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WO2018188062A1 - Robotic imaging system based on virtual reality technology - Google Patents

Robotic imaging system based on virtual reality technology Download PDF

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Publication number
WO2018188062A1
WO2018188062A1 PCT/CN2017/080539 CN2017080539W WO2018188062A1 WO 2018188062 A1 WO2018188062 A1 WO 2018188062A1 CN 2017080539 W CN2017080539 W CN 2017080539W WO 2018188062 A1 WO2018188062 A1 WO 2018188062A1
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WO
WIPO (PCT)
Prior art keywords
ring
silicon steel
steel block
rail
cover
Prior art date
Application number
PCT/CN2017/080539
Other languages
French (fr)
Chinese (zh)
Inventor
肖丽芳
Original Assignee
深圳市方鹏科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市方鹏科技有限公司 filed Critical 深圳市方鹏科技有限公司
Priority to PCT/CN2017/080539 priority Critical patent/WO2018188062A1/en
Publication of WO2018188062A1 publication Critical patent/WO2018188062A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K3/00—Tools, devices, or special appurtenances for soldering, e.g. brazing, or unsoldering, not specially adapted for particular methods
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays

Definitions

  • the present invention relates to a robotic imaging system based on virtual reality technology.
  • Virtual reality technology is an important direction of simulation technology. It is a collection of various technologies such as simulation technology and computer graphics human-machine interface technology multimedia technology sensing technology network technology. It is a challenging cross-technology frontier subject. And research areas.
  • Virtual reality technology mainly includes aspects such as simulation environment, perception, natural skills and sensing equipment.
  • the simulation environment is a computer-generated, realistic, dynamic 3D stereoscopic image.
  • Perception means that the ideal VR should have the perception of everyone.
  • there are also perceptions such as hearing, touch, power, and motion, and even call and taste, also known as multi-perception.
  • Natural skills refer to the rotation of the person's head, eyes, gestures, or other human behaviors.
  • VR art is a new and independent art category that comes with the advent of "virtual reality".
  • VR art has the following definition:
  • the main features of this art form are hypertextuality and interactivity.
  • VR art is a new form of artistic language that visualizes and interacts with complex data through human-machine interface. It attracts artists' important points, which are artistic thinking and technological tools. Closely blended and the new cognitive experience created by the deep penetration of the two.
  • the interactive and extended human-machine dialogue is the key to the unique advantages of VR art.
  • VR art is an interactive art form based on a new type of human-machine dialogue. Big advantage is that the construction works of the dialogue with the participants through the process of dialogue to reveal the meaning generated.
  • a robot imaging system based on virtual reality technology which mainly comprises: a top cover ring, a cover bowl a, a cover bowl b, a cover bowl c, reticle tube, bottom cover ring, rubber seal a, ⁇ magnetic rim, connecting ring, rubber seal b, ⁇ magnetic top ring, lens mounting point, rail holder fixing plate, metal sealing ring, sealing ring base , gas rod member, rail rod, rail groove, electric air rod, pin, inner silicon steel block, connecting member, outer silicon steel block, shaft pin, block pin, the photomask tube is sequentially threaded through the screw
  • the bowl a, the bowl b, and the bowl c are fixed, and a top cover ring is fixed on the bowl a through the bolt rod.
  • An outer silicon steel block is arranged in the outer cylinder composed of the cover bowl a, the cover bowl b and the cover bowl c, and each of the outer silicon steel blocks is fixedly connected by a shaft pin; the outer silicon steel block The inner silicon steel block and the inner silicon steel block are mutually connected by a connecting member; the outer silicon steel block and the cover bowl b are fixed by a pin; the inner silicon steel block and the outer silicon steel block bottom are pulled by a block pin.
  • the bottom of the outer silicon steel block is screwed with a connecting ring, the rubber sealing ring b is sleeved on the periphery of the magnetic top ring, and the connecting ring and the neodymium magnetic ring are magnetically attracted; the magnetic top ring is sleeved into the photoreceptor cylinder, and the bottom of the photoreceptor cylinder Sealed by the bottom cover ring.
  • the inner silicon steel block is arranged to form a circular inner cylinder, and a magnetic steel ring is magnetically attracted on the inner wall of the inner cylinder; the upper part of the neodymium magnetic steel ring is screwed with a metal sealing ring, and the lower part is screwed with a sealing ring base.
  • the rail frame fixing disc inner core penetrates the rail strip, and one end of the rail strip is fixed on both sides of the electric air rod, and the rail strip rack stands in the rail groove, and the lens mounting is fixed at the other end of the rail strip Point; the end of the gas rod of the electric air rod is fixed to the center of the lens mounting point.
  • the inner silicon steel block and the outer silicon steel block are all milled with notches on the inner side.
  • the rail groove is fixed to the core of the rail frame fixing disc. Further, the connecting ring is covered with a rubber sealing ring a.
  • the diameter ratio of the neodymium magnet ring to the inner cylinder is between 1:2.5 and 1:4.7.
  • the lens mounting point is mounted with a spectral imager.
