from the left camera (2).

[0077] In some embodiments, the left camera (2) and the right camera (3) may be formed as cameras of the same size or different sizes.

[0078] The motion generating device (7) can be formed to selectively operate one of the left-right tilting mechanism (4), the up-down tilting mechanism (5), and the focus adjustment mechanism (6) to tilt the left camera (2) and the right camera (3) at a certain angle.

[0079] The motion generating device (7) may include a main shaft (10). The main shaft (10) of the motion generating device (7) may optionally perform one or all of linear movement, rotation, and helical movement. For example, the motion generating device (7) may cause the main shaft (10) to move linearly. The motion generating device (7) may cause the main shaft (10) to rotate. The motion generating device (7) may cause the main shaft (10) to move helically.

[0080] The left and right tilting mechanism (4) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) moves linearly in a direction parallel to the base (1a), the left camera (2) and the right camera (3) can be simultaneously tilted at a certain angle in the left and right directions by the left and right tilting mechanism (4).

[0081] For example, when the main shaft (10) of the motion generating device (7) moves in a straight line in one direction, the left camera (2) and the right camera (3) can be tilted at a certain angle to the left simultaneously. Alternatively, when the main shaft (10) of the motion generating device (7) moves in a straight line in the opposite direction, the left camera (2) and the right camera (3) can be tilted at a certain angle to the right simultaneously.

[0082] The vertical tilting mechanism (5) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) moves spirally, the left camera (2) and the right camera (3) can be simultaneously tilted vertically at a certain angle relative to the base (1a) by the vertical tilting mechanism (5).

[0083] For example, when the main shaft (10) of the motion generating device (7) moves spirally in one direction, the left camera (2) and the right camera (3) can be tilted upward at a certain angle simultaneously. Alternatively, when the main shaft (10) of the motion generating device (7) moves spirally in the opposite direction, the left camera (2) and the right camera (3) can be tilted downward at a certain angle simultaneously.

[0084] The focus adjustment mechanism (6) can be connected to the motion generating device (7). When the main shaft (10) of the motion generating device (7) rotates, the left camera (2) and the right camera (3) are tilted in opposite directions by the focus adjustment mechanism (6) to adjust the focus angle between the left camera (2) and the right camera (3).

[0085] For example, if the main shaft (10) of the motion generating device (7) rotates in one direction, the focal angle between the left camera (2) and the right camera (3) may decrease. If the main shaft (10) of the motion generating device (7) rotates in the opposite direction, the focal angle between the left camera (2) and the right camera (3) may increase.

[0086] With reference to FIGS. 3, 4, 5, 6, and 7, a motion generating device (7) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail.

[0087] Referring to FIG. 3, the motion generating device (7) may include a main shaft (10), a linear bush (20), a screw bush (30), a first motor (8), and a second motor (9).

[0088] The main shaft (10) can be formed in the shape of a rod having a circular cross-section.

[0089] The main shaft (10) may include a helical groove (12) and a plurality of guide grooves (11).

[0090] A helical groove (12) can be formed on the outer surface of the main shaft (10). The helical groove (12) can be formed in a helical shape with a certain depth on the outer surface of the main shaft (10).

[0091] A plurality of guide grooves (11) may be formed on the outer surface of the main shaft (10) in the longitudinal direction of the main shaft (10). A plurality of guide grooves (11) may be formed at regular intervals in the circumferential direction of the main shaft (10). The guide grooves (11) may be straight grooves formed in the longitudinal direction of the main shaft (10). In other words, the guide grooves (11) may be formed to a certain depth over the entire length of the main shaft (10). A plurality of guide grooves (11) may intersect with helical grooves (12).

[0092] FIG. 4 is a side view showing a linear bush (20) coupled to the main shaft (10) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure. FIG. 5 is a perspective view showing the main shaft (10) and the linear bush (20) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure.

[0093] The linear bush (20) can be formed to rotate the main shaft (10). The linear bush (20) can be installed to slide along the main shaft (10). For example, the linear bush (20) can be installed to slide along the first end of the main shaft (10). The linear bush (20) can be installed to rotate in place. Thus, when the main shaft (10) moves, the linear bush (20) may not move left or right along the main shaft (10).

[0094] The linear bush (20) may be formed in a cylindrical shape including a hollow portion. The hollow portion of the linear bush (20) may be formed so that the main shaft (10) can be inserted. The hollow portion of the linear bush (20) may be formed to have a circular cross-section corresponding to the main shaft (10).

[0095] Referring to FIGS. 4 and 5, a plurality of guide protrusions (22) may be formed on the inner surface of the hollow of the linear bush (20). The plurality of guide protrusions (22) may be formed to correspond to a plurality of guide grooves (11) of the main shaft (10). For example, if the main shaft (10) includes four guide grooves (11), four guide protrusions (22) may be formed in the hollow of the linear bush (20).

[0096] Accordingly, a plurality of guide protrusions (22) of the linear bush (20) can be inserted into the guide grooves (11) of the main shaft (10) to guide the linear movement of the main shaft (10). In other words, the plurality of guide protrusions (22) of the linear bush (20) can be formed to engage with the plurality of guide grooves (11) of the main shaft (10). Accordingly, when the linear bush (20) rotates, the main shaft (10) can rotate by means of the plurality of guide protrusions (22) inserted into the plurality of guide grooves (11).

[0097] The linear bush (20) may include a first bush gear (23). The first bush gear (23) may be installed concentrically with the linear bush (20) on the outer surface of the linear bush (20). The first bush gear (23) may be formed integrally with the linear bush (20). Therefore, when the first bush gear (23) rotates, the linear bush (20) may rotate integrally with the first bush gear (23).

[0098] The first motor (8) may be formed to generate rotational force that rotates the linear bush (20). The first motor (8) may include a first motor shaft (8a). The first motor (8) may be installed such that the first motor shaft (8a) is parallel to the main shaft (10).

[0099] A first pinion (24) may be installed on the first motor shaft (8a). The first pinion (24) may be installed to mesh with the first bush gear (23). Thus, when the first motor shaft (8a) rotates, the first bush gear (23) meshed with the first pinion (24) can rotate. When the first bush gear (23) rotates, the linear bush (20) can rotate integrally with the first bush gear (23).

[0100] When the linear bush (20) rotates, the main shaft (10) can rotate by means of the meshed plurality of guide protrusions (22) and guide grooves (11).

[0101] FIG. 6 is a cross-sectional view showing a screw bush (30) coupled to the main shaft (10) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure. FIG. 7 is a perspective view showing the main shaft (10) and the screw bush (30) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure.

[0102] The screw bush (30) can be formed to be screw-coupled to the main shaft (10). The screw bush (30) can be installed so as to be spirally movable on the main shaft (10). For example, the screw bush (30) can be installed so as to be spirally movable on the second end of the main shaft (10).

[0103] The screw bush (30) can be formed in a cylindrical shape with a hollow (31). The hollow (31) of the screw bush (30) can be formed so that the main shaft (10) can be inserted. The hollow (31) of the screw bush (30) can be formed to have a circular cross-section corresponding to the main shaft (10).

[0104] Referring to FIGS. 6 and 7, a helical projection (32) may be formed on the inner surface of the hollow (31) of the screw bush (30). The helical projection (32) may be formed to correspond to the helical groove (12) of the main shaft (10). Thus, the screw bush (30) can be screw-fastened to the main shaft (10).

[0105] The helical projection (32) of the screw bush (30) can be inserted into the helical groove (12) of the main shaft (10) to guide the helical movement of the main shaft (10). In other words, the helical projection (32) of the screw bush (30) can be formed to engage with the helical groove (12) of the main shaft (10). Thus, when the screw bush (30) rotates, the main shaft (10) can move helically by means of the helical projection (32) inserted into the helical groove (12).

