CN110493588A - The bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving - Google Patents
The bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving Download PDFInfo
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- CN110493588A CN110493588A CN201910811094.3A CN201910811094A CN110493588A CN 110493588 A CN110493588 A CN 110493588A CN 201910811094 A CN201910811094 A CN 201910811094A CN 110493588 A CN110493588 A CN 110493588A
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- rope
- rod
- moving platform
- camera
- binocular
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Eye Examination Apparatus (AREA)
Abstract
The present invention relates to a kind of bionic eye executing agencies of the adjustable focal distance of binocular of rope spring driving, moving platform is connected on the constraining rod with an one-movement-freedom-degree by a cross axle, three drive rods pull three ropes respectively, and drive the movement of moving platform realization Three Degree Of Freedom.Binocular regulating mechanism is housed, the 4th drive rod drives the movement of binocular regulating mechanism by Article 4 rope, realize the adjusting of dual camera focus point distance on moving platform.Mechanism at least lacks a driving compared with the rope driving mechanism of identical freedom degree, has the advantages of compact-sized, movement is flexible and binocular adjustable focal distance with conventional structure mechanism compared with.
Description
Technical field
It is adjustable more particularly to a kind of binocular the present invention relates to a kind of multiple degrees of freedom optical sensor attitude-control device
Bionic eye executing agency is applied to bionic eye mechanism technology field.
Background technique
In many cases, bionic eye mechanism needs design compact and flexible.Conventional drive mechanism needs biggish installation
Space, therefore the volume of mechanism design is larger.Rope driving mechanism can be designed very by rope drive, executing agency
It is small, but rope can not provide thrust, therefore this kind of mechanism again must be using one at least more than number of degrees of freedom, driving number come complete
At task, therefore it will cause the disadvantage that mechanism is complicated, control difficulty is high again.
Summary of the invention
In order to solve prior art problem, it is an object of the present invention to overcome the deficiencies of the prior art, and to provide one kind
Restrict spring driving the adjustable focal distance of binocular bionic eye executing agency, using rope and spring driven mode, driving number with
Number of degrees of freedom, is identical, has less driving, compact structure, biggish working space, flexible locomitivity and binocular
Adjustable focal distance series of advantages.
Purpose is created to reach foregoing invention, the present invention adopts the following technical scheme:
A kind of bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving, including rack, moving platform, first take the photograph
It further include the first drive rod, the second drive rod, third drive rod, the 4th drive rod, constraining rod, the as head and second camera
One spring, the first rope, the second rope, third rope, the 4th rope, cross axle and binocular focusing spacing mechanism；
First drive rod is connect by first movement pair with housing slide, and first rope one end is fixedly arranged at the first drive rod
On, the first rope other end is fixedly arranged on moving platform, and the second drive rod is connect by the second prismatic pair with housing slide, the second rope
Suo Yiduan is fixedly arranged on the second drive rod, and the second rope other end is fixedly arranged on moving platform, and third drive rod is mobile by third
Pair is connect with housing slide, and third rope one end is fixedly arranged on third drive rod, and the third rope other end is fixedly arranged on moving platform,
Constraining rod connect by the 4th prismatic pair with housing slide, the first spring across constraining rod be stuck in constraining rod one end and rack it
Between, constraining rod is rotatablely connected by an axis of the first revolute pair and cross axle, another axis of cross axle passes through the second rotation
It is secondary to be rotatablely connected with moving platform,
Binocular focus spacing mechanism include the first camera rod, second camera bar, first connecting rod, second connecting rod, pull rod and
Second spring, the first camera are mounted in the first camera rod, and second camera is mounted on second camera bar, and first takes the photograph
It being connect as head rod passes through third revolute pair with moving platform, the first camera rod is connect by the 4th revolute pair with first connecting rod, the
One connecting rod is connect by the 5th revolute pair with pull rod, and second camera bar is connect by the 6th revolute pair with moving platform, and second takes the photograph
It is connect as head rod passes through the 7th revolute pair with second connecting rod, second connecting rod is connect by the 8th revolute pair with pull rod, and pull rod passes through
5th prismatic pair is connect with moving platform, and second spring is stuck in pull rod one end and moving platform across pull rod,
4th drive rod is connect by the 6th prismatic pair with housing slide, and the 4th rope one end is fixedly arranged at the 4th drive rod
On, the 4th rope other end is fixedly arranged on pull rod.