  • a magnetic induction coil is disposed in the notch of the inner silicon steel block and the outer silicon steel block.
  • the imaging system has a cleverly designed structure, accurate positioning, and convenient post-production.
  • FIG. 1 is an overall structural diagram of a robot imaging system based on virtual reality technology according to the present invention.
  • 2 is an exploded structural diagram of a robot imaging system based on virtual reality technology.
  • FIG. 3 is an exploded structural diagram of a core component of a robot imaging system based on virtual reality technology.
  • FIG. 4 is a structural diagram of a core component of a robot imaging system based on virtual reality technology according to the present invention.
  • FIG. 5 is a structural diagram of an inner and outer silicon steel block of a robot imaging system based on virtual reality technology according to the present invention.
  • Fig. 6 is a view showing the explosion structure of silicon steel inside and outside the robot imaging system based on virtual reality technology of the present invention.
  • a robot imaging system based on virtual reality technology the main structures are: a top cover ring 1, a cover bowl a2, a cover bowl b3, a cover bowl c4, a mask cylinder 5, a bottom cover ring 6, rubber Sealing ring a7, neodymium magnet ring 8, connecting ring 9, rubber sealing ring ⁇ 0, neodymium magnetic top ring 11, lens mounting point 12, rail holder fixing plate 13, metal sealing ring 14, sealing ring base 15, gas rod rod 16.
  • a cover bowl a2 , a cover bowl b3, a cover bowl c4 are sleeved by a screw, and a top cover ring 1 is fixed to the cover bowl a2 by a bolt rod.
  • An outer silicon steel block 23 is arranged in the outer cylinder formed by the cover bowl a2, the cover bowl b3 and the cover bowl c4, and the outer silicon steel blocks 23 of each two are fixedly connected by the shaft pin 24;
  • the outer silicon steel block 23 and the inner silicon steel block 21 are mutually slid by the connecting member 22;
  • the outer silicon steel block 23 and the cover bowl b3 are fixed by the pin 20;
  • the inner silicon steel block 21 and the outer silicon steel block 23 The bottom is pulled through the block pin 25.
  • the bottom of the outer silicon steel block 23 is screwed with a connecting ring 9, the rubber sealing ring M0 is sheathed on the periphery of the neodymium magnetic top ring 11, and the connecting ring 9 is magnetically attracted to the neodymium magnetic top ring 11; the magnetic top ring 11 is inserted into the photomask In the cylinder 5, the bottom of the photoreceptor cylinder 5 is sealed by a bottom cover ring 6.
  • the inner silicon steel block 21 is arranged to form a circular inner cylinder, and a magnetic ferrule 8 is magnetically attracted on the inner wall of the inner cylinder; the upper part of the neodymium steel ring 8 is screwed with a metal sealing ring 14 and the lower part is screwed There is a seal ring base 15 to form a crucible
  • the magnetic steel ring seat; the neodymium magnetic ring seat is threadedly hinged with the rail frame fixing plate 13.
  • the inner wall of the rail frame fixing plate 13 has a rail strip 17 through which the end of the rail strip 17 is fixed on both sides of the electric air rod 19, and the rail strip 17 is erected in the rail groove 18 in the rail strip 17 At the other end, a lens mounting point 12 is fixed; the end of the air rod member 16 of the electric air lever 19 is fixed to the center of the lens mounting point 12.
  • the rail groove 18 is fixed to the inner core of the rail holder fixing plate 13.
  • the inner silicon steel block 21 and the outer silicon steel block 23 are all milled with notches on the inner side.
  • the connecting ring 9 is covered with a rubber sealing ring a7.
  • the diameter ratio of the neodymium magnet ring 8 to the inner cylinder is between 1:2.5 and 1:4.7.
  • the lens mount point 12 is mounted with a spectral imager.
  • a magnetic induction coil is disposed in the notch of the inner silicon steel block 21 and the outer silicon steel block 23.
  • the core of the present invention is: an "eccentric round roll" formed by the inner magnetic steel ring 8 and the inner silicon steel block 21 inner tube, under the action of the magnetic induction coil arranged in the notch of the inner silicon steel block 21 and the outer silicon steel block 23,
  • the control ⁇ magnet ring 8 is positioned between the center and the center of the inner cylinder of the inner silicon steel block 21, so that the spectral imager mounted by the lens mount point 12 can be positioned in a plane space.
  • the positioning is performed by the air rod member 16 of the electric air rod 19, and the movement of the lens mounting point 12 in the vertical direction can be realized by the stroke control of the air rod member 16 of the electric air rod 19.
  • the rail bar 17 starts to function smoothly and assists the device.
  • the main innovation of the device of the invention lies in the planar positioning. Since the neodymium steel ring 8 and the inner silicon steel block 21 have very high control force, the control force is magnetically suspended, so the damage rate in wear is zero, so It is permanent in the design life of the theory.