[0106] The screw bush (30) may include a second bush gear (33). The second bush gear (33) may be installed concentrically with the screw bush (30) on the outer surface of the screw bush (30). The second bush gear (33) may be formed integrally with the screw bush (30). Therefore, when the second bush gear (33) rotates, the screw bush (30) may rotate integrally with the second bush gear (33). The screw bush (30) may be installed on the main shaft (10) so that it can rotate in place. Therefore, when the main shaft (10) moves, the screw bush (30) may not move left or right along the main shaft (10).

[0107] The second motor (9) may be formed to generate rotational force that rotates the screw bush (30). The second motor (9) may include a second motor shaft (9a). The second motor (9) may be installed such that the second motor shaft (9a) is parallel to the main shaft (10).

[0108] A second pinion (34) may be installed on the second motor shaft (9a). The second pinion (34) may be installed to mesh with the second bush gear (33). Thus, when the second motor shaft (9a) rotates, the second bush gear (33) meshed with the second pinion (34) can rotate. When the second bush gear (33) rotates, the screw bush (30) can rotate integrally with the second bush gear (33).

[0109] When the screw bush (30) rotates, the main shaft (10) can move spirally by means of the engaged helical projection (32) and helical groove (12). In other words, when the screw bush (30) rotates in one direction, the main shaft (10) can move linearly in one direction while rotating in one direction.

[0110] Since a linear bush (20) is installed at the first end of the main shaft (10) and a screw bush (30) is installed at the second end, one of linear movement, rotation, and helical movement of the main shaft (10) can be achieved by selective rotation of the linear bush (20) and the screw bush (30).

[0111] For example, when the first motor (8) operates and the linear bush (20) rotates, and the second motor (9) does not operate and the screw bush (30) does not rotate, the main shaft (10) can move spirally by the screw bush (30). The direction of spiral movement of the main shaft (10) can change depending on the direction of rotation of the first motor (8).

[0112] For example, if the first motor (8) does not operate and the linear bush (20) does not rotate, and the second motor (9) operates and the screw bush (30) rotates, the main shaft (10) can move linearly by the linear bush (20). The direction of linear movement of the main shaft (10) can change depending on the direction of rotation of the second motor (9).

[0113] For example, when both the first motor (8) and the second motor (9) operate and both the linear bush (20) and the screw bush (30) rotate, the main shaft (10) can rotate. At this time, the main shaft (10) may not move in the longitudinal direction.

[0114] With reference to FIGS. 8, 9, 10, and 11, a left-right tilting mechanism (4) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail.

[0115] FIG. 8 is a perspective view of a robot binocular device (1) according to one or more embodiments of the present disclosure, viewed in the Y direction. FIG. 9 is a plan view of a robot binocular device (1) according to one or more embodiments of the present disclosure of FIG. 8. FIG. 10 is a perspective view showing a state in which a horizontal link (40) is separated from the main shaft (10) of a robot binocular device (1) according to one or more embodiments of the present disclosure. FIG. 11 is a drawing showing a state in which the left camera (2) and the right camera (3) of a robot binocular device (1) according to one or more embodiments of the present disclosure are tilted to the right.

[0116] The left and right tilting mechanism (4) can be connected to the main shaft (10) of the motion generating device (7). The left and right tilting mechanism (4) can be formed to convert the linear movement of the main shaft (10) into left and right tilting of the left camera (2) and the right camera (3).

[0117] Referring to FIGS. 8 and 9, the left and right tilting mechanism (4) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure may include a horizontal link (40) and a sub-shaft (50).

[0118] A horizontal link (40) may be installed between the main shaft (10) and the sub shaft (50). The horizontal link (40) may be formed to connect the main shaft (10) and the sub shaft (50). The horizontal link (40) may be installed so as to be rotatable on the upper surface of the base (1a).

[0119] Referring to FIGS. 8, 9, and 10, the horizontal link (40) may include a link shaft (41). The link shaft (41) may be formed to protrude from the upper and lower surfaces of the horizontal link (40). The link shaft (41) may be installed vertically on the base (1a). The link shaft (41) may be rotatably supported by a support member. Thus, the horizontal link (40) may pivot around the link shaft (41).

[0120] The horizontal link (40) may include a first section (42) formed to receive linear movement of the main shaft (10) and a second section (43) connected to the central part (51) of the sub-shaft (50). The first section (42) and the second section (43) may be provided at both ends of the horizontal link (40). A link axis (41) may be formed between the first section (42) and the second section (43).

[0121] The first end (42) of the horizontal link (40) can be connected so as to pivot at a certain angle relative to the main shaft (10). The second end (43) of the horizontal link (40) can be formed so as to pivot at a certain angle relative to the sub-shaft (50).

[0122] For example, a first connecting hole (42a) may be provided in the first section (42) of the horizontal link (40). A recess (42b) formed to accommodate the main shaft (10) may be provided below the first section (42). The first connecting hole (42a) may be formed as an elongated groove. The main shaft (10) may include a first connecting projection (62) that can be inserted into the first connecting hole (42a) of the first section (42). When the first connecting projection (62) of the main shaft (10) is inserted into the first connecting hole (42a) of the first section (42) of the horizontal link (40), the main shaft (10) and the horizontal link (40) can be connected. Thus, when the main shaft (10) moves in a straight line, the horizontal link (40) can pivot at a certain angle around the link axis (41).

[0123] For example, the main shaft (10) may include a lead screw (16). The lead screw (16) may be installed at the center of the main shaft (10). The lead screw (16) may be formed with a length shorter than the length of the main shaft (10). The diameter of the lead screw (16) may be larger than the diameter of the main shaft (10). A helical groove may be formed on the outer surface of the lead screw (16). The pitch of the helical groove of the lead screw (16) may be formed to be the same as the pitch of the helical groove (12) of the main shaft (10). Alternatively, the pitch of the helical groove of the lead screw (16) may be formed to be smaller than the pitch of the helical groove (12) of the main shaft (10).

[0124] The main shaft (10) may include a screw nut (60) that is screw-coupled to a lead screw (16). The screw nut (60) may be connected to a first end (42) of a horizontal link (40). For example, the screw nut (60) may include a hollow portion, and a helical projection (61) may be formed on the inner surface of the hollow portion. The helical projection (61) of the screw nut (60) may be formed to correspond to a helical groove of the lead screw (16). Thus, the screw nut (60) may be screw-coupled to the lead screw (16).

[0125] The screw nut (60) may be installed on the linear movement guide member (65). The linear movement guide member (65) is installed below the screw nut (60) and may be formed to guide the linear movement of the screw nut (60). The linear movement guide member (65) may be installed on the base (1a).

[0126] For example, the linear motion guide member (65) may be formed as an LM (Linear Motion) guide. The LM guide may include a rail (65b) and a block (65a) that is slidably installed on the rail (65b). In other words, the block (65a) may be installed on the rail (65b) and may be formed to slide along the rail (65b). A screw nut (60) may be installed on the upper surface of the block (65a) of the LM guide. Thus, the linear movement of the screw nut (60) may be guided by the LM guide.

[0127] However, the linear movement guide member (65) is not limited to an LM guide. Various types of linear movement guide members (65) can be used as long as they can guide the linear movement of the screw nut (60).

[0128] For example, the second end (43) of the horizontal link (40) may include a U-shaped groove. A sub-shaft (50) may be received in the U-shaped groove. A second connecting hole (43a) may be provided in the second end (43) of the horizontal link (40). Two second connecting holes (43a) provided at the top and bottom of the second end (43) of the horizontal link (40) may be provided. The second connecting holes (43a) may be formed as elongated grooves.