As currently preferred technical solution, the first spring be in always compressive state and to constraining rod it is anti-with respect to rack
The power in direction, the first drive rod, the movement of the second drive rod and third drive rod independently, and pass through the first rope, second
Rope and third rope drive moving platform to realize and move auxiliary direction moving movement and around the first revolute pair, the second revolute pair along the 4th
The two-dimensional rotary of axis direction moves.Second spring is in compressive state and to pull rod relative to moving platform opposite direction always
Power, the 4th drive rod move through the 4th rope and drive pull rod movement, and pull rod drives the by first connecting rod and second connecting rod
One camera rod and the movement of second camera bar, realize the adjusting of dual camera focus point position.
As currently preferred technical solution, using the moving platform of circular plate shape, the first rope, the second rope, third
Tie point of the rope respectively with the arc lengths spacing such as moving platform outer rim is flexibly connected.
As currently preferred technical solution, moving platform is made of triangle, star, rectangular or hexagonal plate, the
The tie point of one rope, the second rope, third rope respectively with moving platform outer rim or free end is flexibly connected.Make device knot
Structure is more diversified, meets the apparatus structure requirement of different facility compacts.
The present invention compared with prior art, has following obvious prominent substantive distinguishing features and remarkable advantage:
1. the bionic eye executing agency of the adjustable focal distance of binocular of present invention rope spring driving has less driving, compact
Structure, biggish working space, flexible locomitivity and the advantages of binocular adjustable focal distance；
2. apparatus of the present invention structure is simple, and due to using mechanical motion mode, it is convenient that device controls and operates, and is easy to push away
Wide application.
Detailed description of the invention
Fig. 1 is the structural representation that the rope spring of the embodiment of the present invention one drives binocular adjustable focal distance bionic eye executing agency
Figure.
Fig. 2 is that the other structures of the rope spring driving of the embodiment of the present invention one binocular adjustable focal distance bionic eye executing agency are shown
It is intended to.
Fig. 3 is that the Tiebar structure of the rope spring driving of the embodiment of the present invention one binocular adjustable focal distance bionic eye executing agency shows
It is intended to.
Fig. 4 is that rope spring driving the first movement of binocular adjustable focal distance bionic eye executing agency of the embodiment of the present invention one is shown
It is intended to.
Fig. 5 is that rope spring driving second of the movement of binocular adjustable focal distance bionic eye executing agency of the embodiment of the present invention one is shown
It is intended to.
Specific embodiment
Above scheme is described further below in conjunction with specific implementation example, the preferred embodiment of the present invention is described in detail such as
Under:
Embodiment one:
In the present embodiment, referring to FIG. 1 to FIG. 5, a kind of bionic eye execution of the adjustable focal distance of binocular of rope spring driving
Mechanism, including rack 1, moving platform 8, the first camera and second camera, further include the first drive rod 2, the second drive rod 3,
Third drive rod 4, the 4th drive rod 15, constraining rod 5, the first spring 6, the first rope 16, the second rope 17, third rope 18,
4th rope 19, cross axle 7 and binocular focusing spacing mechanism；
First drive rod 2 is slidably connected by first movement pair 20 with rack 1, and 16 one end of the first rope is fixedly arranged at the first drive
In lever 2,16 other end of the first rope is fixedly arranged on moving platform 8, and the second drive rod 3 is sliding by the second prismatic pair 21 and rack 1
Dynamic connection, 17 one end of the second rope are fixedly arranged on the second drive rod 3, and 17 other end of the second rope is fixedly arranged on moving platform 8, third
Drive rod 4 is slidably connected by third prismatic pair 22 with rack 1, and 18 one end of third rope is fixedly arranged on third drive rod 4, third
18 other end of rope is fixedly arranged on moving platform 8, and constraining rod 5 is slidably connected by the 4th prismatic pair 23 with rack 1, the first spring 6
It is stuck in 5 one end of constraining rod and rack 1 across constraining rod 5, constraining rod 5 passes through the first revolute pair 24 and one of cross axle 7
Another axis of axis rotation connection, cross axle 7 is rotatablely connected by the second revolute pair 25 with moving platform 8；
Binocular focus spacing mechanism include the first camera rod 9, second camera bar 10, first connecting rod 11, second connecting rod 12,
Pull rod 13 and second spring 14, the first camera are mounted in the first camera rod 9, and second camera is mounted on second camera
On bar 10, the first camera rod 9 is connect by third revolute pair 26 with moving platform 8, and the first camera rod 9 passes through the 4th revolute pair
27 connect with first connecting rod 11, and first connecting rod 11 is connect by the 5th revolute pair 28 with pull rod 13, and second camera bar 10 passes through
6th revolute pair 29 is connect with moving platform 8, and second camera bar 10 is connect by the 7th revolute pair 30 with second connecting rod 12, and second
Connecting rod 12 is connect by the 8th revolute pair 31 with pull rod 13, and pull rod 13 is connect by the 5th prismatic pair 32 with moving platform 8, the second bullet
Spring 14 is stuck in 13 one end of pull rod and moving platform 8 across pull rod 13,
4th drive rod 15 is slidably connected by the 6th prismatic pair 33 with rack 1, and 19 one end of the 4th rope is fixedly arranged at the 4th
On drive rod 15,19 other end of the 4th rope is fixedly arranged on pull rod 13.
