CN102114345B - One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving - Google Patents
One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving Download PDFInfo
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- CN102114345B CN102114345B CN2011100092033A CN201110009203A CN102114345B CN 102114345 B CN102114345 B CN 102114345B CN 2011100092033 A CN2011100092033 A CN 2011100092033A CN 201110009203 A CN201110009203 A CN 201110009203A CN 102114345 B CN102114345 B CN 102114345B
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- ipmc
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- 210000005252 bulbus oculi Anatomy 0.000 title claims abstract description 95
- 239000000463 material Substances 0.000 title claims abstract description 31
- 239000002131 composite material Substances 0.000 title abstract description 4
- 229920003303 ion-exchange polymer Polymers 0.000 title abstract 2
- 239000011664 nicotinic acid Substances 0.000 title abstract 2
- 239000000758 substrate Substances 0.000 claims abstract description 36
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 239000008367 deionised water Substances 0.000 claims abstract description 9
- 229910021641 deionized water Inorganic materials 0.000 claims abstract description 9
- 238000002347 injection Methods 0.000 claims description 9
- 239000007924 injection Substances 0.000 claims description 9
- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 claims 23
- 230000033001 locomotion Effects 0.000 abstract description 16
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- 238000005452 bending Methods 0.000 description 5
- 210000001508 eye Anatomy 0.000 description 5
- 239000012530 fluid Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000003565 oculomotor Effects 0.000 description 3
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- 229920001746 electroactive polymer Polymers 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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Abstract
The invention relates to one-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving, belonging to the application field of IPMC materials. The one-dimensional eyeball device comprises a transparent case, an eyeball, an IPMC driving piece, an electrode and a substrate, and the eyeball can swing left and right in one direction. The two-dimensional movable eyeball comprises the transparent case, the eyeball, a cylinder spring, the IPMC driving piece, a locating piece, the electrode and the substrate, and the eyeball can swing left and right or up and down in two directions which are mutually vertical. The movable eyeball and the driving piece are enclosed between the sealed transparent case and the substrate, and the enclosed space is filled with deionized water so as to provide a water environment required by the IPMC driving piece. The electrode is arranged at the rear part of the substrate, a preset alternating current voltage signal is applied to the electrode, the IPMC driving piece swings left and right to drive the eyeball to do one-dimensional or two-dimensional swinging movement, the amplitude of the alternating current voltage is used for regulating the amplitude of swing, and the frequency of the alternating current voltage signal is used for regulating the frequency of swing.
Description
Technical field
The present invention relates to the bionical eyeball device of peacekeeping two dimension, belong to IPMC material application based on the driving of IPMC material.
Technical background
IPMC (Ionic Polymer Metallic Composite) amberplex metallic composite is a kind of novel ion-type EAP (Electro-Active Polymer) electroactive polymer, is based on that migration and the diffusion of charged ion realize to drive.Its density is little, has flexibility, and driving voltage is low and displacement is big, and the conversion efficiency that can provide higher chemical energy to convert mechanical energy into activates performance classes and is similar to natural muscle, so be called " artificial-muscle ", is a kind of material that is suitable for developing bio-robot.Therefore, have low, the noiselessness of navigability, energy consumption of height, can be used for animal sole, human arm, the driving of bio-robots such as bionical fish based on the driving chip of IPMC material preparation.
When applying DC voltage for the IPMC film, the film anode is crooked, and degree of crook rises along with the increase of voltage, until the state of reaching capacity.On the contrary, when IPMC received flexural deformation, IPMC also can produce voltage at thickness direction.The actuation mechanism more complicated of IPMC relates to the mutual conversion of electric energy, chemical energy and mechanical energy.Its main deficiency is that driving force is less, and needs water or wet environment.But compare with other intelligent drives material, the IPMC driving voltage is low, displacement is big; Its distortion contractility surpasses the crisp hard electricity pottery of quality more than 100 times, and on response time, low weight and elasticity, substantially exceeds marmem, becomes in recent years the focus of research both at home and abroad.
Dust removal brush has been made with the IPMC actuator in the JPL laboratory of U.S. NASA, is used for the outer surface dedusting (Bar-Cohen Y, et al. SPIE Press, 2004) of space grapefruit satellite; Japan Eamex company has developed the artificial fish (WorldWide Electroactive Polymers (EAP) Newsletter, 1999) of commercial product of IPMC material; The Kentaro Takagi in the bionical control research center of Japan etc. receives helical spring inspiration; Through two helical form IPMC bars are placed on the contrary; The end of IPMC is connected to output shaft, and the other end is fixed on the inwall that drives container, thereby changes into limited angular turn (Kentaro Takagi to the bending motion of IPMC; Et al. Smart Structures and Materials 2005 Proceedings of SPIE, 2005).
