CN103143176B - Three-degree-of-freedom bionic eye based on IPMC drive - Google Patents
Three-degree-of-freedom bionic eye based on IPMC drive Download PDFInfo
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- CN103143176B CN103143176B CN201310077130.0A CN201310077130A CN103143176B CN 103143176 B CN103143176 B CN 103143176B CN 201310077130 A CN201310077130 A CN 201310077130A CN 103143176 B CN103143176 B CN 103143176B
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Abstract
The invention discloses a three-degree-of-freedom bionic eye based on IPMC (Ion Exchange Polymer Metal Composite) drive. The three-degree-of-freedom bionic eye is characterized in that the three-degree-of-freedom bionic eye comprises a base, wherein a downward indented cavity is arranged on the upper surface of the base; at least three plane counter electrode extending to the outer side face of the base are arranged on the bottom surface of the cavity; each counter electrode is connected with a lead-out counter electrode of a 2D-IPMC driver sheet; free ends of the 2D-IPMC driver sheets are regularly arrayed on the bottom surface of the cavity; a bottom plate with the dimension slightly smaller than that of the cavity and the shape the same as that of the cavity is fixed at the free ends of the 2D-IPMC driver sheets; a hole is formed in the center of the bottom plate; at least two hole counter electrode arranged through an internal wall of the hole is connected with a lead-out counter electrode end of a columnar 3D-IPMC driver; the other end of the columnar 3D-IPMC driver is connected with a semicircular eyeball; and a spherical crown protection cover coaxial with the eyeball is arranged outside the semicircular eyeball.
Description
Technical field
The present invention relates to a kind of application of intellectual material, be specifically related to a kind of intellectual material IPMC(ion polymer-metal composite material that adopts) the vision bionics device that drives.
Background technology
Build Human Visual System by simulating biological eye, make it have the feature or function that is similar to biological eyes, be referred to as bionic eye.At present, bionic eye all has important application in fields such as medical treatment, robot, detection of electrons.
Up to the present, caused the concern of Chinese scholars about the research of bionic eye, application number is that 200720106951.2 and 200810060006.2 patent documentation discloses the achievement in research about bionic eye, adopts six artificial-muscles to replace mankind's eyes three structure of muscle to be carried out to the motion morphology of simulating human eyes by pneumatics in parallel.Application number is the motion mode that 201010126955.3 and 201210075047.5 patent documentation proposes a kind of 3-freedom parallel mechanism and simulate human eye, by three driven by motor feed screw nuts, controls the attitude of moving platform, to determine the attitude of eyes.Shortcomings such as although said structure have been realized the function of human eye in certain degree, all has complex structure, and volume is larger, and motion mode is single, there is certain difficulty in extensive use.
The appearance of novel intelligent material-IPMC, for the design of bionic eye provides a kind of new thought.This material has the bi-directional electromechanical translation function of sensing-actuating, have that quality is light, pliability good concurrently, be swift in response, the voltage that applies 1-3V can produce the features such as large flexural deformation, has been applied to animals' pad, human arm, the bionical field such as Biomimetic Fish as driver.Application number be 201110009203.3 patent documentation by as drives structure, two kinds of bionical eyeballs have been proposed: one is to adopt IPMC structure to drive integrated one dimension to swing bionical eyeball; Another kind is spring-supportedly can realize the bionical eyeball of two dimensional motion up and down.But these two kinds of bionical eyeballs are too simple, the motion of realization is single, and can not in air, use for a long time, fails to embody completely the advantage of IPMC material.
Summary of the invention
The object of the present invention is to provide one to utilize sheet 2D(two dimension)-IPMC driver is as bottom drives structure, utilizes column 3D(three-dimensional)-IPMC driver is as eyeball drives structure, the bionic eye of making through encapsulation.
For reaching above object, the present invention takes following technical scheme to be achieved:
A kind of Three-degree-of-freedom bionic eye driving based on IPMC, it is characterized in that, comprise pedestal, this pedestal upper surface is provided with one toward the cavity being sunken into, on this cavity bottom surface, at least arranging three extends to the planar counter electrode of pedestal lateral surface, each electrode is connected electrode with drawing of a 2D-IPMC driver blade, the free end of the plurality of 2D-IPMC driver blade is regularly arranged on cavity bottom surface; The lower surface that size is slightly smaller than cavity, base plate that shape is identical with cavity is fixed on described multiple 2D-IPMC driver blade free end; the center of this base plate is provided with hole; at least two holes that arrange by hole inwall connect drawing electrode tip of a column 3D-IPMC driver to electrode; the other end of this column 3D-IPMC driver is connected with a semicircle eyeball, and this semicircle eyeball is outside equipped with a spherical crown containment vessel coaxial with eyeball.