  • the basic principles, main features and advantages of the present invention are shown and described above.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Studio Devices (AREA)

Abstract

A robotic imaging system based on virtual reality technology. A cover ring a (2), a cover ring b (3), and a cover ring c (4) are sleeved in sequence on a photomask barrel (5) by means of screws, and a top sealing ring (1) is fixed to the cover ring a (2) by means of a bolt rod; a circle of external silicon steel blocks (23) are arranged in the outer barrel constituted by the cover ring a (2), the cover ring b (3), and the cover ring c (4) together, and every two external silicon steel blocks (23) are fixedly connected by means of a shaft pin (24); the external silicon steel blocks (23) and internal silicon steel blocks (21) are connected to each other by means of connecting members (22); the external silicon steel blocks (23) is fixed to the cover ring b (3) by means of pins (20); the internal silicon steel blocks (21) are connected to the bottoms of the external silicon steel blocks (23) by means of block pins (25).

Description

一种基于虚拟现实技术的机械人成像系统 技术领域  A robotic imaging system based on virtual reality technology
[0001] 本发明涉及一种基于虚拟现实技术的机械人成像系统。  [0001] The present invention relates to a robotic imaging system based on virtual reality technology.
背景技术  Background technique
[0002] 虚拟现实技术是仿真技术的一个重要方向， 是仿真技术与计算机图形学人机接 口技术多媒体技术传感技术网络技术等多种技术的集合， 是一门富有挑战性的 交叉技术前沿学科和研究领域。 虚拟现实技术 (VR)主要包括模拟环境、 感知、 自然技能和传感设备等方面。 模拟环境是由计算机生成的、 实吋动态的三维立 体逼真图像。 感知是指理想的 VR应该具有一切人所具有的感知。 除计算机图形 技术所生成的视觉感知外， 还有听觉、 触觉、 力觉、 运动等感知， 甚至还包括 喚觉和味觉等， 也称为多感知。 自然技能是指人的头部转动， 眼睛、 手势、 或 其他人体行为动作， 由计算机来处理与参与者的动作相适应的数据， 并对用户 的输入作出实吋响应， 并分别反馈到用户的五官。 传感设备是指三维交互设备 。 VR艺术是伴随着 "虚拟现实吋代"的来临应运而生的一种新兴而独立的艺术门 类， 在 《虚拟现实艺术： 形而上的终极再创造》 一文中， 关于 VR艺术有如下的 定义： "以虚拟现实 （VR) 、 增强现实 （AR) 等人工智能技术作为媒介手段加 以运用的艺术形式， 我们称之为虚拟现实艺术， 简称 VR艺术。 该艺术形式的主 要特点是超文本性和交互性。 ""作为现代科技前沿的综合体现， VR艺术是通过 人机界面对复杂数据进行可视化操作与交互的一种新的艺术语言形式， 它吸引 艺术家的重要之处， 在于艺术思维与科技工具的密切交融和二者深层渗透所产 生的全新的认知体验。 与传统视窗操作下的新媒体艺术相比， 交互性和扩展的 人机对话， 是 VR艺术呈现其独特优势的关键所在。 从整体意义上说， VR艺术是 以新型人机对话为基础的交互性的艺术形式， 其最大优势在于建构作品与参与 者的对话， 通过对话揭示意义生成的过程。  [0002] Virtual reality technology is an important direction of simulation technology. It is a collection of various technologies such as simulation technology and computer graphics human-machine interface technology multimedia technology sensing technology network technology. It is a challenging cross-technology frontier subject. And research areas. Virtual reality technology (VR) mainly includes aspects such as simulation environment, perception, natural skills and sensing equipment. The simulation environment is a computer-generated, realistic, dynamic 3D stereoscopic image. Perception means that the ideal VR should have the perception of everyone. In addition to the visual perception generated by computer graphics technology, there are also perceptions such as hearing, touch, power, and motion, and even call and taste, also known as multi-perception. Natural skills refer to the rotation of the person's head, eyes, gestures, or other human behaviors. The computer processes the data that is appropriate to the actions of the participants, and responds to the user's input and feeds them back to the user. Five senses. A sensing device is a three-dimensional interactive device. VR art is a new and independent art category that comes with the advent of "virtual reality". In the article "Virtual Reality Art: Metaphysical Ultimate Re-creation", VR art has the following definition: The art form that uses artificial intelligence technology such as virtual reality (VR) and augmented reality (AR) as the medium means, we call it virtual reality art, referred to as VR art. The main features of this art form are hypertextuality and interactivity. "As a comprehensive manifestation of the frontiers of modern science and technology, VR art is a new form of artistic language that visualizes and interacts with complex data through human-machine interface. It attracts artists' important points, which are artistic thinking and technological tools. Closely blended and the new cognitive experience created by the deep penetration of the two. Compared with the new media art under the traditional window operation, the interactive and extended human-machine dialogue is the key to the unique advantages of VR art. In the sense, VR art is an interactive art form based on a new type of human-machine dialogue. Big advantage is that the construction works of the dialogue with the participants through the process of dialogue to reveal the meaning generated.