[0129] The sub-shaft (50) may include two second connecting protrusions (51a) provided in the central portion (51). The two second connecting protrusions (51a) may be inserted into two second connecting holes (43a) of the second portion (43) of the horizontal link (40). When the two second connecting protrusions (51a) of the sub-shaft (50) are inserted into the two second connecting holes (43a) of the second portion (43) of the horizontal link (40), the sub-shaft (50) and the horizontal link (40) can be connected. Thus, when the horizontal link (40) pivots due to the linear movement of the main shaft (10), the sub-shaft (50) can move linearly in the opposite direction.

[0130] The sub-shaft (50) may be installed parallel to the main shaft (10). The sub-shaft (50) may be installed so as to be movable parallel to the main shaft (10). The sub-shaft (50) is installed on the upper side of the base (1a) and may be movable parallel to the base (1a). The sub-shaft (50) may be formed in a rod shape having a circular cross-section.

[0131] The sub-shaft (50) can be connected to the left camera (2) and the right camera (3). The left camera (2) can be connected to the left side (52) of the sub-shaft (50), and the right camera (3) can be connected to the right side (53) of the sub-shaft (50). The left camera (2) and the right camera (3) can be formed to tilt at a certain angle in the left and right directions according to the linear movement of the sub-shaft (50). For example, the left camera (2) can be connected to the left side (52) of the sub-shaft (50) so that it tilts at a certain angle when the sub-shaft (50) moves linearly. The right camera (3) can be connected to the right side (53) of the sub-shaft (50) so that it tilts at a certain angle when the sub-shaft (50) moves linearly.

[0132] The left camera (2) can be installed so as to be tilted to the left and right at a certain angle with respect to a first vertical axis (V1) perpendicular to the base (1a). The right camera (3) can be installed so as to be tilted to the left and right at a certain angle with respect to a second vertical axis (V2) perpendicular to the base (1a). The first vertical axis (V1) and the second vertical axis (V2) can be parallel to each other.

[0133] A left tilting bracket (80) may be installed between the left camera (2) and the sub-shaft (50). A right tilting bracket (85) may be installed between the right camera (3) and the sub-shaft (50) on one side of the left tilting bracket (80).

[0134] The left tilting bracket (80) can be formed so that the left camera (2) tilts left and right according to the linear movement of the sub-shaft (50). The right tilting bracket (85) can be formed so that the right camera (3) tilts left and right according to the linear movement of the sub-shaft (50). In other words, the left tilting bracket (80) and the right tilting bracket (85) can be tilted left and right simultaneously according to the linear movement of the sub-shaft (50).

[0135] For example, the left tilting bracket (80) may include a horizontal hinge portion (81), a vertical hinge portion (82), and a connecting portion (83).

[0136] The horizontal hinge portion (81) is installed behind the left camera (2) and can support the left camera (2) so that it can tilt in the up and down direction. For example, the horizontal hinge portion (81) can be formed in a U-shape with a roughly flat bottom. A pair of hinges (81a) may be provided on both arms of the horizontal hinge portion (81) so as to be rotatably connected to both sides of the left camera (2).

[0137] A horizontal hinge portion (81) can be installed such that a horizontal axis (H) passing through the center of a pair of hinges (81a) of the horizontal hinge portion (81) is parallel to the sub-shaft (50). Accordingly, the left camera (2) can tilt up and down around the horizontal axis (H).

[0138] As shown in FIG. 3, when the left camera (2) includes a support plate (2a), a pair of hinges (81a) of the horizontal hinge portion (81) can be rotatably connected to both sides of the support plate (2a).

[0139] The vertical hinge portion (82) can be installed approximately perpendicular to the horizontal hinge portion (81). The vertical hinge portion (82) is formed integrally with the horizontal hinge portion (81) and can support the horizontal hinge portion (81) so that it can tilt in the left and right directions. Accordingly, the left camera (2) installed on the horizontal hinge portion (81) can be tilted to the left and right at a certain angle around the vertical hinge portion (82).

[0140] For example, the vertical hinge portion (82) may be formed in a U-shape with a roughly flat bottom. A pair of hinge axes (82a) protruding outwardly may be provided on both arms of the vertical hinge portion (82). The pair of hinge axes (82a) may be formed in a straight line. The vertical hinge portion (82) may rotate around the pair of hinge axes (82a). The pair of hinge axes (82a) of the vertical hinge portion (82) may form a first vertical axis (V1).

[0141] The hinge axis (82a) formed on the lower arm of the vertical hinge portion (82) can be rotatably supported by a support member provided on the base (1a). The hinge axis (82a) formed on the upper arm of the vertical hinge portion (82) can be rotatably supported by a support member provided on the upper side of the vertical hinge portion (82). Accordingly, the left camera (2) installed on the horizontal hinge portion (81) can be tilted left and right around a pair of hinge axes (82a), namely the first vertical axis (V1).

[0142] The connecting portion (83) can be formed to protrude from the horizontal hinge portion (81) toward the motion generating device (7). In other words, the connecting portion (83) can be formed to protrude from the horizontal hinge portion (81) in the opposite direction to the left camera (2).

[0143] A U-shaped groove may be formed at the tip of the connecting part (83). The U-shaped groove is formed to accommodate a left nut (56) screwed onto the sub-shaft (50). A connecting hole (83a) may be provided at the tip of the connecting part (83). Two connecting holes (83a) may be provided at the upper and lower ends of the tip of the connecting part (83). The connecting holes (83a) may be formed as elongated grooves.

[0144] The left nut (56) may include two connecting protrusions (56a) that can be inserted into two connecting holes (83a) of the connecting part (83). The two connecting protrusions (56a) may be formed on the outer surface of the left nut (56) at a distance of 180 degrees. The left nut (56) may be formed to be screw-fastened to the left part (52) of the sub-shaft (50).

[0145] When two connecting protrusions (56a) of the left nut (56) attached to the sub shaft (50) are inserted into two connecting holes (83a) of the connecting part (83), the sub shaft (50) and the connecting part (83) of the left tilting bracket (80) can be connected.

[0146] For example, the right tilting bracket (85) may include a horizontal hinge portion (86), a vertical hinge portion (87), and a connecting portion (88).

[0147] The horizontal hinge portion (86) is installed behind the right camera (3) and can support the right camera (3) so that it can tilt in the up and down direction. For example, the horizontal hinge portion (86) can be formed in a U-shape with a roughly flat bottom. A pair of hinges (86a) may be provided on both arms of the horizontal hinge portion (86) so as to be rotatably connected to both sides of the right camera (3).

[0148] The horizontal hinge portion (86) can be installed such that a horizontal axis (H) passing through the center of a pair of hinges (86a) of the horizontal hinge portion (86) is parallel to the sub-shaft (50). Accordingly, the right camera (3) can rotate up and down around the horizontal axis (H). The horizontal axis (H) passing through the center of a pair of hinges (86a) of the horizontal hinge portion (86) of the right tilting bracket (85) can form a straight line with the horizontal axis (H) passing through the center of a pair of hinges (81a) of the horizontal hinge portion (81) of the left tilting bracket (80).

[0149] As shown in FIG. 3, when the right camera (3) includes a support plate (3a), a pair of hinges (86a) of the horizontal hinge portion (86) of the right tilting bracket (85) can be rotatably connected to both sides of the support plate (3a).