In the present embodiment, referring to FIG. 1 to FIG. 5, the first spring 6 is always in compressive state and to constraining rod 5 with respect to machine
The power of 1 opposite direction of frame, the first drive rod 2, the movement of the second drive rod 3 and third drive rod 4 independently, and pass through the first rope
Rope 16, the second rope 17 and third rope 18 drive moving platform 8 to realize along 23 direction moving movement of the 4th prismatic pair and around first
The two-dimensional rotary movement of revolute pair 24,25 axis direction of the second revolute pair；Second spring 14 is always in compressive state and to drawing
Power of the bar 13 relative to 8 opposite direction of moving platform, the 4th drive rod 15 move through the 4th rope 19 and pull rod 13 are driven to move, draw
Bar 13 drives the first camera rod 9 and second camera bar 10 to move by first connecting rod 11 and second connecting rod 12, realizes double take the photograph
As the adjusting of head focus point position.The bionic eye executing agency of the adjustable focal distance of binocular of the present embodiment rope spring driving is moved flat
Platform 8 is connected on the constraining rod 5 with an one-movement-freedom-degree by a cross axle 7, and three drive rods pull respectively
Three ropes, and drive the movement of the realization Three Degree Of Freedom of moving platform 8.Binocular regulating mechanism, the 4th driving are housed on moving platform 8
Bar 15 drives the movement of binocular regulating mechanism by Article 4 rope 19, realizes the adjusting of dual camera focus point distance.This implementation
Example mechanism at least lacks a driving compared with the rope driving mechanism of identical freedom degree, has structure tight compared with conventional structure mechanism
It gathers, movement is flexibly and the advantages of binocular adjustable focal distance.
In the present embodiment, referring to Fig. 1, Fig. 2, Fig. 4, Fig. 5, using the moving platform 8 of circular plate shape, the first rope 16,
The tie point of two ropes 17, third rope 18 respectively with the arc lengths spacing such as 8 outer rim of moving platform is flexibly connected.So as to reality
Existing running part driving number is identical with number of degrees of freedom, has less driving, compact structure, biggish working space, flexible
Locomitivity.
Embodiment two:
The present embodiment is basically the same as the first embodiment, and is particular in that:
In the present embodiment, moving platform 8 is made of triangle, star, rectangular or hexagonal plate, the first rope 16, the
The tie point of two ropes 17, third rope 18 respectively with 8 outer rim of moving platform or free end is flexibly connected.The present embodiment makes to fill
It sets that structure is more diversified, meets the apparatus structure requirement of different facility compacts.
Combination attached drawing of the embodiment of the present invention is illustrated above, but the present invention is not limited to the above embodiments, it can be with
The purpose of innovation and creation according to the present invention makes a variety of variations, under the Spirit Essence and principle of all technical solutions according to the present invention
Change, modification, substitution, combination or the simplification made, should be equivalent substitute mode, as long as meeting goal of the invention of the invention,
Without departing from the technical principle and invention structure of the bionic eye executing agency of the adjustable focal distance of binocular of present invention rope spring driving
Think, belongs to protection scope of the present invention.