技术问题  technical problem
[0003] 提供一种基于虚拟现实技术的机械人成像系统。 问题的解决方案 [0003] A robotic imaging system based on virtual reality technology is provided. Problem solution
技术解决方案  Technical solution
[0004] 本发明解决其上述的技术问题所采用以下的技术方案： 一种基于虚拟现实技术 的机械人成像系统， 其主要构造有： 顶封盖圈、 罩碗 a、 罩碗 b、 罩碗 c、 光罩筒 、 底封盖圈、 橡胶密封圈 a、 钕磁钢圈、 连接圈、 橡胶密封圈 b、 钕磁顶圈、 镜头 安装点、 导轨架固定盘、 金属密封圈、 密封圈底座、 气杆杆件、 导轨条、 轨条 槽、 电动气杆、 销钉、 内硅钢块、 连接件、 外硅钢块、 轴销、 块销， 所述的光 罩筒上依次通过螺口套接有罩碗 a、 罩碗 b、 罩碗 c， 并且在罩碗 a上通过螺栓杆固 定有顶封盖圈。 所述的罩碗 a、 罩碗 b、 罩碗 c三者所组成的外筒内排布有一圈外 硅钢块， 且每两块的外硅钢块之间以轴销为固定衔接； 外硅钢块与内硅钢块之 间通过连接件相互拉结； 所述的外硅钢块与罩碗 b之间通过销钉相固定； 所述的 内硅钢块与外硅钢块底部通过块销相拉结。 所述的外硅钢块底部拧接有连接圈 ， 橡胶密封圈 b外套于钕磁顶圈外围， 连接圈与钕磁顶圈相磁吸； 钕磁顶圈套入 光罩筒内， 光罩筒底部被底封盖圈所密封。 所述的内硅钢块排布形成圆状的内 筒， 在内筒内壁上磁吸有钕磁钢圈； 所述的钕磁钢圈上部拧接有金属密封圈， 下部拧接有密封圈底座， 形成钕磁钢圈座； 所述的钕磁钢圈座与导轨架固定盘 相螺纹铰合。 所述的导轨架固定盘内芯贯通有导轨条， 导轨条一端末固定于电 动气杆的两侧面上， 且在导轨条架立于轨条槽内， 在导轨条另一端末固定有镜 头安装点； 所述的电动气杆的气杆杆件末端与镜头安装点中心相固定。 所述的 内硅钢块、 外硅钢块内侧均銑有槽口。 所述的轨条槽与导轨架固定盘内芯相固 定。 进一步地， 所述的连接圈上覆有橡胶密封圈 a。 进一步地， 所述的钕磁钢圈 与内筒的直径比为 1:2.5至 1:4.7之间。 进一步地， 所述的镜头安装点安装有光谱 成像器。 进一步地， 所述的内硅钢块、 外硅钢块的槽口内均布置有磁感线圈。 发明的有益效果  [0004] The present invention solves the above technical problems and adopts the following technical solutions: A robot imaging system based on virtual reality technology, which mainly comprises: a top cover ring, a cover bowl a, a cover bowl b, a cover bowl c, reticle tube, bottom cover ring, rubber seal a, 钕 magnetic rim, connecting ring, rubber seal b, 钕 magnetic top ring, lens mounting point, rail holder fixing plate, metal sealing ring, sealing ring base , gas rod member, rail rod, rail groove, electric air rod, pin, inner silicon steel block, connecting member, outer silicon steel block, shaft pin, block pin, the photomask tube is sequentially threaded through the screw The bowl a, the bowl b, and the bowl c are fixed, and a top cover ring is fixed on the bowl a through the bolt rod. An outer silicon steel block is arranged in the outer cylinder composed of the cover bowl a, the cover bowl b and the cover bowl c, and each of the outer silicon steel blocks is fixedly connected by a shaft pin; the outer silicon steel block The inner silicon steel block and the inner silicon steel block are mutually connected by a connecting member; the outer silicon steel block and the cover bowl b are fixed by a pin; the inner silicon steel block and the outer silicon steel block bottom are pulled by a block pin. The bottom of the outer silicon steel block is screwed with a connecting ring, the rubber sealing ring b is sleeved on the periphery of the magnetic top ring, and the connecting ring and the neodymium magnetic ring are magnetically attracted; the magnetic top ring is sleeved into the photoreceptor cylinder, and the bottom of the photoreceptor cylinder Sealed by the bottom cover ring. The inner silicon steel block is arranged to form a circular inner cylinder, and a magnetic steel ring is magnetically attracted on the inner wall of the inner cylinder; the upper part of the neodymium magnetic steel ring is screwed with a metal sealing ring, and the lower part is screwed with a sealing ring base. Forming a neodymium magnet ring seat; the neodymium magnet ring seat is threadedly hinged with the rail frame fixing plate. The rail frame fixing disc inner core penetrates the rail strip, and one end of the rail strip is fixed on both sides of the electric air rod, and the rail strip rack stands in the rail groove, and the lens mounting is fixed at the other end of the rail strip Point; the end of the gas rod of the electric air rod is fixed to the center of the lens mounting point. The inner silicon steel block and the outer silicon steel block are all milled with notches on the inner side. The rail groove is fixed to the core of the rail frame fixing disc. Further, the connecting ring is covered with a rubber sealing ring a. Further, the diameter ratio of the neodymium magnet ring to the inner cylinder is between 1:2.5 and 1:4.7. Further, the lens mounting point is mounted with a spectral imager. Further, a magnetic induction coil is disposed in the notch of the inner silicon steel block and the outer silicon steel block. Advantageous effects of the invention
有益效果  Beneficial effect
[0005] 成像系统结构设计巧妙， 定位精确， 便于后期制作。  [0005] The imaging system has a cleverly designed structure, accurate positioning, and convenient post-production.