[0150] The vertical hinge portion (87) can be installed approximately perpendicular to the horizontal hinge portion (86). The vertical hinge portion (87) is formed integrally with the horizontal hinge portion (86) and can support the horizontal hinge portion (86) so that it can tilt in the left and right directions. Accordingly, the right camera (3) installed on the horizontal hinge portion (86) can be tilted to the left and right at a certain angle around the vertical hinge portion (87).

[0151] For example, the vertical hinge portion (87) may be formed in a U-shape with a roughly flat bottom. A pair of hinge axes (87a) protruding outwardly may be provided on both arms of the vertical hinge portion (87). The pair of hinge axes (87a) may be formed in a straight line. The vertical hinge portion (87) may rotate around the pair of hinge axes (87a). The pair of hinge axes (87a) of the vertical hinge portion (87) of the right tilting bracket (85) may form a second vertical axis (V2).

[0152] The hinge axis (87a) formed on the lower arm of the vertical hinge portion (87) can be rotatably supported by a support member provided on the base (1a). The hinge axis (87a) formed on the upper arm of the vertical hinge portion (87) can be rotatably supported by a support member provided on the upper side of the vertical hinge portion (87). Accordingly, the right camera (3) installed on the horizontal hinge portion (86) can be tilted left and right around a pair of hinge axes (87a), namely the second vertical axis (V2).

[0153] The connecting portion (88) can be formed to protrude from the horizontal hinge portion (86) toward the motion generating device (7). In other words, the connecting portion (88) can be formed to protrude from the horizontal hinge portion (86) in the opposite direction to the right camera (3).

[0154] A U-shaped groove may be formed at the tip of the connecting part (88). The U-shaped groove is formed to accommodate a right nut (57) screwed onto the sub-shaft (50). A connecting hole (88a) may be provided at the tip of the connecting part (88). Two connecting holes (88a) may be provided at the upper and lower ends of the tip of the connecting part (88). The connecting holes (88a) may be formed as elongated grooves.

[0155] The right nut (57) may include two connecting protrusions (57a) that can be inserted into two connecting holes (88a) of the connecting part (88). The two connecting protrusions (57a) may be formed on the outer surface of the right nut (57) at a distance of 180 degrees. The right nut (57) may be formed to be screw-fastened to the right part (53) of the sub-shaft (50).

[0156] When two connecting protrusions (57a) of the right nut (57) attached to the sub shaft (50) are inserted into two connecting holes (88a) of the connecting part (88), the sub shaft (50) and the connecting part (88) of the right tilting bracket (85) can be connected.

[0157] Accordingly, when the main shaft (10) moves in a straight line, the sub-shaft (50) can move in a straight line in the opposite direction by means of the horizontal link (40). When the sub-shaft (50) moves in a straight line, the left camera (2) connected to the left tilting bracket (80) and the right camera (3) connected to the right tilting bracket (85) can be tilted left and right simultaneously.

[0158] Accordingly, when the main shaft (10) of the motion generating device (7) moves in a straight line, the sub-shaft (50) moves in a straight line by the horizontal link (40), so the left camera (2) and the right camera (3) can be tilted to the left or right at a certain angle simultaneously.

[0159] For example, as illustrated in FIG. 11, when the main shaft (10) moves linearly to the right, the sub-shaft (50) can move linearly to the left by the horizontal link (40). When the sub-shaft (50) moves linearly to the left, the left tilting bracket (80) and the right tilting bracket (85) connected to both sides of the sub-shaft (50) are simultaneously tilted to the right at a certain angle around the first vertical axis (V1) and the second vertical axis (V2), respectively. Since the left camera (2) is installed on the left tilting bracket (80) and the right camera (3) is installed on the right tilting bracket (85), when the left tilting bracket (80) and the right tilting bracket (85) are simultaneously tilted to the right at a certain angle, the left camera (2) and the right camera (3) can also be tilted to the right at a certain angle.

[0160] For example, the center line (C1) of the left camera (2) can be turned to the right at a certain angle (α) relative to the vertical reference plane (A1) of the left camera (2). At the same time, the center line (C2) of the right camera (3) can also be tilted to the right at the same angle (α) relative to the vertical reference plane (A2) of the right camera.

[0161] Hereinafter, with reference to FIGS. 3, FIGS. 8, FIGS. 12, FIGS. 13, and FIGS. 14, an up-and-down tilting mechanism (5) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail.

[0162] FIG. 12 is a cross-sectional view showing a robot binocular device (1) according to one or more embodiments of the present disclosure of FIG. 9, cut along line AA. FIG. 13 is a perspective view showing a first tilting gear (70) of a robot binocular device (1) according to one or more embodiments of the present disclosure. FIG. 14 is a cross-sectional view showing the right camera (3) of the robot binocular device (1) according to one or more embodiments of the present disclosure of FIG. 12 tilted downward.

[0163] The up-and-down tilting mechanism (5) can be connected to the main shaft (10) of the motion generating device (7). The up-and-down tilting mechanism (5) can be formed to convert the spiral movement of the main shaft (10) into the up-and-down tilting of the left camera (2) and the right camera (3).

[0164] Referring to FIGS. 3, 8, and 12, the vertical tilting mechanism (5) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure may include a first tilting gear (70), a second tilting gear (75), a tilting shaft (76), and a pair of two-section links (77, 78).

[0165] The first tilting gear (70) can be installed on the main shaft (10). The first tilting gear (70) can be formed to rotate when the main shaft (10) moves in a spiral motion.

[0166] For example, the main shaft (10) may include a spline portion (17). The spline portion (17) may be formed between the lead screw (16) and the screw bush (30). The spline portion (17) may be formed integrally with the main shaft (10). Thus, the spline portion (17) may move integrally with the main shaft (10).

[0167] The first tilting gear (70) may include a spline boss (71) corresponding to the spline portion (17) of the main shaft (10). The spline boss (71) may be formed at the center of the first tilting gear (70). The spline boss (71) may be formed to correspond to the spline portion (17) of the main shaft (10). Accordingly, the spline portion (17) of the main shaft (10) can be detachably inserted into the spline boss (71).

[0168] As illustrated in FIG. 13, the first tilting gear (70) can be rotatably supported by a rotational support (72). A bearing that supports the rotation of the first tilting gear (70) may be installed inside the rotational support (72). The rotational support (72) that supports the rotation of the first tilting gear (70) can be fixed to the base (1a). Thus, the first tilting gear (70) can maintain its original position without moving relative to the base (1a) even when the main shaft (10) moves.

[0169] When the main shaft (10) moves in a straight line, the spline portion (17) can slide through the spline boss (71) of the first tilting gear (70). Therefore, even if the main shaft (10) moves in a straight line, the first tilting gear (70) may not move in a straight line.

[0170] When the main shaft (10) moves spirally while the spline portion (17) is inserted into the spline boss (71) of the first tilting gear (70), the first tilting gear (70) can rotate by means of the spline portion (17) and the spline boss (71).

[0171] The second tilting gear (75) can be meshed with the first tilting gear (70). The first tilting gear (70) and the second tilting gear (75) can form a tilting gear train.

[0172] The second tilting gear (75) may be installed at one end of the tilting shaft (76). The tilting shaft (76) may be installed at the center of the second tilting gear (75) parallel to the main shaft (10). The tilting shaft (76) may be rotatably supported by a support member installed on the base (1a).

[0173] A pair of bisection links (77, 78) may be installed at both ends of the tilting shaft (76). A pair of bisection links (77, 78) may include a left bisection link (78) connected to the left camera (2) and a right bisection link (77) connected to the right camera (3).

