CN103143176A - 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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- CN103143176A CN103143176A CN2013100771300A CN201310077130A CN103143176A CN 103143176 A CN103143176 A CN 103143176A CN 2013100771300 A CN2013100771300 A CN 2013100771300A CN 201310077130 A CN201310077130 A CN 201310077130A CN 103143176 A CN103143176 A CN 103143176A
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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 employing intellectual material IPMC(ion polymer-metal composite material) the vision bionics device that drives.
Background technology
Build the 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 the achievement in research that 200720106951.2 and 200810060006.2 patent documentation discloses relevant bionic eye, adopts six artificial-muscles to replace the structure of three pairs of muscle of mankind's eyes to come the motion morphology of simulating human eyes by pneumatics in parallel.Application number is that 201010126955.3 and 201210075047.5 patent documentation proposes the motion mode that a kind of 3-freedom parallel mechanism is simulated 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 on certain degree, all have 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 is 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 large characteristics such as flexural deformation, has been applied to animals' pad, human arm as driver, the bionical field such as Biomimetic Fish.Application number is 201110009203.3 patent documentation by as drives structure, and proposed two kinds of bionical eyeballs: a kind of is to adopt the 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.Yet these two kinds of bionical eyeballs are too simple, and the motion of realization is single, and can not use in air for a long time, fail to embody fully the advantage of IPMC material.
Summary of the invention
The object of the present invention is to provide a kind of sheet 2D(two dimension utilized)-the IPMC driver is as the bottom drives structure, utilizes the column 3D(three-dimensional)-the IPMC driver is as the eyeball drives structure, the bionic eye of making through encapsulation.
For reaching above purpose, the present invention takes following technical scheme to be achieved:
A kind of Three-degree-of-freedom bionic eye that drives based on IPMC, it is characterized in that, comprise pedestal, this pedestal upper surface is provided with one toward the cavity that is sunken into, this cavity arranges that at least three are extended to the planar counter electrode of pedestal lateral surface on the bottom surface, each is connected electrode with drawing of a 2D-IPMC driver blade electrode, and the free end of these a plurality of 2D-IPMC driver blade is regularly arranged on the 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 a plurality of 2D-IPMC driver blade free end; the center of this base plate is provided with the hole; at least two holes by hole inwall setting 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 square substrate and the fixed mount connecting hole by four jiaos, described fixed mount is a framework, its inner chamber and upper surface of base plate consist of upwards open cavity, the cavity bottom surface, be also to post in advance four planar counter electrode on the joint face between substrate and fixed mount, each planar counter electrode all is in the fixed mount frame near the position of connecting hole, 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 the frame of its connecting electrode, with adjacent frame keeping parallelism.
Described base plate is the square plate structure, below base plate, each limit 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 the base plate lower surface was connected with 2D-IPMC driver blade free end, these four holddown grooves just blocked 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 cleverly, bending motion is converted into rectilinear motion, realize " projection " motion of bionic eye.
2) when to each, electrode being applied different voltage, cylindricality 3D-IPMC driver can produce multiple bending shape, so realize eyes on look, under look, side-looking and stravismus function.
3) the 3D-IPMC material adopts the casting of casting film technology, and 2D and 3D-IPMC material are all processed through packaging technology, can be increased in airborne useful life.
The present invention just can realize the multi-motion form of bionic eye simulation eye by the simple structure of the IPMC cantilever of 2 peacekeepings 3 dimensions, for the popularization and application of bionic eye provides possible, has very strong actual application value.
Description of 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, the spherical crown containment vessel, 8,3D-IPMC driver post, 9, the hole is to electrode; 10, fixed mount, 11, the 2D-IPMC driver blade, 12, cavity, 13, the 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.
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and the specific embodiments.
Embodiment one
With reference to figure 1, Fig. 2, a kind of Three-degree-of-freedom bionic eye that drives based on IPMC comprises the projection movement assembly: substrate 1, fixed mount 10, planar counter electrode 5, four 2D-IPMC driver blade 11 and base plate 2; The spheric motion assembly: a 3D-IPMC driver post (four-prism), hole can be placed minisize pick-up head to electrode 9, semicircular eyeball 6(top) 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 that is sunken into.Because substrate and fixed mount belong to structural member, can adopt hard material (such as polymethyl methacrylate, PMMA).The cavity bottom surface, be also to post in advance two copper electrodes of four planar counter electrode 5(on the joint face between substrate and fixed mount, one be affixed on above substrate, one be affixed on below fixed mount), each planar counter electrode all is in the fixed mount frame near the position of screw hole, 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, and the frame that is connected with it electrode keeps vertical, with adjacent frame keeping parallelism.Then with a square floor 2(size less than the fixed mount inner chamber) be fixed on four 2D-IPMC driver blade free ends, connect the spheric motion assemblies by 3D-IPMC driver post 8.