At present existed the oculomotor mode of driving to mainly contain some following modes.No. 95224192.7 patents of utility model through in doll eyeball rear end balancing weight being set, are utilized gravitational principle, and when erecting doll, the eyes of doll are opened, and when doll was lain down, its eyes were closed.It is to move and simulate opening of eyes and close through driving eyelash, and eyeball can not rotate; " a kind of eyeball of doll blink actuation mechanism " of Chinese patent publication number 99213514.1 adopts electromagnetic mode, through producing magnetic field to coil electricity, thereby attracts magnetic absorption member, and after the outage, magnetic absorption member is kept in the center by deadweight, makes the eyeball generation open the action of closing one's eyes.No. 01204601.9 patent of utility model makes doll eyes left-right rotation automatically with the motor driving, and it utilizes the eccentric drive principle to make a shifting block stir augen.Its feature is to realize being synchronized with the movement of two eyeballs, but it must transmit power layer by layer through numerous and diverse machine driving, tangible motor noise is arranged, complex structure.
Summary of the invention
To the advantage of IPMC artificial thews material and the deficiency of already present eyeball type of drive, the object of the present invention is to provide a kind of employing IPMC artificial thews material to drive bionical eyeball of oculomotor one dimension and two-dimentional bionical eyeball device.
Bionical eyeball device based on the IPMC artificial thews material drives comprises two kinds of structures, and a kind of is that structure drives incorporate one dimension swing eyeball, and another kind is spring-supported two dimensional motion eyeball.
A kind of bionical eyeball device of one dimension that drives based on the IPMC artificial thews material, the IPMC driving chip that it is characterized in that comprising eyeball, is used to drive the eyeball swing and support eyeball, one group of electrode, substrate, transparent outer cover; Above-mentioned eyeball is fixed in an end of IPMC driving chip; Above-mentioned electrode is affixed on the both sides of the IPMC driving chip other end respectively, and clamped together and be positioned in the square through hole of substrate; Above-mentioned transparent outer cover covers on outside eyeball and the IPMC post, and forms seal cavity between the substrate; Above-mentioned seal cavity is marked with deionized water.
The IPMC material both had been used as the driver that drives the eyeball reciprocally swinging in the bionical eyeball device of one dimension, be used as the structure member that supports eyeball simultaneously.When on above-mentioned electrode, applying the 1-3V ac signal, IPMC can drive eyeball and produce reciprocally swinging deformation together, and the alternating voltage amplitude is in order to the regulation and control amplitude of fluctuation, and the ac signal frequency is in order to regulation and control eyeball hunting frequency.Based on the IPMC drive principle, the driving of IPMC material relies on water environment, so be full of the work that deionized water has ensured this drive unit longer life in the above-mentioned seal cavity.
The clamp structure of the above-mentioned bionical eyeball device of one dimension that drives based on the IPMC artificial thews material can be following mode: aforesaid substrate had with square through hole vertical being used to of communicating installs pinching screw to clamp the side direction screwed hole of IPMC driving chip and electrode.The employing pinching screw clamps.
Also has water injection hole on the aforesaid substrate.
A kind of two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material; It is characterized in that: comprise that substrate, eyeball and an end are connected the other end and are positioned being used on the substrate and support the cylindrical spring of eyeball (4) with eyeball; Also comprise 2 or 4 groups of IPMC driven units that are used to drive the eyeball swing, and transparent outer cover; Above-mentioned every group of IPMC driven unit includes an IPMC driving chip and one group of electrode; One end of IPMC driving chip places the inboard chute of eyeball; Above-mentioned electrode is affixed on the both sides of the IPMC driving chip other end respectively, and clamped together and be positioned in the square through hole of substrate; When the IPMC driven unit is 2 groups, for facing the two sides arrangement mutually along square through hole; When the IPMC driven unit is 4 groups, for along square through hole four side arrangement modes; Above-mentioned transparent outer cover covers on outside eyeball and the IPMC post, and forms seal cavity between the substrate; Above-mentioned seal cavity is marked with deionized water.
The IPMC material is used as and drives oculomotor driver in the bionical eyeball device of two dimension.Adjacent two driving chips are vertical each other, satisfy eyeball two orthogonal direction motions, and promptly eyeball can swing, and also can swing up and down.When on above-mentioned one group of electrode, applying the 1-3V ac signal; The IPMC material bending produces driving force; The end of its power output places in the inboard chute of eyeball, forces with the fixing cylindrical spring of eyeball and produces flexural deformation, produces reciprocally swinging together thereby drive eyeball.Meanwhile, another IPMC driving chip that is adjacent does not occur bending and deformation, and its end is eyeball slip relatively in the chute of eyeball inboard.Mutual interference when the inboard chute structure of eyeball has been avoided two dimensional motion between the IPMC driving chip.