[0174] The right bisection link (77) may be installed adjacent to the second tilting gear (75). One end of the right bisection link (77) may be connected to the tilting shaft (76), and the other end may be connected to the right camera (3). For example, the right bisection link (77) may include a first link (77a) installed on the tilting shaft (76) and a second link (77b) connecting the first link (77a) and the right camera (3). One end of the second link (77b) may be pivotably connected to the first link (77a), and the other end may be pivotably connected to the rear of the right camera (3).

[0175] As shown in FIG. 3, when the right camera (3) includes a support plate (3a), the other end of the second link (77b) can be pivotably connected to the rear of the support plate (3a).

[0176] Accordingly, when the first link (77a) of the right bisection link (77) is rotated by the tilting shaft (76), the right camera (3) can be tilted up and down by the second link (77b).

[0177] The right camera (3) can be installed so as to be tilted up and down at a certain angle with respect to a horizontal axis (H) parallel to the tilting shaft (76). For example, as described above, when a right tilting bracket (85) is installed between the sub-shaft (50) and the right camera (3), the right camera (3) can be tilted up and down around a pair of hinges (86a) of the horizontal hinge portion (86) of the right tilting bracket (85).

[0178] The left bisection link (78) may be installed at a certain distance from the right bisection link (77). One end of the left bisection link (78) may be connected to the tilting shaft (76), and the other end may be connected to the left camera (2). For example, the left bisection link (78) may include a first link (78a) installed on the tilting shaft (76) and a second link (78b) connecting the first link (78a) and the left camera (2). One end of the second link (78b) may be pivotably connected to the first link (78a), and the other end may be pivotably connected to the rear of the left camera (2). The left bisection link (78) may be formed in the same way as the right bisection link (77).

[0179] As shown in FIG. 3, when the left camera (2) includes a support plate (2a), the other end of the second link (78b) can be pivotably connected to the rear of the support plate (2a).

[0180] Accordingly, when the first link (78a) of the left bisection link (78) is rotated by the tilting shaft (76), the left camera (2) can be tilted up and down by the second link (78b).

[0181] The left camera (2) can be installed so as to be tilted up and down at a certain angle with respect to a horizontal axis (H) parallel to the tilting shaft (76). For example, as described above, when a left tilting bracket (80) is installed between the sub-shaft (50) and the left camera (2), the left camera (2) can be tilted up and down around a pair of hinges (81a) of the horizontal hinge portion (81) of the left tilting bracket (80).

[0182] Accordingly, when the first tilting gear (70) rotates due to the spiral movement of the main shaft (10), the second tilting gear (75) can rotate. When the second tilting gear (75) rotates, the tilting shaft (76) rotates so that the first link (78a) of the left bisection link (78) and the first link (77a) of the right bisection link (77) can rotate as a single unit. Then, the left camera (2) connected to the second link (78b) of the left bisection link (78) and the right camera (3) connected to the second link (77b) of the right bisection link (77) can be tilted up and down at a certain angle around the horizontal axis (H).

[0183] For example, as shown in FIG. 14, when the first tilting gear (70) rotates counterclockwise by a certain angle by the main shaft (10), the second tilting gear (75) can rotate clockwise by a certain angle. When the second tilting gear (75) rotates clockwise by a certain angle, the right camera (3) can be tilted downward by a certain angle around a pair of hinges (86a) by the right bisection link (77).

[0184] In other words, when the second tilting gear (75) rotates clockwise by a certain angle, the first link (77a) of the right two-joint link (77) rotates clockwise, and the second link (77b) moves to the right (arrow direction) by the first link (77a), so that the right camera (3) can be tilted downward by a certain angle around the hinge (86a). For example, the centerline (C2) of the right camera (3) can be tilted downward by a certain angle (β) with respect to the horizontal reference plane (B) of the right camera (3).

[0185] At this time, the left camera (2) can also be tilted downward by the same angle (β) around a pair of hinges (81a) by the left two-joint link (78).

[0186] Hereinafter, with reference to FIGS. 15, 16, and 17, a focus adjustment mechanism (6) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail.

[0187] FIG. 15 is a perspective view of a robot binocular device (1) according to one or more embodiments of the present disclosure, viewed in the Y direction. FIG. 16 is a plan view of a robot binocular device (1) according to one or more embodiments of the present disclosure of FIG. 15. FIG. 17 is a partial plan view showing the state in which the left camera (2) and the right camera (3) of the robot binocular device (1) according to one or more embodiments of the present disclosure are focused.

[0188] The focus adjustment mechanism (6) can be connected to the main shaft (10) of the motion generating device (7). The focus adjustment mechanism (6) can be formed to adjust the focus angle between the left camera (2) and the right camera (3) by utilizing the rotation of the main shaft (10).

[0189] Referring to FIG. 15 and FIG. 16, a focus adjustment mechanism (6) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure may include a first focus gear (18), a second focus gear (55), a sub-shaft (50), a left nut (56), and a right nut (57).

[0190] The first focus gear (18) may be installed on the main shaft (10). The first focus gear (18) may be installed between the linear bush (20) and the lead screw (16). The first focus gear (18) may be installed adjacent to the linear bush (20). The first focus gear (18) may be installed to move integrally with the main shaft (10).

[0191] The second focus gear (55) can be installed to optionally engage with the first focus gear (18). For example, when the main shaft (10) moves in a straight line, the first focus gear (18) can engage with or disengage from the second focus gear (55). When the first focus gear (18) and the second focus gear (55) engage, the first focus gear (18) and the second focus gear (55) can form a focus gear train.

[0192] The second focus gear (55) can be installed at one end of the sub-shaft (50). Thus, when the second focus gear (55) rotates, the sub-shaft (50) can rotate integrally with the second focus gear (55).

[0193] The sub-shaft (50) can be installed parallel to the main shaft (10). The sub-shaft (50) can be installed between the left camera (2) and the main shaft (10). The sub-shaft (50) is installed on the upper side of the base (1a) and can rotate integrally with the second focus gear (55). The sub-shaft (50) can be formed in a rod shape having a circular cross-section. Additionally, the sub-shaft (50) can move left and right parallel to the main shaft (10).

[0194] The sub-shaft (50) may include a central portion (51), a left portion (52), and a right portion (53). A left threaded portion and a right threaded portion may be formed on both sides of the central portion (51) of the sub-shaft (50). For example, the left threaded portion may be formed on one side of the central portion (51), and the right threaded portion may be formed on the other side of the central portion (51). As an example, the left threaded portion may be formed on the left portion (52) of the sub-shaft (50), and the right threaded portion may be formed on the right portion (53). Alternatively, the left threaded portion may be formed on the right portion (53) of the sub-shaft (50), and the right threaded portion may be formed on the left portion (52).

[0195] The central portion (51) may include two second connecting protrusions (51a). The two second connecting protrusions (51a) may be formed to be inserted into two second connecting holes (43a) of the second end (43) of the horizontal link (40).

[0196] The left nut (56) can be installed on the left side (52) of the sub-shaft (50). For example, if a left threaded portion is formed on the left side (52) of the sub-shaft (50), the left nut (56) can be formed to correspond thereto.

[0197] The right nut (57) can be installed on the right side (53) of the sub-shaft (50). For example, if a right-hand thread is formed on the right side (53) of the sub-shaft (50), the right nut (57) can be formed to correspond thereto.

[0198] Therefore, when the sub-shaft (50) rotates, the left nut (56) and the right nut (57) can move toward the center (51) or move away from the center (51). In other words, when the sub-shaft (50) rotates, the left nut (56) and the right nut (57) can move in opposite directions along the sub-shaft (50).