对附图的简要说明 附图说明 Brief description of the drawing DRAWINGS
[0006] 图 1为本发明一种基于虚拟现实技术的机械人成像系统整体结构图。 图 2为本发 明一种基于虚拟现实技术的机械人成像系统爆炸结构图。 图 3为本发明一种基于 虚拟现实技术的机械人成像系统核心件爆炸结构图。 图 4为本发明一种基于虚拟 现实技术的机械人成像系统核心件结构图。 图 5为本发明一种基于虚拟现实技术 的机械人成像系统内外硅钢块结构图。 图 6为本发明一种基于虚拟现实技术的机 械人成像系统内外硅钢爆炸结构图。 图中 1-顶封盖圈， 2-罩碗 a， 3-罩碗 b， 4-罩 碗 c， 5-光罩筒， 6-底封盖圈， 7-橡胶密封圈 a， 8-钕磁钢圈， 9-连接圈， 10-橡胶 密封圈 b， 11-钕磁顶圈， 12-镜头安装点， 13-导轨架固定盘， 14-金属密封圈， 15 -密封圈底座， 16-气杆杆件， 17-导轨条， 18-轨条槽， 19-电动气杆， 20-销钉， 2 1-内硅钢块， 22-连接件， 23-外硅钢块， 24-轴销， 25-块销。  1 is an overall structural diagram of a robot imaging system based on virtual reality technology according to the present invention. 2 is an exploded structural diagram of a robot imaging system based on virtual reality technology. FIG. 3 is an exploded structural diagram of a core component of a robot imaging system based on virtual reality technology. FIG. 4 is a structural diagram of a core component of a robot imaging system based on virtual reality technology according to the present invention. FIG. 5 is a structural diagram of an inner and outer silicon steel block of a robot imaging system based on virtual reality technology according to the present invention. Fig. 6 is a view showing the explosion structure of silicon steel inside and outside the robot imaging system based on virtual reality technology of the present invention. In the picture, 1-top cover ring, 2-cover bowl a, 3-cover bowl b, 4-cover bowl c, 5-mask cylinder, 6-bottom cover ring, 7-rubber seal a, 8-钕Magnetic steel ring, 9-connecting ring, 10-rubber sealing ring b, 11-钕 magnetic top ring, 12-lens mounting point, 13-rail frame fixing plate, 14-metal sealing ring, 15 - sealing ring base, 16- Pole rod, 17-rail bar, 18-track groove, 19-electric air rod, 20-pin, 2 1-inner silicon steel block, 22-connector, 23-outer silicon steel block, 24-axle pin, 25 - Block sales.
本发明的实施方式 Embodiments of the invention
[0007] 下面结合附图 1-6对本发明的具体实施方式做一个详细的说明。 实施例: 一种 基于虚拟现实技术的机械人成像系统， 其主要构造有： 顶封盖圈 1、 罩碗 a2、 罩 碗 b3、 罩碗 c4、 光罩筒 5、 底封盖圈 6、 橡胶密封圈 a7、 钕磁钢圈 8、 连接圈 9、 橡 胶密封圈 Μ0、 钕磁顶圈 11、 镜头安装点 12、 导轨架固定盘 13、 金属密封圈 14、 密封圈底座 15、 气杆杆件 16、 导轨条 17、 轨条槽 18、 电动气杆 19、 销钉 20、 内 硅钢块 21、 连接件 22、 外硅钢块 23、 轴销 24、 块销 25， 所述的光罩筒 5上依次通 过螺口套接有罩碗 a2、 罩碗 b3、 罩碗 c4， 并且在罩碗 a2上通过螺栓杆固定有顶封 盖圈 1。 所述的罩碗 a2、 罩碗 b3、 罩碗 c4三者所组成的外筒内排布有一圈外硅钢 块 23， 且每两块的外硅钢块 23之间以轴销 24为固定衔接； 外硅钢块 23与内硅钢 块 21之间通过连接件 22相互拉结； 所述的外硅钢块 23与罩碗 b3之间通过销钉 20 相固定； 所述的内硅钢块 21与外硅钢块 23底部通过块销 25相拉结。 所述的外硅 钢块 23底部拧接有连接圈 9， 橡胶密封圈 M0外套于钕磁顶圈 11外围， 连接圈 9与 钕磁顶圈 11相磁吸； 钕磁顶圈 11套入光罩筒 5内， 光罩筒 5底部被底封盖圈 6所密 封。 所述的内硅钢块 21排布形成圆状的内筒， 在内筒内壁上磁吸有钕磁钢圈 8 ; 所述的钕磁钢圈 8上部拧接有金属密封圈 14， 下部拧接有密封圈底座 15， 形成钕 磁钢圈座； 所述的钕磁钢圈座与导轨架固定盘 13相螺纹铰合。 所述的导轨架固 定盘 13内芯贯通有导轨条 17， 导轨条 17—端末固定于电动气杆 19的两侧面上， 且在导轨条 17架立于轨条槽 18内， 在导轨条 17另一端末固定有镜头安装点 12; 所述的电动气杆 19的气杆杆件 16末端与镜头安装点 12中心相固定。 所述的轨条 槽 18与导轨架固定盘 13内芯相固定。 所述的内硅钢块 21、 外硅钢块 23内侧均銑 有槽口。 所述的连接圈 9上覆有橡胶密封圈 a7。 所述的钕磁钢圈 8与内筒的直径比 为 1:2.5至 1:4.7之间。 所述的镜头安装点 12安装有光谱成像器。 所述的内硅钢块 2 1、 外硅钢块 23的槽口内均布置有磁感线圈。 本发明的核心在于： 钕磁钢圈 8与 内硅钢块 21内筒所形成的"偏心圆滚"， 在内硅钢块 21、 外硅钢块 23的槽口内均布 置的磁感线圈作用下， 可以控制钕磁钢圈 8在内硅钢块 21的内筒作出圆心与圆心 之间的定位， 从而能够在平面的空间上让镜头安装点 12安装的光谱成像器进行 定位。 在立体的空间定位上， 则是通过电动气杆 19的气杆杆件 16进行定位的， 通过电动气杆 19的气杆杆件 16行程控制， 可以实现镜头安装点 12在竖直方位的 移动， 在移动的过程中导轨条 17启动平稳、 辅助器械的作用。 本发明设备主要 的创新在于平面的定位上， 由于钕磁钢圈 8与内硅钢块 21之间具有非常高效的控 制力， 这种控制力是磁悬浮的， 因此在磨损的损坏率是零， 故在理论的设计寿 命上是永久的。 以上显示和描述了本发明的基本原理、 主要特征和本发明的优 点。 本行业的技术人员应该了解， 本发明不受上述实施例的限制， 上述实施例 和说明书中描述的只是说明本发明的原理， 在不脱离本发明精神和范围的前提 下， 本发明还会有各种变化和改进， 这些变化和改进都落入要求保护的本发明 范围内。 本发明要求保护范围由所附的权利要求书及其等效物界定。 