The above-mentioned two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material is characterized in that: aforesaid substrate had with square through hole vertical being used to of communicating installs pinching screw to clamp the side direction screwed hole of IPMC driving chip and electrode.The employing pinching screw clamps.
The above-mentioned two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material is characterized in that: also comprise the square locating piece that is used for fixing cylindrical spring and places square through hole.Circular hole is used for fixing cylindrical spring in the middle of the above-mentioned square locating piece, and four sides are used to place vertical adjacent IPMC driven unit, conveniently carries out the fixing and clamping of electrode.
The above-mentioned bionical eyeball device based on the driving of IPMC artificial thews material is characterized in that: have water injection hole on the aforesaid substrate.
Description of drawings
Fig. 1 is the 3 D stereo exploded view of eyeball motion in one dimension device of the present invention.
The structure installation diagram of Fig. 2 eyeball motion in one dimension of the present invention device.
The graphics of eyeball structure in Fig. 3 eyeball motion in one dimension of the present invention device.
The 2 d plane picture of eyeball structure in Fig. 4 eyeball motion in one dimension of the present invention device.
The 3 D stereo exploded view of Fig. 5 eyeball two dimensional motion of the present invention device.
The structure installation diagram of Fig. 6 eyeball two dimensional motion of the present invention device.
The graphics of eyeball structure in Fig. 7 eyeball two dimensional motion of the present invention device.
The 2 d plane picture of eyeball structure in Fig. 8 eyeball two dimensional motion of the present invention device.
Label among the figure: 1, electrode, 2, the IPMC driving chip, 3, substrate, 4, eyeball, 5, transparent outer cover; 6, pinching screw, 7, cylindrical spring, 8, locating piece, 9, deionized water; 3_1, square through hole, 3_2, water injection hole, 4_1, the inboard pedestal of eyeball, 4_2, the inboard chute of eyeball.
The practical implementation method
1. the bionical eyeball implementation method of one dimension:
Among Fig. 1 and Fig. 2, at first IPMC driving chip 2 one ends directly are fixed in the rectangular channel (shown in Fig. 3 and Fig. 4) of eyeball 4 inboards; The other end of IPMC driving chip 2 and two lateral electrodes place in the square through hole of substrate center, fix and are clamped in the square through hole with the IPMC driving chip that substrate both sides pinching screw 6 is placed electrode with both sides, and with fluid sealant square through hole is sealed; Then spherical transparent outer cover 5 is bonded on the substrate 3, and in the cavity of transparent outer cover and substrate formation, injects deionized water through the water injection hole 3_2 on the substrate; At last water injection hole 3_2 is sealed with fluid sealant.
Connect amplitude 1-3V for electrode 1, the sinusoidal signal of frequency 0.1-1Hz, under the effect of voltage signal, IPMC driving chip 2 produces bending motion, drives the reciprocally swinging that eyeball produces one dimension together.
2. two-dimentional bionical eyeball implementation method:
Among Fig. 5 and Fig. 6, cylindrical spring 7 one ends are fixed among the cylindrical hole 4_1 of eyeball, the other end is fixed in the cylindrical hole of locating piece 8; Two groups of driven units that on two adjacent side of locating piece 8, fixedly comprise IPMC driving chip and two lateral electrodes successively are fixed on driven unit and locating piece among the square through hole 3_1 on the substrate through the pinching screw 6 on substrate 3 sides; The other end of IPMC driving chip is inserted among the chute 4_2 of eyeball, and inboard also corresponding 90 degree of four road chutes of eyeball are arranged (like Fig. 7 and shown in Figure 8); Transparent outer cover 5 is sticked on substrate 3 surfaces, constitute the space of a sealing, inject deionized water through the water injection hole 3_2 on the substrate; At last water injection hole 3_2 is sealed with fluid sealant.
Respectively two arrays of electrodes is applied amplitude 1-3V, the sinusoidal signal of frequency 0.1-1Hz, under the effect of voltage signal, the IPMC driving chip produces bending motion, swing about the drive eyeball produces together or swing up and down.
Claims (7)
1. the bionical eyeball device of one dimension that drives based on the IPMC artificial thews material is characterized in that: the IPMC driving chip (2), one group of electrode (1), substrate (3), the transparent outer cover (5) that comprise eyeball (4), be used to drive the eyeball swing and support eyeball (4);
Above-mentioned eyeball (4) is fixed in an end of IPMC driving chip (2);
Above-mentioned electrode (1) is affixed on the both sides of IPMC driving chip (2) other end respectively, and electrode (1) and IPMC driving chip (2) are clamped together and be positioned in the square through hole of substrate (3);
Above-mentioned transparent outer cover (5) covers on outside eyeball (4) and the IPMC driving chip (2), and forms seal cavity between the substrate (3);
Be marked with deionized water in the above-mentioned seal cavity.