[0199] For example, when the sub-shaft (50) rotates in one direction, the left nut (56) and the right nut (57) attached to the left part (52) and the right part (53) of the sub-shaft (50) can move along the sub-shaft (50) toward the central part (51). When the sub-shaft (50) rotates in the opposite direction, the left nut (56) and the right nut (57) attached to the sub-shaft (50) can move along the sub-shaft (50) toward the central part (51).

[0200] The left nut (56) can be connected to the left camera (2), and the right nut (57) can be connected to the right camera (3).

[0201] The left camera (2) can be installed to be tilted to the left and right at a certain angle with respect to a first vertical axis (V1) perpendicular to the base (1a). For example, as described above, when a left tilting bracket (80) is installed between the sub-shaft (50) and the left camera (2), the left camera (2) can be tilted to the left and right around a pair of hinge axes (82a) of the vertical hinge portion (82) of the left tilting bracket (80).

[0202] The left nut (56) may include two connecting protrusions (56a) that can be inserted into two connecting holes (83a) of the connecting part (83) of the left tilting bracket (80). The two connecting protrusions (56a) may be formed on the outer surface of the left nut (56) at a distance of 180 degrees.

[0203] When two connecting protrusions (56a) of a left nut (56) fastened to the left side (52) of a sub-shaft (50) are inserted into two connecting holes (83a) of a connecting part (83) of a left tilting bracket (80), the sub-shaft (50) and the connecting part (83) of the left tilting bracket (80) can be connected.

[0204] The right camera (3) can be installed to be tilted to the left and right at a certain angle with respect to a second vertical axis (V2) perpendicular to the base (1a). For example, as described above, when a right tilting bracket (85) is installed between the sub-shaft (50) and the right camera (3), the right camera (3) can be tilted to the left and right around a pair of hinge axes (87a) of the vertical hinge portion (87) of the right tilting bracket (85).

[0205] The right nut (57) may include two connecting protrusions (57a) that can be inserted into two connecting holes (88a) of the connecting part (88) of the right tilting bracket (85). The two connecting protrusions (57a) may be formed on the outer surface of the right nut (57) at a distance of 180 degrees.

[0206] When two connecting protrusions (57a) of a right nut (57) fastened to the right side (53) of a sub shaft (50) are inserted into two connecting holes (88a) of a connecting part (88) of a right tilting bracket (85), the sub shaft (50) and the connecting part (88) of the right tilting bracket (85) can be connected.

[0207] Accordingly, when the sub-shaft (50) rotates in one direction so that the left nut (56) and the right nut (57) move along the sub-shaft (50) toward the center (51), the focal angle between the left camera (2) and the right camera (3) may decrease. When the sub-shaft (50) rotates in the opposite direction so that the left nut (56) and the right nut (57) move along the sub-shaft (50) away from the center (51), the focal angle between the left camera (2) and the right camera (3) may increase.

[0208] For example, as illustrated in FIG. 17, when the left nut (56) and the right nut (57) move away from each other along the sub-shaft (50) by the rotation of the second focal gear (55), the focal angle (θ) between the left camera (2) and the right camera (3) can be increased. Here, the focal angle (θ) between the left camera (2) and the right camera (3) refers to the angle between the centerline (C1) of the left camera (2) and the centerline (C2) of the right camera (3).

[0209] If the focal angle (θ) increases, the focal length of the robot binocular device (1) can be shortened. If the focal angle (θ) decreases, the focal length of the robot binocular device (1) can be lengthened. Here, the focal length refers to the distance from the image sensor surface of the left camera (2) and the right camera (3) to the point where the center line (C1) of the left camera (2) and the center line (C2) of the right camera (3) meet.

[0210] Hereinafter, with reference to FIGS. 3, FIGS. 8, FIGS. 9, FIGS. 11, FIGS. 12, FIGS. 14, FIGS. 15, and FIGS. 17, the operation of a binocular device (1) for a robot according to one or more embodiments of the present disclosure will be described in detail.

[0211] As illustrated in FIGS. 3, 8, and 9, the left camera (2) and the right camera (3) of a binocular device (1) for a robot according to one or more embodiments of the present disclosure can view the front. In other words, the center line (C1) of the left camera (2) and the center line (C2) of the right camera (3) can be oriented in a direction parallel to the Y-axis direction. The center line (C1) of the left camera (2) can be located on the vertical reference plane (A1) of the left camera (2), and the center line (C2) of the right camera (3) can be located on the vertical reference plane (A2) of the right camera (3). Here, the vertical reference plane (A1) of the left camera (2) refers to a plane parallel to the Y-axis that passes through the centerline of a pair of hinge axes (82a) of the vertical hinge part (82) of the left tilting bracket (80), and the vertical reference plane (A2) of the right camera (3) refers to a plane parallel to the Y-axis that passes through the centerline of a pair of hinge axes (87a) of the vertical hinge part (87) of the right tilting bracket (85).

[0212] At this time, the lead screw (16) of the main shaft (10) is coupled with a screw nut (60), and the spline portion (17) of the main shaft (10) can be coupled with the spline boss (71) of the first tilting gear (70).

[0213] In the state of FIG. 9, when the second motor (9) is operated, the screw bush (30) can be rotated by the second pinion (34) and the second bush gear (33). At this time, the first motor (8) may not be operated. When the screw bush (30) is rotated, the main shaft (10) can move in a straight line.

[0214] When the main shaft (10) moves in a straight line, the screw nut (60) connected to the lead screw (16) of the main shaft (10) can move along the straight-line movement guide member (65). When the screw nut (60) moves, the horizontal link (40) connected to the screw nut (60) can pivot at a certain angle around the link axis (41). When the horizontal link (40) pivots at a certain angle, the sub-shaft (50) connected to the other end of the horizontal link (40) can move in a straight line in the opposite direction to the main shaft (10).

[0215] When the sub-shaft (50) moves in a straight line, the left camera (2) and the right camera (3) connected to the sub-shaft (50) can be tilted to the left and right at a certain angle. At this time, the left camera (2) and the right camera (3) can be tilted to the same angle simultaneously. For example, as shown in FIG. 11, when the sub-shaft (50) moves in a straight line to the left, the left camera (2) connected to the left part (52) of the sub-shaft (50) can be tilted to the right at a certain angle around a pair of hinge axes (82a) of the left tilting bracket (80), and the right camera (3) connected to the right part (53) of the sub-shaft (50) can be tilted to the right at a certain angle around a pair of hinge axes (87a) of the right tilting bracket (85).

[0216] In the state of FIG. 9, when the first motor (8) is operated, the linear bush (20) can be rotated by the first pinion (24) and the first bush gear (23). At this time, the second motor (9) may not be operated. When the linear bush (20) is rotated, the main shaft (10) can move in a spiral motion.

[0217] When the main shaft (10) moves in a spiral motion, the first tilting gear (70) coupled to the spline portion (17) of the main shaft (10) can rotate. At this time, since the screw nut (60) is screw-coupled to the lead screw (16) of the main shaft (10), when the main shaft (10) moves in a spiral motion, the screw nut (60) does not move together with the main shaft (10) and can remain in a stationary state.

[0218] When the first tilting gear (70) rotates, the second tilting gear (75) rotates. When the second tilting gear (75) rotates, the tilting shaft (76) rotates together with the second tilting gear (75). When the tilting shaft (76) rotates, the tip of the left bisection link (78) and the tip of the right bisection link (77) can move in the Y-axis direction.

[0219] When the leading edge of the left bisection link (78) and the leading edge of the right bisection link (77) move in the Y-axis direction, the left camera (2) connected to the left bisection link (78) and the right camera (3) connected to the right bisection link (77) can be tilted up and down at a certain angle. At this time, the left camera (2) and the right camera (3) can be tilted at a certain angle in the same direction simultaneously.