In such scheme, described pedestal is formed by connecting by the connecting hole of four jiaos by square substrate and fixed mount, described fixed mount is a framework, its inner chamber and upper surface of base plate form upwards open cavity, cavity bottom surface, also be on the joint face between substrate and fixed mount, to post in advance four planar counter electrode, each planar counter electrode is the position near connecting hole in fixed mount frame all, and connects inside and outside frame; Each planar counter electrode all connects drawing electrode of a 2D-IPMC driver blade, and the free end of this 2D-IPMC driver blade puts in cavity, keeps vertical, with adjacent frame keeping parallelism with the frame of its connecting electrode.
Described base plate is square plate structure, below base plate, Ge Bian edge has the driver holddown groove of mutual perforation, the width of groove is slightly larger than the width of 2D-IPMC driver blade, when base plate lower surface is connected with 2D-IPMC driver blade free end, these four holddown grooves just block four 2D-IPMC driver blade free ends.
Described column 3D-IPMC driver is four-prism shape structure.
Compared with prior art, advantage of the present invention is:
1) utilize the flexural deformation characteristic of 2D-IPMC driver, by designing bending motion is converted into rectilinear motion cleverly, realize " projection " motion of bionic eye.
2), when to each when electrode is applied to different voltage, cylindricality 3D-IPMC driver can produce multiple bending shape, so realize eyes on depending on, under look, side-looking and stravismus function.
3) 3D-IPMC material adopts the casting of casting film technology, and 2D and 3D-IPMC material all pass through packaging technology processing, can be increased in airborne useful life.
The simple structure of the IPMC cantilever that the present invention ties up by 2 peacekeepings 3, just can realize the multi-motion form of bionic eye simulation eye, for the popularization and application of bionic eye provide may, there is very strong actual application value.
Brief description of the drawings
Fig. 1 is Three-degree-of-freedom bionic eye section of structure of the present invention.
Fig. 2 is the three-dimensional, exploded view of a specific embodiment of Three-degree-of-freedom bionic eye of the present invention.
Fig. 3 is pedestal fixed rack structure graphics (bottom surface) in Fig. 2 bionic eye.
Fig. 4 is base arrangement graphics (bottom surface) in Fig. 2 bionic eye.
Fig. 1 is in Fig. 4: 1, substrate, 2, base plate, 3, screw, 4, nut, 5, planar counter electrode; 6, eyeball, 7, spherical crown containment vessel, 8,3D-IPMC driver post, 9, hole is to electrode; 10, fixed mount, 11,2D-IPMC driver blade, 12, cavity, 13, driver holddown groove.
Fig. 5 is the three-dimensional, exploded view of another specific embodiment of Three-degree-of-freedom bionic eye of the present invention.
Fig. 6 is the structure three-dimensional figure of circular substrate 1 in Fig. 5 bionic eye.
Fig. 7 is the structure three-dimensional figure (bottom surface) of base plate 2 in Fig. 5 bionic eye.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Embodiment mono-
With reference to figure 1, Fig. 2, a kind of Three-degree-of-freedom bionic eye driving based on IPMC, comprises projection movement assembly: substrate 1, fixed mount 10, planar counter electrode 5, four 2D-IPMC driver blade 11 and base plates 2; Spheric motion assembly: minisize pick-up head can be placed to electrode 9, semicircular eyeball 6(top in a 3D-IPMC driver post (four-prism), hole) and spherical crown containment vessel 7.
Square substrate and fixed mount (frame structure) connect as one by screw 3, the nut 4 of four jiaos, and form toward the cavity 12 being sunken into.Because substrate and fixed mount belong to structural member, can adopt hard material (such as polymethyl methacrylate, PMMA).Cavity bottom surface, also be on the joint face between substrate and fixed mount, to post in advance two copper electrodes of four planar counter electrode 5(, one be affixed on above substrate, one be affixed on below fixed mount), each planar counter electrode is the position near screw hole in fixed mount frame all, and connects frame inside and outside (Fig. 3).Each planar counter electrode all connects drawing electrode of a strip 2D-IPMC driver blade, and the free end of this 2D-IPMC driver blade puts in cavity, is connected the frame of electrode is kept to vertical, with adjacent frame keeping parallelism with it.Then a square floor 2(size is less than to fixed mount inner chamber) be fixed on four 2D-IPMC driver blade free ends, connect spheric motion assembly by 3D-IPMC driver post 8.