2. the bionical eyeball device of one dimension that drives based on the IPMC artificial thews material according to claim 1 is characterized in that: aforesaid substrate (3) had with square through hole vertical being used to of communicating installs pinching screw (6) to clamp the side direction screwed hole of IPMC driving chip (2) and electrode (1).
3. the bionical eyeball device of one dimension that drives based on the IPMC artificial thews material according to claim 1, it is characterized in that: aforesaid substrate has water injection hole on (3).
4. two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material; It is characterized in that: comprise that substrate (3), eyeball (4) and an end are connected the other end and are positioned the cylindrical spring that is used to support eyeball (4) (7) on the substrate (3) with eyeball (4); Also comprise 2 or 4 groups of IPMC driven units that are used to drive the eyeball swing, and transparent outer cover (5);
Above-mentioned every group of IPMC driven unit includes an IPMC driving chip (2) and one group of electrode (1); One end of IPMC driving chip (2) places the inboard chute of eyeball; Above-mentioned electrode (1) is affixed on the both sides of IPMC driving chip (2) other end respectively, and electrode (1) and IPMC driving chip (2) are clamped together and be positioned in the square through hole of substrate (3);
When the IPMC driven unit is 2 groups, for facing the two sides arrangement mutually along square through hole; When the IPMC driven unit is 4 groups, for along square through hole four side arrangement modes;
Above-mentioned transparent outer cover (5) covers on outside eyeball (4) and the IPMC driving chip (2), and forms seal cavity between the substrate (3);
Be marked with deionized water in the above-mentioned seal cavity.
5. the two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material according to claim 4 is characterized in that: aforesaid substrate (3) had with square through hole vertical being used to of communicating installs pinching screw (6) to clamp the side direction screwed hole of IPMC driving chip (2) and electrode (1).
6. the two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material according to claim 4 is characterized in that: the square locating piece (8) that also comprises the square through hole that is used for fixing cylindrical spring (7) and places substrate (3).
7. the two-dimentional bionical eyeball device that drives based on the IPMC artificial thews material according to claim 4, it is characterized in that: aforesaid substrate has water injection hole on (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100092033A CN102114345B (en) | 2011-01-17 | 2011-01-17 | One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100092033A CN102114345B (en) | 2011-01-17 | 2011-01-17 | One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving |
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| Publication Number | Publication Date |
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| CN102114345A CN102114345A (en) | 2011-07-06 |
| CN102114345B true CN102114345B (en) | 2012-07-25 |
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| CN2011100092033A Expired - Fee Related CN102114345B (en) | 2011-01-17 | 2011-01-17 | One-dimensional and two-dimensional bionic eyeball devices based on IPMC (ion-exchange polymer composite) material driving |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102372041B (en) * | 2011-10-21 | 2012-12-26 | 南京航空航天大学 | IPMC (Ion-exchange polymer-metal composites) based gecko-simulating active driving sole and driving mode |
| CN103143176B (en) * | 2013-03-12 | 2014-12-10 | 西安交通大学 | Three-degree-of-freedom bionic eye based on IPMC drive |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6682500B2 (en) * | 1998-01-29 | 2004-01-27 | David Soltanpour | Synthetic muscle based diaphragm pump apparatuses |
| CN101015744A (en) * | 2007-03-05 | 2007-08-15 | 浙江大学 | Ball-supporting porous pneumatic artificial-muscle parallel-connection-drive bionic eye |
| JP2008058841A (en) * | 2006-09-02 | 2008-03-13 | Wakayama Univ | Variable shape liquid type varifocal lens |
| WO2008064689A2 (en) * | 2006-11-28 | 2008-06-05 | University Of Tartu | A shape changing manipulator comprising self-sensing actuators made of an electroactive polymer material |
-
2011
- 2011-01-17 CN CN2011100092033A patent/CN102114345B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6682500B2 (en) * | 1998-01-29 | 2004-01-27 | David Soltanpour | Synthetic muscle based diaphragm pump apparatuses |
| JP2008058841A (en) * | 2006-09-02 | 2008-03-13 | Wakayama Univ | Variable shape liquid type varifocal lens |
| WO2008064689A2 (en) * | 2006-11-28 | 2008-06-05 | University Of Tartu | A shape changing manipulator comprising self-sensing actuators made of an electroactive polymer material |
| CN101015744A (en) * | 2007-03-05 | 2007-08-15 | 浙江大学 | Ball-supporting porous pneumatic artificial-muscle parallel-connection-drive bionic eye |
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