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Rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism

An actuator and a degree of freedom technology, applied in the field of bionic eye mechanism, can solve the problems of large installation space, increased control difficulty, complex mechanism, etc., and achieve the effects of convenient device control and operation, easy popularization and application, and simple device structure.

Active Publication Date: 2019-11-26
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, since the mechanical transmission part needs to occupy a large installation space, it is difficult to make its actuator into a smaller body.
The rope-driven structure can reduce the space required for transmission, but because the rope cannot provide thrust, the driving number of the mechanism must be greater than the number of degrees of freedom of the mechanism, which makes the mechanism more complicated and increases its control difficulty

Method used

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  • Rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism
  • Rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism
  • Rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism

Examples

Experimental program
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Effect test

Embodiment 1

[0022] In this example, see Figure 1 ~ Figure 4 , a three-degree-of-freedom parallel binocular focusing bionic eye actuator driven by a rope spring, including a frame 1, a moving platform 11, a first camera and a second camera, and a first drive rod 13, a second drive rod 14, The third driving rod 15, the fourth driving rod 31, the first rope 16, the second rope 17, the third rope 18, the fourth rope 32, the three-degree-of-freedom parallel mechanism and the binocular focus adjustment mechanism;

[0023] The three-degree-of-freedom parallel mechanism includes the first link 2, the second link 3, the third link 5, the fourth link 6, the fifth link 8, the sixth link 9, the first spring 4, and the second spring 7. The third spring 10, the moving platform 11, the first connecting rod 2 is rotationally connected with the frame 1 through the first rotating pair 22, the first connecting rod 2 is connected with the second connecting rod 3 through the first moving pair 23, the first ...

Embodiment 2

[0030] This embodiment is basically the same as Embodiment 1, especially in that:

[0031] In this embodiment, the moving platform 11 is made of a triangular, star-shaped, square or hexagonal plate, and the first rope 16, the second rope 17, and the third rope 18 are respectively connected to the outer edge or free end of the moving platform 11. Make a flexible connection. This embodiment makes the structure of the device more diversified, and meets the device structure requirements of different equipment compactness.

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Abstract

The invention relates to a rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism mainly comprising a three-freedom-degree parallel mechanism, a binocular focusing mechanism and four rope drive branch chains. Three branch chains of the three-freedom-degree parallel mechanism are provided with three springs correspondingly, and a moving platform can always bear force opposite to pull force of the ropes. The binocular focusing mechanism is provided with a spring, the spring enables a pull rod to always bear force opposite to the force of the moving platform. Four drive rods drive the moving platform through the ropes to achieve three-freedom-degree movement and the function of focusing distance adjustment of double cameras. The rope and spring drive type three-freedom-degree parallel binocular focusing bionic eye execution mechanism has the advantages of less drive, compact structure, high speed, high rigidity, high precision and further has the advantage of being capable of adjusting the focusing distance of the double cameras.

Description

technical field [0001] The invention relates to a multi-degree-of-freedom optical sensor attitude control device, in particular to a bionic eye actuator with adjustable binoculars, which is applied in the technical field of bionic eye mechanisms. Background technique [0002] The parallel mechanism has the advantages of high speed, high rigidity, and high precision, and has been widely used in the field of bionic eyes. However, since the mechanical transmission part needs to occupy a large installation space, it is difficult to make the actuator into a smaller body. The rope-driven structure can reduce the space required for transmission, but because the rope cannot provide thrust, the driving number of the mechanism must be greater than the number of degrees of freedom of the mechanism, which makes the mechanism more complicated and increases its control difficulty. Contents of the invention [0003] In order to solve the problems of the prior art, the purpose of the pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10B25J19/02
CPCB25J9/0045B25J9/104B25J19/023
Inventor 王红州李恒宇蒋蓁杨汝罗均
Owner SHANGHAI UNIV
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