CN112258956A - Human otolith organ solid model based on liquid core bionic cells - Google Patents
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Abstract
The invention discloses a liquid core bionic cell-based human otolith organ solid model which can accurately simulate the structure and the working mechanism of a human otolith organ. The invention discloses a human otolith organ solid model, which comprises a circular box-shaped rigid shell (8) and a communicating pipe (9), wherein liquid (7) is filled between the circular box-shaped rigid shell and the communicating pipe, a cylindrical flexible elastic body (5) is arranged in the rigid shell (8), a gap sealed by a flexible elastic membrane (4) is arranged at the bottom of the rigid shell, a base (3) is arranged at the lower part of the rigid shell, first to fourth liquid core organic piezoelectric material spheres (11, 12, 13 and 14) are arranged at the bottom of the base (3), the upper ends of the first to fourth liquid core organic piezoelectric material spheres penetrate through the flexible elastic membrane (4) and are sealed in the flexible elastic body (5), the lower ends of the first to fourth liquid core organic piezoelectric material spheres are fixedly connected to a ladder structure elastic rod (2) at the bottom of the base (3), and the first to fourth liquid core organic piezoelectric material.
Description
Technical Field
The invention belongs to the technical field of human organ bionics, and particularly relates to a human otolith organ solid model based on liquid core bionic cells.
Background
Otolith organs in a human vestibular system, including an elliptical sac and a saccule, can sense the linear acceleration of the head of a human body, are used for keeping body balance and maintaining stable vision, and are important human-shaped sense organs. Because the volume is small, the structure is complex, and the instrument is hidden in the skull, the mechanical response inside the otolith organ is difficult to directly measure by the existing technical means. According to the real structure of the otolith organ of the human body, the artificial material (or device) is used for replacing the corresponding biological tissue, and the entity model of the otolith organ of the human body is designed and prepared, so that the working mechanism of the otolith organ of the human body can be observed and measured more truly, physical experiments which cannot be carried out by various organisms are carried out, and the understanding of the etiology of the relevant vestibular disease is promoted.
At present, the structure of the otolith organ solid model of the human body is as described in the Chinese invention patent 'linear acceleration transducer simulating an otolith organ structure' (application number: 201610271820.3 published as 2016.08.24). the structure comprises a rigid shell, a flexible elastomer, a plurality of piezoelectric fibers which are connected in parallel and are provided with metal cores and fixed at the bottom of the rigid shell, a rigid element which is bonded at the top end of the flexible elastomer, and an elastic element which is connected with the rigid element and an external rigid shell, wherein symmetrical electrodes of the piezoelectric fibers with the metal cores are led out by two leads which are respectively connected with a positive electrode and a negative electrode at the input end of a charge amplifier, the whole device is fixed on a vibration exciter, when the vibration exciter vibrates up and down, the elastic element stretches and drives the rigid element, at the moment, the flexible elastomer can generate elastic deformation, the piezoelectric fibers with the metal cores, the piezoelectric fiber containing the metal core and wrapped in the flexible elastomer can obtain an impact signal, surface electrodes on the piezoelectric material have electric charges due to the piezoelectric effect, and the electric charges or voltages generated on the electrodes are different due to the difference of the positions of the electrodes. Therefore, the acceleration information can be obtained by collecting the charge signals on the electrodes and processing and analyzing the data.
The structure of the linear acceleration sensor is greatly different from the structure of the otolith organ of the human body, and the flexible elastomer is directly exposed in the air. When linear acceleration acts, the flexible elastic body is subjected to bending deformation by virtue of the inertia of the flexible elastic body and solid particles on the flexible elastic body. The receptor in the otolith organ of the human body, namely the cystic plaque, is soaked in the lymph fluid in the human body. When the head is subjected to the action of linear acceleration, the endolymph fluid moves in the opposite direction due to the action of inertia force. The sac spots are bent and deformed under the action of the friction force of the liquid, and then a sensing signal is generated. Therefore, the 'otolith organ structure-imitated linear acceleration sensor' in the Chinese invention patent is different from the structure of an otolith organ of a human body, the working principle of sensing linear acceleration is completely different, the biomechanical characteristics of the linear acceleration sensor are also greatly different, and the linear acceleration sensor cannot completely imitate the working mechanism of the otolith organ of the human body.