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A specific embodiment of the present invention will be described in detail below with reference to FIGS. Embodiment: A robot imaging system based on virtual reality technology, the main structures are: a top cover ring 1, a cover bowl a2, a cover bowl b3, a cover bowl c4, a mask cylinder 5, a bottom cover ring 6, rubber Sealing ring a7, neodymium magnet ring 8, connecting ring 9, rubber sealing ring 、0, neodymium magnetic top ring 11, lens mounting point 12, rail holder fixing plate 13, metal sealing ring 14, sealing ring base 15, gas rod rod 16. A guide rail 17, a rail groove 18, an electric air rod 19, a pin 20, an inner silicon steel block 21, a connecting member 22, an outer silicon steel block 23, a shaft pin 24, and a block pin 25, which are sequentially arranged on the photoconductor cylinder 5 A cover bowl a2 , a cover bowl b3, a cover bowl c4 are sleeved by a screw, and a top cover ring 1 is fixed to the cover bowl a2 by a bolt rod. An outer silicon steel block 23 is arranged in the outer cylinder formed by the cover bowl a2, the cover bowl b3 and the cover bowl c4, and the outer silicon steel blocks 23 of each two are fixedly connected by the shaft pin 24; The outer silicon steel block 23 and the inner silicon steel block 21 are mutually slid by the connecting member 22; the outer silicon steel block 23 and the cover bowl b3 are fixed by the pin 20; the inner silicon steel block 21 and the outer silicon steel block 23 The bottom is pulled through the block pin 25. The bottom of the outer silicon steel block 23 is screwed with a connecting ring 9, the rubber sealing ring M0 is sheathed on the periphery of the neodymium magnetic top ring 11, and the connecting ring 9 is magnetically attracted to the neodymium magnetic top ring 11; the magnetic top ring 11 is inserted into the photomask In the cylinder 5, the bottom of the photoreceptor cylinder 5 is sealed by a bottom cover ring 6. The inner silicon steel block 21 is arranged to form a circular inner cylinder, and a magnetic ferrule 8 is magnetically attracted on the inner wall of the inner cylinder; the upper part of the neodymium steel ring 8 is screwed with a metal sealing ring 14 and the lower part is screwed There is a seal ring base 15 to form a crucible The magnetic steel ring seat; the neodymium magnetic ring seat is threadedly hinged with the rail frame fixing plate 13. The inner wall of the rail frame fixing plate 13 has a rail strip 17 through which the end of the rail strip 17 is fixed on both sides of the electric air rod 19, and the rail strip 17 is erected in the rail groove 18 in the rail strip 17 At the other end, a lens mounting point 12 is fixed; the end of the air rod member 16 of the electric air lever 19 is fixed to the center of the lens mounting point 12. The rail groove 18 is fixed to the inner core of the rail holder fixing plate 13. The inner silicon steel block 21 and the outer silicon steel block 23 are all milled with notches on the inner side. The connecting ring 9 is covered with a rubber sealing ring a7. The diameter ratio of the neodymium magnet ring 8 to the inner cylinder is between 1:2.5 and 1:4.7. The lens mount point 12 is mounted with a spectral imager. A magnetic induction coil is disposed in the notch of the inner silicon steel block 21 and the outer silicon steel block 23. The core of the present invention is: an "eccentric round roll" formed by the inner magnetic steel ring 8 and the inner silicon steel block 21 inner tube, under the action of the magnetic induction