[0220] For example, as illustrated in FIG. 14, when the second tilting gear (75) rotates clockwise due to the spiral movement of the main shaft (10), the right bisection link (77) moves in the direction of the arrow and pushes the right camera (3) in the Y-axis direction. Then, the right camera (3) can be tilted downward at a certain angle (β) around a pair of hinges (86a) of the horizontal hinge portion (86) of the right tilting bracket (85). At this time, since the left bisection link (78) is connected to the tilting shaft (76) on which the second tilting gear (75) is installed, the left camera (2) can also be tilted downward at a certain angle around a pair of hinges (81a) of the horizontal hinge portion (81) of the left tilting bracket (80), just like the right camera (3).

[0221] If you want to adjust the focus angle (θ) between the left camera (2) and the right camera (3), the first focus gear (18) installed on the main shaft (10) can be moved to mesh with the second focus gear (55) installed on the sub shaft (50).

[0222] For example, in the state of FIG. 9, if the second motor (9) is operated to move the main shaft (10) to the left, the first focal gear (18) of the main shaft (10) can be engaged with the second focal gear (55) of the sub shaft (50), as shown in FIG. 15. When only one of the first motor (8) and the second motor (9) is operated, the other motor that is not operated can be controlled so that the motor shaft does not rotate and remains in a stationary state.

[0223] As shown in FIG. 15, when the first focus gear (18) and the second focus gear (55) are engaged, the second focus gear (55) can rotate when the main shaft (10) is rotated. When the first motor (8) and the second motor (9) are operated simultaneously, the main shaft (10) can rotate without moving left or right.

[0224] When the second focus gear (55) rotates, the sub-shaft (50) can rotate integrally with the second focus gear (55). When the sub-shaft (50) rotates, the left nut (56) installed on the left side (52) of the sub-shaft (50) and the right nut (57) installed on the right side (53) of the sub-shaft (50) can move linearly in opposite directions along the sub-shaft (50).

[0225] When the left nut (56) and the right nut (57) move in a straight line along the sub-shaft (50), the left camera (2) connected to the left nut (56) and the right camera (3) connected to the right nut (57) are tilted in opposite directions, allowing the focus angle (θ) between the left camera (2) and the right camera (3) to be adjusted.

[0226] For example, as illustrated in FIG. 17, if the second focus gear (55) rotates in one direction so that the left nut (56) and the right nut (57) move away from each other along the sub-shaft (50), the focus angle (θ) between the left camera (2) and the right camera (3) can be increased. If the second focus gear (55) rotates in the opposite direction so that the left nut (56) and the right nut (57) move closer to each other along the sub-shaft (50), the focus angle (θ) between the left camera (2) and the right camera (3) can be decreased.

[0227] FIG. 18 is a functional block diagram showing a binocular device (1) for a robot according to one or more embodiments of the present disclosure.

[0228] Referring to FIG. 18, a binocular device (1) for a robot according to one or more embodiments of the present disclosure may include a left camera (2), a right camera (3), a left tilting sensor (91), a right tilting sensor (92), an up-down tilting sensor (93), a main shaft sensor (94), a first motor (8), a second motor (9), and one or more processors (90). In some embodiments, the binocular device (1) may include only two motors (8, 9).

[0229] The left camera (2) and the right camera (3) can be formed to capture an object and form an image. In other words, the left camera (2) and the right camera (3) can be formed as image sensors capable of capturing an object and forming an image.

[0230] The left tilting sensor (91) can be formed to recognize the angle at which the left camera (2) is tilted left and right. The right tilting sensor (92) can be formed to recognize the angle at which the right camera (3) is tilted left and right. The left tilting sensor (91) can be formed as a physical sensor or software capable of measuring the angle at which the left camera (2) is tilted left and right. The right tilting sensor (92) can be formed as a physical sensor or software capable of measuring the angle at which the right camera (3) is tilted left and right.

[0231] The up-and-down tilting sensor (93) can be formed to recognize the angle at which the left camera (2) or the right camera (3) is tilted up and down. The up-and-down tilting sensor (93) can be formed as a physical sensor or software capable of measuring the angle at which the left camera (2) or the right camera (3) is tilted up and down.

[0232] The main shaft sensor (94) can be formed to measure the linear travel distance of the main shaft (10), the spiral travel amount of the main shaft (10), and the rotation angle of the main shaft (10). The main shaft sensor (94) can be formed as a physical sensor or software capable of measuring the linear travel distance of the main shaft (10), the spiral travel amount of the main shaft (10), and the rotation angle of the main shaft (10).

[0233] The first motor (8) and the second motor (9) can be formed to generate rotational force. The first motor (8) can be formed to generate rotational force that rotates the linear bush (20). The second motor (9) can be formed to generate rotational force that rotates the screw bush (30). The first motor (8) and the second motor (9) can be formed as servo motors or stepping motors.

[0234] The first motor (8) can be controlled by the first motor driver (98). The second motor (9) can be controlled by the second motor driver (99).

[0235] One or more processors (90) may be formed to control a binocular device (1) for a robot according to one or more embodiments of the present disclosure. One or more processors (90) may control a left camera (2) and a right camera (3) to capture an object.

[0236] One or more processors (90) can control the first motor (8) and the second motor (99) by controlling the first motor driver (98) and the second motor driver (99). One or more processors (90) can control the first motor (8) and the second motor (9) to cause the left camera (2) and the right camera (3) to tilt to the left and right at a certain angle. One or more processors (90) can control the first motor (8) and the second motor (9) to cause the left camera (2) and the right camera (3) to tilt to the up and down at a certain angle. One or more processors (90) can control the first motor (8) and the second motor (9) to adjust the focal angle between the left camera (2) and the right camera (3).

[0237] One or more processors (90) may be electrically connected to the image processing unit (110). The image processing unit (110) may be formed separately from the binocular device (1) for a robot according to one or more embodiments of the present disclosure. For example, the image processing unit (110) may be provided in a robot control unit (120) that controls the robot (100). The robot control unit (120) may control the image processing unit (110) to process images captured by the left camera (2) and the right camera (3) and recognize objects using the processed data.

[0238] Hereinafter, with reference to FIG. 19, the operation of a binocular device (1) for a robot recognizing an object according to one or more embodiments of the present disclosure will be described.

[0239] FIG. 19 is a flowchart for explaining the operation of a binocular device (1) for a robot according to one or more embodiments of the present disclosure.

[0240] A robot (100) can recognize an object to be found (hereinafter referred to as the target) using a robot binocular device (1) according to one or more embodiments of the present disclosure.

[0241] First, one or more processors (90) can operate the left camera (2) and the right camera (3) of the binocular device (1) for a robot according to one or more embodiments of the present disclosure (S191). In other words, one or more processors (90) can control the motion generating device (7) to tilt the left camera (2) and the right camera (3) left and right or up and down to find a target.

[0242] The robot control unit (120) can detect a target by using the image processing unit (110) to process images captured by the left camera (2) and the right camera (3) (S192).

[0243] If the robot control unit (120) does not find a target (S192-N), one or more processors (90) can control the motion generating device (7) to continuously tilt the left camera (2) and the right camera (3) left and right or up and down to find the target.

[0244] When the robot control unit (120) detects a target (S192-Y), one or more processors (90) control the left camera (2) and the right camera (3) to look at the target (S193). Then, the robot control unit (120) can obtain location information of the target using a distance sensor (S194).

[0245] When the robot control unit (120) obtains the position information of the target, one or more processors (90) can adjust the focus angle between the left camera (2) and the right camera (3) (S195). For example, if the focus angle between the left camera (2) and the right camera (3) is not correct, the target may appear as two. If the focus angle between the left camera (2) and the right camera (3) is correct, the target may be seen clearly.

