CN-224209940-U - Seven-degree-of-freedom serial-parallel bionic eye structure

CN224209940UCN 224209940 UCN224209940 UCN 224209940UCN-224209940-U

Abstract

The utility model belongs to the technical field of robot bionics, and particularly relates to a seven-degree-of-freedom serial-parallel connection bionic eye structure. The serial-parallel bionic eye structure comprises a base, a neck parallel device and an eye movement device, wherein the neck parallel device and the eye movement device are sequentially arranged on the base from bottom to top, the neck parallel device comprises a neck lower platform arranged on the base, a neck rear support arranged on the neck lower platform, a neck upper platform rotatably arranged at the upper end of the neck rear support, a first muscle mechanism arranged between the neck upper platform and the neck lower platform, and a second muscle mechanism arranged between the neck upper platform and the eye movement device, the first muscle mechanism drives the eye movement device to rotate up and down and/or swing left and right and/or shake head, and the second muscle mechanism drives the eye movement device to rotate left and right. The utility model increases the whole working space by connecting the neck parallel device and the eye movement device in series, namely, tracking the target position in the maximum range.

Inventors

Xing Shouwang
WANG JIN
Ge Haonan
DUAN CHENGTAO
LIU DIANXIN
JIANG YIJIE
WANG YUHANG
Han Yushuyao
YOU GUODONG

Assignees

天津科技大学

Dates

Publication Date: 20260508
Application Date: 20250417

Claims (7)

1. A seven-degree-of-freedom serial-parallel bionic eye structure is characterized by comprising a base, a neck parallel device and an eye movement device, wherein the neck parallel device and the eye movement device are sequentially arranged on the base from bottom to top; The neck parallel connection device comprises a neck lower platform arranged on the base, a neck rear support arranged on the neck lower platform, a neck upper platform rotatably arranged at the upper end of the neck rear support, a first muscle mechanism arranged between the neck upper platform and the neck lower platform, and a second muscle mechanism arranged between the neck upper platform and the eye movement device; The first muscle mechanism drives the eye movement device to rotate up and down and/or swing left and right and/or shake head, and the second muscle mechanism drives the eye movement device to rotate left and right.
2. The seven degree-of-freedom serial-parallel bionic eye structure of claim 1, wherein the first muscle mechanism comprises: One end of the push rod motor is rotatably mounted with the neck lower platform, and the other end of the push rod motor is rotatably mounted on the neck upper platform; The two ends of the push rod motor are rotatably connected with the corresponding neck lower platform or neck upper platform through the universal joint; The push rod motor comprises a first push rod motor and a second push rod motor, the first push rod motor and the second push rod motor are symmetrically arranged along a bionic sagittal plane, and the upper end connecting point distance L Upper part of the first push rod motor and the second push rod motor is greater than or equal to the lower end connecting point distance L Lower part(s) of the first push rod motor and the second push rod motor.
3. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 2, wherein: When the first push rod motor and the second push rod motor synchronously perform telescopic action, the eye movement device is driven to rotate downwards and upwards; When the first push rod motor and the second push rod motor do opposite equal-length telescopic movement, the eye movement device is driven to swing left and right; When the first push rod motor and the second push rod motor are jointly moved according to the set parameters, the eye movement device is driven to swing.
4. The seven-degree-of-freedom serial-parallel bionic eye structure of claim 2, wherein the second muscle mechanism comprises a motor mounting frame arranged on the lower end surface of the upper neck platform and a second muscle motor arranged on the motor mounting frame; The output shaft of the second muscle motor penetrates through the upper neck platform and is coaxially arranged with the eye movement device, and the eye movement device is driven to rotate around the Z-axis.
5. The seven-degree-of-freedom serial-parallel bionic eye structure according to claim 2, wherein the eye movement device comprises a C-shaped mounting frame and two eye movement mechanisms symmetrically mounted on the C-shaped mounting frame; The eye movement mechanism includes: the bionic eye movement support is rotatably arranged at the upper end of the C-shaped mounting frame; An eyeball outer ring which is fixedly arranged on the bionic eye movement support, and an acquisition space for vision acquisition is arranged in the middle of the eyeball outer ring; The visual board is arranged in the outer eyeball ring and is rotationally connected with the outer eyeball ring; The first driving component is arranged on the outer side of the bionic eye movement support and drives the vision board to synchronously rotate up and down around the X-axis relative to the bionic eye movement support; The second driving assembly is arranged on the C-shaped mounting frame corresponding to the lower part of the bionic eye movement support and drives the bionic eye movement support to rotate left and right around the Z-axis.
6. The seven-degree-of-freedom serial-parallel bionic eye structure of claim 5, wherein the first driving component comprises a motor support frame arranged on the outer side of the bionic eye movement support and a first rotating motor arranged on the motor support frame, wherein an output shaft of the first rotating motor is coaxially arranged with the vision board through a first connecting piece; The second driving assembly comprises a second rotating motor arranged on the C-shaped mounting frame, and an output shaft of the second rotating motor is coaxially arranged with the bionic eye movement bracket through a second connecting piece.
7. The seven-degree-of-freedom serial-parallel bionic eye structure of any one of claims 5-6, further comprising a control system, the control system comprising: the camera is arranged on the vision board and used for simulating biological eye beads to perform real-time vision acquisition; The industrial control module is arranged on the base and used for receiving and processing real-time data acquired by the camera and outputting a control instruction; The 232-485 conversion module is arranged on the lower neck platform and is used for converting an RS232 signal output by the industrial control module into an RS485 signal; 485 driving module, which is arranged on the lower neck platform and is used for starting the eye movement device and the neck parallel device to adjust the bionic in real time; The wiring terminal is used for connecting the lines of the modules; and the emergency stop button is used for carrying out emergency stop operation on each module.