Claims (4)
1. a kind of bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving, including rack (1), moving platform (8), the
One camera and second camera, it is characterised in that: further include the first drive rod (2), the second drive rod (3), third drive rod
(4), the 4th drive rod (15), constraining rod (5), the first spring (6), the first rope (16), the second rope (17), third rope
(18), the 4th rope (19), cross axle (7) and binocular focusing spacing mechanism；
First drive rod (2) is slidably connected by first movement secondary (20) with rack (1), the first rope (16) one end consolidation
On the first drive rod (2), the first rope (16) other end is fixedly arranged on moving platform (8), and the second drive rod (3) is moved by second
Dynamic pair (21) is slidably connected with rack (1), and the second rope (17) one end is fixedly arranged on the second drive rod (3), the second rope (17)
The other end is fixedly arranged on moving platform (8), and third drive rod (4) is slidably connected by third prismatic pair (22) with rack (1), third
Rope (18) one end is fixedly arranged on third drive rod (4), and third rope (18) other end is fixedly arranged on moving platform (8), constraining rod
(5) it is slidably connected by the 4th prismatic pair (23) with rack (1), the first spring (6) passes through constraining rod (5) and is stuck in constraining rod (5)
Between one end and rack (1), constraining rod (5) is rotatablely connected by an axis of the first revolute pair (24) and cross axle (7), cross
Another axis of axis (7) is rotatablely connected by the second revolute pair (25) and moving platform (8)；
The binocular focusing spacing mechanism includes the first camera rod (9), second camera bar (10), first connecting rod (11), second
Connecting rod (12), pull rod (13) and second spring (14), the first camera are mounted on the first camera rod (9), second camera
It being mounted on second camera bar (10), the first camera rod (9) is connect by third revolute pair (26) with moving platform (8), the
One camera rod (9) is connect by the 4th revolute pair (27) with first connecting rod (11), and first connecting rod (11) passes through the 5th revolute pair
(28) it is connect with pull rod (13), second camera bar (10) is connect by the 6th revolute pair (29) with moving platform (8), the second camera shooting
Head rod (10) connect by the 7th revolute pair (30) with second connecting rod (12), second connecting rod (12) pass through the 8th revolute pair (31) and
Pull rod (13) connection, pull rod (13) are connect by the 5th prismatic pair (32) with moving platform (8), and second spring (14) passes through pull rod
(13) it is stuck between pull rod (13) one end and moving platform (8),
4th drive rod (15) is slidably connected by the 6th prismatic pair (33) with rack (1), and the 4th rope (19) one end is solid
On the 4th drive rod (15), the 4th rope (19) other end is fixedly arranged on pull rod (13) knot.
2. the bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving according to claim 1, it is characterised in that:
First spring (6) is always in compressive state and to the power of constraining rod (5) opposite rack (1) opposite direction, the first drive rod
(2), the movement of the second drive rod (3) and third drive rod (4) independently, and pass through the first rope (16), the second rope
(17) and third rope (18) drives moving platform (8) to realize along the 4th prismatic pair (23) direction moving movement and around the first revolute pair
(24), the two-dimensional rotary movement of the second revolute pair (25) axis direction；Second spring (14) is always in compressive state and to drawing
Power of the bar (13) relative to moving platform (8) opposite direction, the 4th drive rod (15) move through the 4th rope (19) and drive pull rod
(13) it moves, pull rod (13) drives the first camera rod (9) and the second camera shooting by first connecting rod (11) and second connecting rod (12)
Head rod (10) movement, realizes the adjusting of dual camera focus point position.
3. the bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving according to claim 1, it is characterised in that:
Using the moving platform (8) of circular plate shape, first rope (16), the second rope (17), third rope (18) are put down with dynamic respectively
The tie point of the arc lengths spacing such as platform (8) outer rim is flexibly connected.
4. the bionic eye executing agency of the adjustable focal distance of binocular of rope spring driving according to claim 1, it is characterised in that:
Moving platform (8) is made of triangle, star, rectangular or hexagonal plate, the first rope (16), the second rope (17), third rope
Tie point of the rope (18) respectively with moving platform (8) outer rim or free end is flexibly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910811094.3A CN110493588B (en) | 2019-08-30 | 2019-08-30 | Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910811094.3A CN110493588B (en) | 2019-08-30 | 2019-08-30 | Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN110493588A true CN110493588A (en) | 2019-11-22 |
| CN110493588B CN110493588B (en) | 2021-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910811094.3A Active CN110493588B (en) | 2019-08-30 | 2019-08-30 | Rope spring driven binocular focusing distance adjustable bionic eye actuating mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114244974A (en) * | 2021-11-12 | 2022-03-25 | 北京理工大学 | Bionic eye |
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| CN110493588B (en) | 2021-07-06 |
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