Deformation characteristics according to the IPMC driver, when planar counter electrode 5 is applied forward dc voltage, four 2D-IPMC drivers produce bending motion simultaneously, can hold up the base plate 2 and the spheric motion assembly that are connected on its free end, 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 self gravitation to the impact of 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 the IPMC material "; For above-mentioned bionic eye can be used in air for a long time, 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 the square plate structure, below each limit edge have the driver holddown groove 13 of mutual perforation, the width of groove is slightly larger than the width of 2D-IPMC driver blade, during the base plate assembling, these four holddown grooves 13 just block four 2D-IPMC driver blade free ends, and lateral deviation occurs in the time of can preventing the flexural deformation of 2D-IPMC driver.Have square hole in the middle of base plate, the square hole size is consistent with 3D-IPMC driver post 8 sectional dimensions.
Post two holes to electrode 9(Fig. 1 with silica gel in square hole), each hole does not contact keeping between electrode.Drawing of 3D-IPMC driver post 8 inserted with in porose substrate square hole to electrode electrode tip, and 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, purpose is in order to protect eyeball.Eyeball and spherical crown containment vessel all can adopt low-density light material PS.
When to the hole, electrode 9 being applied the sine voltage signal of different amplitudes (1-3V) and frequency (0.1-10Hz), four-prism shape 3D-IPMC driver can produce multiple bending shape, so drive eyeball realize eyes on look, under look, the sophisticated functions such as side-looking and stravismus.
Embodiment two
With reference to figure 5, the another kind of Three-degree-of-freedom bionic eye that drives 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, post in advance 6 planar counter electrode 5 on the joint face between substrate and fixed mount and circumferentially evenly distribute along substrate (annular fixing frame), and connect inside and outside the 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.Along circumferential 6 rectangular channels that evenly distribute of base plate, the width of groove is slightly larger than the width of 2D-IPMC driver blade, and when the base plate lower surface was connected with 2D-IPMC driver blade free end, this rectangular channel just blocked 2D-IPMC driver blade free end.
Other mounting means, material etc. are identical with embodiment one.
The present invention is not limited to above embodiment, and for example, as adopting 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 get final product along substrate and circumferential evenly distribution of annular fixing frame.
Claims (4)
1. Three-degree-of-freedom bionic eye that drives based on IPMC, it is characterized in that, comprise pedestal, this pedestal upper surface is provided with one toward the cavity that is sunken into, this cavity arranges that at least three are extended to the planar counter electrode of pedestal lateral surface on the bottom surface, each is connected electrode with drawing of a 2D-IPMC driver blade electrode, and the free end of these a plurality of 2D-IPMC driver blade is regularly arranged on the 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 a plurality of 2D-IPMC driver blade free end; the center of this base plate is provided with the hole; at least two holes by hole inwall setting 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 that drives based on IPMC as claimed in claim 1, it is characterized in that, described pedestal is formed by connecting by square substrate and the fixed mount connecting hole by four jiaos, described fixed mount is a framework, its inner chamber and upper surface of base plate consist of upwards open cavity, and the cavity bottom surface is also to post in advance four planar counter electrode on the joint face between substrate and fixed mount, each planar counter electrode all is in the fixed mount frame near the position of connecting hole, 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 the frame of its connecting electrode, with adjacent frame keeping parallelism.
3. the Three-degree-of-freedom bionic eye that drives based on IPMC as claimed in claim 2, it is characterized in that, described base plate is the square plate structure, below base plate, each limit 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 the base plate lower surface was connected with 2D-IPMC driver blade free end, these four holddown grooves just blocked four 2D-IPMC driver blade free ends.
4. the Three-degree-of-freedom bionic eye that drives 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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Cited By (4)
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| CN104128300A (en) * | 2014-08-18 | 2014-11-05 | 深圳市浩能科技有限公司 | Transfer gap coating method |
| 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 |
| CN113814961A (en) * | 2021-09-07 | 2021-12-21 | 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 |
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| 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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Patent Citations (7)
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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 |
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| CN101249027A (en) * | 2008-02-29 | 2008-08-27 | 浙江大学 | Bionics human eyes structure based on flexible parallel connection driven |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128300A (en) * | 2014-08-18 | 2014-11-05 | 深圳市浩能科技有限公司 | Transfer gap coating method |
| 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 |
| CN113814961A (en) * | 2021-09-07 | 2021-12-21 | 南京航空航天大学 | Three-degree-of-freedom parallel micro-motion platform based on spiral IPMC drive |
| 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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