Description

Seven-degree-of-freedom serial-parallel bionic eye structure Technical Field The utility model belongs to the technical field of robot bionics, and particularly relates to a seven-degree-of-freedom serial-parallel connection bionic eye structure. Background In the research of the field of the bionic eyes of the robots, on one hand, the method focuses on the aspects of simulating the structures, the movements, the visual information acquisition and the like of the eyes of organisms or the compound eyes of insects, and remarkable achievement is achieved in a three-dimensional visual acquisition system of the human eyes, a robot of the bionic compound eye structure, application of the bionic eyes and the like, and on the other hand, researchers design mechanical double eyes capable of simulating the movements of the eyes of the organisms by comprehensively applying technologies such as photoelectricity, machinery, information, control and the like, research on manufacturing lighter and more durable bionic eye structures by using novel materials, and application of the bionic eyes of the robots in the aspects of target detection and tracking, man-machine interaction and emotion recognition, visual servo control and the like. Although research in the field of the bionic eye of the robot at home and abroad has achieved remarkable results, there are still disadvantages: (1) The bionic eye target tracking range in the prior art has a large limitation, and can only move up and down and left and right by means of the bionic eye, so that the eye trackable target range is small; (2) The bionic eye in the prior art has larger working space, does not fit with the movement mechanism and morphological characteristics of organisms, and has low flexibility. Disclosure of utility model Aiming at the defects of limitation and low flexibility of the target tracking range of the bionic eye of the robot in the prior art, the seven-degree-of-freedom serial-parallel bionic eye structure is provided. The eye module tracks the slow moving target, after the target exceeds the range, the whole position of the eye module can be adjusted, the target is tracked again, so that the tracking range of the target is increased, and the joint structure, the muscle distribution and the movement mode of the simulated organism are utilized to attach to the movement mechanism and the morphological characteristics of the organism, so that the flexibility and the bearing capacity are improved. The technical scheme adopted for solving the technical problems is as follows: The first aspect is a seven-degree-of-freedom serial-parallel bionic eye structure, which comprises a base, a neck parallel device and an eye movement device, wherein the neck parallel device and the eye movement device are sequentially arranged on the base from bottom to top; The neck parallel connection device comprises a neck lower platform arranged on the base, a neck rear support arranged on the neck lower platform, a neck upper platform rotatably arranged at the upper end of the neck rear support, a first muscle mechanism arranged between the neck upper platform and the neck lower platform, and a second muscle mechanism arranged between the neck upper platform and the eye movement device; The first muscle mechanism drives the eye movement device to rotate up and down and/or swing left and right and/or shake head, and the second muscle mechanism drives the eye movement device to rotate left and right. Specifically, the first muscle mechanism includes: One end of the push rod motor is rotatably mounted with the neck lower platform, and the other end of the push rod motor is rotatably mounted on the neck upper platform; The two ends of the push rod motor are rotatably connected with the corresponding neck lower platform or neck upper platform through the universal joint; The push rod motor comprises a first push rod motor and a second push rod motor, the first push rod motor and the second push rod motor are symmetrically arranged along a bionic sagittal plane, and the upper end connecting point distance L Upper part of the first push rod motor and the second push rod motor is greater than or equal to the lower end connecting point distance L Lower part(s) of the first push rod motor and the second push rod motor. Specifically, when the first push rod motor and the second push rod motor synchronously perform telescopic actions, the eye movement device is driven to rotate downwards and upwards; When the first push rod motor and the second push rod motor do opposite equal-length telescopic movement, the eye movement device is driven to swing left and right; When the first push rod motor and the second push rod motor are jointly moved according to the set parameters, the eye movement device is driven to swing. Specifically, the second muscle mechanism comprises a motor mounting frame arranged on the lower end surface of the neck upper platform and a second muscle motor arranged on