coil arranged in the notch of the inner silicon steel block 21 and the outer silicon steel block 23, The control 钕 magnet ring 8 is positioned between the center and the center of the inner cylinder of the inner silicon steel block 21, so that the spectral imager mounted by the lens mount point 12 can be positioned in a plane space. In the three-dimensional spatial positioning, the positioning is performed by the air rod member 16 of the electric air rod 19, and the movement of the lens mounting point 12 in the vertical direction can be realized by the stroke control of the air rod member 16 of the electric air rod 19. During the moving process, the rail bar 17 starts to function smoothly and assists the device. The main innovation of the device of the invention lies in the planar positioning. Since the neodymium steel ring 8 and the inner silicon steel block 21 have very high control force, the control force is magnetically suspended, so the damage rate in wear is zero, so It is permanent in the design life of the theory. The basic principles, main features and advantages of the present invention are shown and described above. It should be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and that the present invention is only described in the foregoing embodiments and the description of the present invention, without departing from the spirit and scope of the invention. Various changes and modifications are intended to fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and their equivalents.

Claims

权利要求书 [权利要求 1] 一种基于虚拟现实技术的机械人成像系统， 其主要构造有： 顶封盖圈 Claims [Claim 1] A robot imaging system based on virtual reality technology, the main structure of which is: a top cover ring
( 1) 、 罩碗 a (2) 、 罩碗 b (3) 、 罩碗 c (4) 、 光罩筒 （5) 、 底封 盖圈 （6) 、 橡胶密封圈 a (7) 、 钕磁钢圈 （8) 、 连接圈 （9) 、 橡 胶密封圈 b ( 10) 、 钕磁顶圈 （11) 、 镜头安装点 （12) 、 导轨架固 定盘 （13) 、 金属密封圈 （14) 、 密封圈底座 （15) 、 气杆杆件 （16 ) 、 导轨条 （17) 、 轨条槽 （18) 、 电动气杆 （19) 、 销钉 （20) 、 内硅钢块 (21) 、 连接件 (22) 、 外硅钢块 (23) 、 轴销 (24) 、 块 销 （25) ， 其特征在于： 光罩筒 （5) 上依次通过螺口套接有罩碗 a ( 2) 、 罩碗 b (3) 、 罩碗 c (4) ， 并且在罩碗 a (2) 上通过螺栓杆固 定有顶封盖圈 （1) 。 所述的罩碗 a (2) 、 罩碗 b (3) 、 罩碗 c (4) 三者所组成的外筒内排布有一圈外硅钢块 （23) ， 且每两块的外硅钢 块 （23) 之间以轴销 （24) 为固定衔接； 外硅钢块 （23) 与内硅钢块 (21) 之间通过连接件 （22) 相互拉结； 所述的外硅钢块 （23) 与罩 碗 b (3) 之间通过销钉 （20) 相固定； 所述的内硅钢块 （21) 与外硅 钢块 (23) 底部通过块销 (25) 相拉结。 所述的外硅钢块 (23) 底部 拧接有连接圈 （9) ， 橡胶密封圈 b ( 10) 外套于钕磁顶圈 （11) 外围 ， 连接圈 （9) 与钕磁顶圈 （11) 相磁吸； 钕磁顶圈 （11) 套入光罩 筒 （5) 内， 光罩筒 （5) 底部被底封盖圈 （6) 所密封。 所述的内硅 钢块 （21) 排布形成圆状的内筒， 在内筒内壁上磁吸有钕磁钢圈 （8 ) ； 所述的钕磁钢圈 （8) 上部拧接有金属密封圈 （14) ， 下部拧接 有密封圈底座 （15) ， 形成钕磁钢圈座； 所述的钕磁钢圈座与导轨架 固定盘 （13) 相螺纹铰合。 所述的导轨架固定盘 （13) 内芯贯通有导 轨条 （17) ， 导轨条 （17) —端末固定于电动气杆 （19) 的两侧面上 ， 且在导轨条 （17) 架立于轨条槽 （18) 内， 在导轨条 （17) 另一端 末固定有镜头安装点 （12) ； 所述的电动气杆 （19) 的气杆杆件 （16 ) 末端与镜头安装点 （12) 中心相固定。 所述的轨条槽 （18) 与导轨 架固定盘 （13) 内芯相固定。 所述的内硅钢块 （21) 、 外硅钢块 （23 ) 内侧均銑有槽口。 (1), cover bowl a (2), cover bowl b (3), cover bowl c (4), mask cylinder (5), bottom cover ring (6), rubber seal a (7), neodymium magnet Steel ring (8), connecting ring (9), rubber sealing ring b (10), neodymium magnetic top ring (11), lens mounting point (12), rail holder fixing plate (13), metal sealing ring (14), Seal ring base (15), gas rod rod (16), rail strip (17), rail groove (18), electric air rod (19), pin (20), inner silicon steel block (21), connecting piece ( 22), outer silicon steel block (23), shaft pin (24), block pin (25), characterized in that: the photoreceptor cylinder (5) is sequentially sleeved with a cover bowl a (2), a bowl bowl b (3), cover bowl c (4), and the top