According to the deformation characteristics of IPMC driver, in the time that planar counter electrode 5 is applied to forward dc voltage, four 2D-IPMC drivers produce bending motion simultaneously, the base plate 2 and the spheric motion assembly that are connected on its free end can be held up, bending motion is converted into rectilinear motion, can realize " projection " motion of eyeball.Base plate can adopt low-density light material (such as expanded polystyrene (EPS) PS), can reduce the impact of self gravitation on driver drives effect.
In order to realize bionic eye function of the present invention, the needed thicker Nafion film of 3D-IPMC driver post 8 is pressed the described cast of patent documentation (application number 201210361131.3) " recovery of Nafion film and double teeming technique in IPMC material "; For above-mentioned bionic eye can be used for a long time in air, 2D of the present invention and 3D-IPMC material all adopt the described method of patent documentation (application number 201110255830.5) " a kind of packaging technology of IPMC driver " to carry out encapsulation process.
With reference to figure 4, base plate 2 is square plate structure, Ge Bian edge has the driver holddown groove 13 of mutual perforation below, the width of groove is slightly larger than the width of 2D-IPMC driver blade, when base plate assembling, these four holddown grooves 13 just block four 2D-IPMC driver blade free ends, and lateral deviation occurs can prevent the flexural deformation of 2D-IPMC driver time.In the middle of base plate, have square hole, square hole size is consistent with 3D-IPMC driver post 8 sectional dimensions.
In square hole, post two holes to electrode 9(Fig. 1 with silica gel), each hole does not contact keeping between electrode.By 3D-IPMC driver post 8 draw to electrode tip insert with porose in the substrate square hole of electrode, the other end is connected with the eyeball 6 that minisize pick-up head is housed.Spherical crown containment vessel 7 is fixed on substrate 2, and coaxial with eyeball 6, object is in order to protect eyeball.Eyeball and spherical crown containment vessel all can adopt low-density light material PS.
In the time electrode 9 being applied to the sine voltage signal of different amplitudes (1-3V) and frequency (0.1-10Hz) to hole, four-prism shape 3D-IPMC driver can produce multiple bending shape, so drive eyeball realize eyes on depending on, under look, the sophisticated functions such as side-looking and stravismus.
Embodiment bis-
With reference to figure 5, the another kind of Three-degree-of-freedom bionic eye driving based on IPMC, in this embodiment, substrate 1 and base plate 2 are circle (Fig. 6, Fig. 7), and fixed mount is annular.In this embodiment, on the joint face between substrate and fixed mount, post in advance 6 planar counter electrode 5 and be circumferentially uniformly distributed along substrate (annular fixing frame), and connect inside and outside fixed mount annular.Each planar counter electrode all connects drawing electrode of a strip 2D-IPMC driver blade, and the free end of this 2D-IPMC driver blade puts in cavity, and points to the center of circle.Circumferentially be uniformly distributed 6 rectangular channels along base plate, the width of groove is slightly larger than the width of 2D-IPMC driver blade, and when base plate lower surface is connected with 2D-IPMC driver blade free end, this rectangular channel just blocks 2D-IPMC driver blade free end.
Other mounting means, material etc. are identical with embodiment mono-.
The present invention is not limited to above embodiment, and for example, as adopted circular substrate and base plate, the number of planar counter electrode 5 can be selected between 3-12, and corresponding 3～12 2D-IPMC driver blade are circumferentially uniformly distributed along substrate and annular fixing frame.
Claims (4)
1. the Three-degree-of-freedom bionic eye driving based on IPMC, it is characterized in that, comprise pedestal, this pedestal upper surface is provided with one toward the cavity being sunken into, on this cavity bottom surface, at least arranging three extends to the planar counter electrode of pedestal lateral surface, each electrode is connected electrode with drawing of a 2D-IPMC driver blade, the free end of the plurality of 2D-IPMC driver blade is regularly arranged on cavity bottom surface; The lower surface that size is slightly smaller than cavity, base plate that shape is identical with cavity is fixed on described multiple 2D-IPMC driver blade free end; the center of this base plate is provided with hole; at least two holes that arrange by hole inwall connect drawing electrode tip of a column 3D-IPMC driver to electrode; the other end of this column 3D-IPMC driver is connected with a semicircle eyeball, and this semicircle eyeball is outside equipped with a spherical crown containment vessel coaxial with eyeball.