[0246] At this time, the robot control unit (120) can verify the target by processing the images captured by the left camera (2) and the right camera (3) using the image processing unit (110) (S196). In other words, the robot control unit (120) can determine whether the image processed through the image processing unit (110) matches the target.

[0247] If the image of an object captured by the left camera (2) and the right camera (3) recognized by the robot control unit (120) does not match the target (S196-N), one or more processors (90) can control the motion generating device (7) to continuously tilt the left camera (2) and the right camera (3) left and right or up and down to find the target.

[0248] When the image of an object captured by the left camera (2) and the right camera (3) recognized by the robot control unit (120) matches the target (S196-Y), the robot control unit (120) determines that target recognition is complete (S197) and can stop the operation of the robot binocular device (1) (S198).

[0249] A robot binocular device (1) according to one or more embodiments of the present disclosure having the above-described structure can use two motors to perform up-and-down tilting, left-and-right tilting, and focus adjustment of the left camera (2) and the right camera (3). Accordingly, the robot binocular device (1) according to one or more embodiments of the present disclosure can reduce the number of motors used compared to a robot binocular device (1) according to the prior art, thereby reducing the manufacturing cost and installation space of the robot binocular device (1).

[0250] Although the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as defined by the appended claims and equivalents.

Claims

base; A left camera installed on the upper side of the above base; A right camera installed on the upper side of the base, spaced apart to the right of the left camera; A motion generating device comprising a main shaft, wherein the main shaft is formed to perform linear movement, rotation, and helical movement; A left and right tilting mechanism connected to the motion generating device and formed to simultaneously tilt the left camera and the right camera to the left or right at a certain angle when the main shaft moves linearly in a direction parallel to the base; An up-and-down tilting mechanism connected to the motion generating device and formed to simultaneously tilt the left camera and the right camera upward or downward at a certain angle relative to the base when the main shaft moves spirally; A focus adjustment mechanism connected to the motion generating device and formed to adjust the focus angle between the left camera and the right camera when the main shaft rotates; and A binocular device for a robot comprising a first motor and a second motor that operate the above-mentioned motion generating device. In Article 1, The above motion generating device is, A linear bushing movably installed at the first end of the main shaft and formed to rotate the main shaft; A screw bushing coupled to the second end of the main shaft and formed to spirally move the main shaft; A first bushing gear installed on the outer surface of the linear bushing and formed to rotate by the first motor; and A binocular device for a robot comprising: a second bushing gear installed on the outer surface of the screw bushing and formed to rotate by the second motor. In Article 2, The above main shaft is, A helical groove formed on the outer surface of the main shaft; and A binocular device for a robot comprising: a plurality of guide grooves formed at regular intervals in the circumferential direction on the outer surface of the main shaft and formed as straight lines corresponding to the length of the main shaft. In Paragraph 3, The above linear bushing is, A hollow portion into which the above main shaft is inserted; and A binocular device for a robot comprising: a plurality of guide protrusions formed on the inner surface of the hollow portion and engaging with a plurality of guide grooves of the main shaft. In Paragraph 3, The above screw bushing is, A hollow portion into which the above main shaft is inserted; and A binocular device for a robot comprising a helical projection formed on the inner circumference of the hollow portion and engaging with a helical groove of the main shaft. In Article 1, The above-mentioned left and right tilting mechanism is, A sub-shaft formed to be movable parallel to the main shaft and connecting the left camera and the right camera; and A horizontal link comprising a first stage formed to pivot around a link axis perpendicular to the base and formed to receive linear movement of the main shaft, and a second stage connected to the central part of the sub-shaft; A binocular device for a robot, wherein when the main shaft of the motion generating device moves in a straight line, the sub-shaft moves in a straight line by means of the horizontal link, and the left camera and the right camera are simultaneously tilted to the left or right at a certain angle. In Article 6, The above-mentioned left and right tilting mechanism is, A lead screw installed at the center of the main shaft; A screw nut coupled to the lead screw and connected to the first end of the horizontal link; and A binocular device for a robot, further comprising a linear movement guide member installed below the screw nut and guiding the linear movement of the screw nut. In Article 1, The above-mentioned focus adjustment mechanism is, A first focal gear installed on the main shaft above; A sub-shaft installed parallel to the main shaft and comprising a central portion, a left-hand threaded portion formed on one side of the central portion, and a right-hand threaded portion formed on the other side of the central portion; A second focal gear installed at one end of the above sub-shaft and meshing with the first focal gear; A left nut installed on the left threaded portion of the above sub-shaft and connected to the left camera; and A binocular device for a robot comprising: a right nut installed on the right threaded portion of the sub-shaft and connected to the right camera. In Article 8, The above-mentioned left camera is formed to be able to rotate left and right at a certain angle with respect to a first vertical axis perpendicular to the base, and The above-mentioned right camera is a binocular device for a robot formed to be able to rotate left and right at a certain angle with respect to a second vertical axis perpendicular to the base. In Article 1, The above-described up-and-down tilting mechanism is, A first tilting gear installed on the main shaft above; A second tilting gear that meshes with the first tilting gear; A tilting shaft installed at the center of the second tilting gear parallel to the main shaft; A right bisection link installed adjacent to the second tilting gear, wherein the first end is connected to the tilting shaft and the second end is connected to the right camera; and A binocular device for a robot comprising: a left bisection link spaced apart from the right bisection link by a certain distance, wherein the first end is connected to the tilting shaft and the second end is connected to the left camera. In Article 10, The above-mentioned left camera is formed to be able to rotate vertically at a certain angle with respect to a horizontal axis parallel to the above-mentioned tilting shaft, and The above-mentioned right camera is a binocular device for a robot formed to be able to rotate vertically at a certain angle with respect to the above-mentioned horizontal axis. In Article 10, The above main shaft includes a spline section, and The first tilting gear includes a spline boss formed to allow the spline portion to be detachably inserted, and A binocular device for a robot, wherein the first tilting gear is rotatably supported by a rotating support installed on the base. In Article 1, The above-described left camera includes a left tilting bracket that supports the left camera so that it can tilt in the left-right and up-down directions, and A binocular device for a robot, wherein the right camera includes a right tilting bracket that supports the right camera so that it can tilt in the left-right and up-down directions. In Article 13, The above-mentioned left tilting bracket is, A horizontal hinge part installed behind the above-mentioned left camera and supporting the above-mentioned left camera so that it can tilt in the up and down direction; A vertical hinge part installed vertically to the horizontal hinge part integrally with the horizontal hinge part and supporting the horizontal hinge part so that it can tilt in the left and right directions; and A connecting portion formed to protrude toward the motion generating device from the horizontal hinge portion; comprising The above right tilting bracket is, A horizontal hinge part installed behind the right camera and supporting the right camera so that it can tilt in the up and down direction; A vertical hinge part installed vertically to the horizontal hinge part integrally with the horizontal hinge part and supporting the horizontal hinge part so that it can tilt in the left and right directions; and A binocular device for a robot comprising: a connecting portion formed to protrude toward the motion generating device from the horizontal hinge portion. In Article 14, When the above left and right tilting mechanism operates, the left camera is formed to tilt left and right around the vertical hinge portion of the left tilting bracket, and the right camera is formed to tilt left and right around the vertical hinge portion of the right tilting bracket. A binocular device for a robot, wherein when the above-described up-and-down tilting mechanism is operated, the left camera is formed to tilt up and down around the horizontal hinge portion of the left tilting bracket, and the right camera is formed to tilt up and down around the horizontal hinge portion of the right tilting bracket.

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