cover ring (1) is fixed on the cover bowl a (2) by bolts. An outer silicon steel block (23) is arranged in the outer cylinder composed of the cover bowl a (2), the cover bowl b (3) and the cover bowl c (4), and each outer copper steel block is arranged. (23) is fixedly connected by a shaft pin (24); the outer silicon steel block (23) and the inner silicon steel block (21) are mutually connected by a connecting member (22); the outer silicon steel block (23) and The bowls b (3) are fixed by pins (20); the inner silicon steel blocks (21) and the outer silicon steel blocks (23) are pulled at the bottom by the block pins (25). The outer silicon steel block (23) is screwed with a connecting ring (9) at the bottom, the rubber sealing ring b (10) is jacketed on the periphery of the magnetic top ring (11), and the connecting ring (9) and the magnetic top ring (11) Phase magnetic attraction; the magnetic top ring (11) is nested in the photoreceptor cylinder (5), and the bottom of the photoreceptor cylinder (5) is sealed by the bottom cover ring (6). The inner silicon steel block (21) is arranged to form a circular inner cylinder, and a magnetic steel ring (8) is magnetically attracted on the inner wall of the inner cylinder; the upper part of the neodymium magnetic steel ring (8) is screwed with a metal seal The ring (14) is screwed with a seal ring base (15) to form a neodymium magnet ring seat; the neodymium magnet ring seat is threadedly hinged with the rail frame fixing plate (13). The inner wall of the rail frame fixing plate (13) is penetrated by a rail strip (17), and the rail strip (17) is fixed on both sides of the electric air rod (19), and the rail strip (17) is erected on the rail rod (17) In the rail groove (18), a lens mounting point (12) is fixed at the other end of the rail bar (17); the end of the gas rod (16) of the electric air rod (19) and the lens mounting point (12) The center is fixed. The rail groove (18) is fixed to the inner core of the rail fixing plate (13). Inner silicon steel block (21), outer silicon steel block (23 ) The inside is milled with slots.
[权利要求 2] 根据权利要求 1所述的一种基于虚拟现实技术的机械人成像系统， 其 特征在于所述的连接圈 （9) 上覆有橡胶密封圈 a (7) 。  [Claim 2] A virtual reality based robot imaging system according to claim 1, characterized in that the connecting ring (9) is covered with a rubber seal a (7).
[权利要求 3] 根据权利要求 1所述的一种基于虚拟现实技术的机械人成像系统， 其 特征在于所述的钕磁钢圈 （8) 与内筒的直径比为 1:2.5至 1:4.7之间。 [Claim 3] A virtual reality based robot imaging system according to claim 1, wherein the diameter ratio of the neodymium magnet ring (8) to the inner cylinder is 1:2.5 to 1: Between 4.7.
[权利要求 4] 根据权利要求 1所述的一种基于虚拟现实技术的机械人成像系统， 其 特征在于所述的镜头安装点 （12) 安装有光谱成像器。 [Claim 4] A virtual reality based robot imaging system according to claim 1, wherein said lens mount point (12) is mounted with a spectral imager.
[权利要求 5] 根据权利要求 1所述的一种基于虚拟现实技术的机械人成像系统， 其 特征在于所述的内硅钢块 （21) 、 外硅钢块 （23) 的槽口内均布置有 磁感线圈。 [Claim 5] A robot imaging system based on virtual reality technology according to claim 1, characterized in that the inner silicon steel block (21) and the outer silicon steel block (23) are arranged with magnetic waves in the slots of the outer silicon steel block (23). Sense coil.
PCT/CN2017/080539 2017-04-14 2017-04-14 Robotic imaging system based on virtual reality technology WO2018188062A1 (en)

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JPH06217521A (en) * 1993-01-11 1994-08-05 Aisin Seiki Co Ltd Electromagnetic suspension
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