2. the Three-degree-of-freedom bionic eye driving based on IPMC as claimed in claim 1, it is characterized in that, described pedestal is formed by connecting by the connecting hole of four jiaos by square substrate and fixed mount, described fixed mount is a framework, its inner chamber and upper surface of base plate form upwards open cavity, and this cavity of upwards opening is exactly that pedestal upper surface is toward the cavity being sunken into; Cavity bottom surface, is also on the joint face between substrate and fixed mount, to post in advance four planar counter electrode, and each planar counter electrode is the position near connecting hole in fixed mount frame all, and connects inside and outside frame; Each planar counter electrode all connects drawing electrode of a 2D-IPMC driver blade, and the free end of this 2D-IPMC driver blade puts in cavity, keeps vertical, with adjacent frame keeping parallelism with the frame of its connecting electrode.
3. the Three-degree-of-freedom bionic eye driving based on IPMC as claimed in claim 2, it is characterized in that, described base plate is square plate structure, below base plate, Ge Bian edge has the driver holddown groove of mutual perforation, the width of groove is slightly larger than the width of 2D-IPMC driver blade, when base plate lower surface is connected with 2D-IPMC driver blade free end, these four holddown grooves just block four 2D-IPMC driver blade free ends.
4. the Three-degree-of-freedom bionic eye driving based on IPMC as claimed in claim 1, is characterized in that, described column 3D-IPMC driver is four-prism shape structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310077130.0A CN103143176B (en) | 2013-03-12 | 2013-03-12 | Three-degree-of-freedom bionic eye based on IPMC drive |
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| CN201310077130.0A CN103143176B (en) | 2013-03-12 | 2013-03-12 | Three-degree-of-freedom bionic eye based on IPMC drive |
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| CN103143176B true CN103143176B (en) | 2014-12-10 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128300B (en) * | 2014-08-18 | 2015-12-02 | 深圳市浩能科技有限公司 | Transfer type gap coating process |
| CN104942830A (en) * | 2015-07-27 | 2015-09-30 | 中国兵器工业计算机应用技术研究所 | Bionic eye with three degrees of freedom |
| CN105147421A (en) * | 2015-08-04 | 2015-12-16 | 中国兵器工业计算机应用技术研究所 | Three-freedom-degree bionic neck mechanism |
| CN113814961B (en) * | 2021-09-07 | 2022-07-26 | 南京航空航天大学 | Three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive |
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| US3480971A (en) * | 1967-02-21 | 1969-12-02 | Leonard Donald Smith | Artificial eyes having a changeable pupil and movable iris portion actuated by muscle tissue |
| CN201012286Y (en) * | 2007-03-05 | 2008-01-30 | 浙江大学 | Parallel-connection air-actuated artificial muscle driving bionic eyes |
| CN101249027A (en) * | 2008-02-29 | 2008-08-27 | 浙江大学 | Bionics human eyes structure based on flexible parallel connection driven |
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CN102114345A (en) * | 2011-01-17 | 2011-07-06 | 南京航空航天大学 | One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving |
| CN102581847A (en) * | 2012-03-21 | 2012-07-18 | 上海大学 | Three-degree-of-freedom bionic eye parallel mechanism |
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2013
- 2013-03-12 CN CN201310077130.0A patent/CN103143176B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3480971A (en) * | 1967-02-21 | 1969-12-02 | Leonard Donald Smith | Artificial eyes having a changeable pupil and movable iris portion actuated by muscle tissue |
| CN201012286Y (en) * | 2007-03-05 | 2008-01-30 | 浙江大学 | Parallel-connection air-actuated artificial muscle driving bionic eyes |
| CN101249027A (en) * | 2008-02-29 | 2008-08-27 | 浙江大学 | Bionics human eyes structure based on flexible parallel connection driven |
| CN101670584A (en) * | 2009-09-25 | 2010-03-17 | 上海大学 | bionic mechanical eyeball |
| CN101797435A (en) * | 2010-03-17 | 2010-08-11 | 上海大学 | Bionic eye of three-degree-of-freedom spherical parallel mechanism |
| CN102114345A (en) * | 2011-01-17 | 2011-07-06 | 南京航空航天大学 | One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving |
| CN102581847A (en) * | 2012-03-21 | 2012-07-18 | 上海大学 | Three-degree-of-freedom bionic eye parallel mechanism |
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Granted publication date: 20141210 Termination date: 20170312 |