Disclosure of Invention
The invention aims to provide a liquid core bionic cell-based human otolith organ solid model which accurately simulates the structure and the working mechanism of a human otolith organ.
The technical solution for realizing the purpose of the invention is as follows:
a kind of entity model of human otolith organ based on bionic cell of liquid core, including round box-like rigid shell 8, there are crossed communicating pipes 9 above it, each end of said communicating pipe 9 bends downward, and the sealed solid connection with 8 sidewall of rigid shell;
a cylindrical flexible elastomer 5 is arranged in the rigid shell 8, the circle centers of the flexible elastomer 5 and the rigid shell 8 are overlapped, and the lower end of the flexible elastomer is fixedly connected with the bottom of the rigid shell 8;
a gap is arranged at the joint of the bottom of the rigid shell 8 and the flexible elastic body 5, and the gap is sealed by the flexible elastic membrane 4;
the piezoelectric ceramic material also comprises a base 3 with a closed bottom and periphery and an open upper part and first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 fixed at the bottom of the base 3;
the lower end of the ladder-structured elastic rod 2 is fixedly connected to the bottom of the base 3 and positioned between the first liquid core organic piezoelectric material spheres 11, 12, 13 and 14, and the upper end of the ladder-structured elastic rod 2 penetrates through the flexible elastic membrane 4 and is sealed in the flexible elastic body 5;
the first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 are circumferentially and uniformly distributed on the periphery of the stepped structure elastic rod 2 and are respectively in contact with the stepped structure elastic rod 2;
the upper end of the base 2 is fixedly connected with the bottom of the rigid shell 8, and the connecting lines of every two sphere centers which are spaced in the first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 are parallel to the axes of the corresponding communicating pipes 9.
The sealed space formed by the communication tube 9 and the rigid housing 8 is filled with the liquid 7. .
Compared with the prior art, the invention has the following remarkable advantages:
can accurately simulate the structure and the working mechanism of the otolith organ of the human body: the invention completely imitates the structure and function of otolith organs in human inner ear, can calculate the magnitude and direction of linear acceleration, is used for the medical field, researches the functional mechanism of the otolith organs of human body, and can also be used for detecting the functional examination of the otolith organs of human body. The robot can also be used in the field of robots, and can sense the direction and the magnitude of linear acceleration of the head of the robot, so that the robot can keep clear vision in motion, sense the posture of a body and maintain the balance of the body.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
FIG. 1 is a schematic structural diagram of a human otolith organ solid model based on liquid core bionic cells.
Fig. 2 is a top view of fig. 1.
Fig. 3 is a detailed view of the internal structure of the base of fig. 1.
Fig. 4 is a vertical cross-sectional view of the sphere of liquid-cored piezoelectric material of fig. 3.
In the figure, 11, 12, 13, 14 liquid core organic piezoelectric material spheres, 2 step structure elastic rods, 3 bases, 4 flexible elastic membranes, 5 flexible elastomers, 6 solid particles, 7 liquid, 8 rigid shells, 9 communicating pipes,
a bottom plate 101, an inner layer conductive liquid 102, a flexible organic piezoelectric material shell 103, an outer layer conductive liquid 104, a flexible elastic outer shell film 105, an outer layer electrode lead 106, an inner layer electrode lead 107 and a bending rigid rod 108.
Detailed Description
As shown in figures 1 and 2, the invention discloses a body otolith organ solid model based on liquid core bionic cells, which comprises a round box-shaped rigid shell 8, wherein a cross communicating pipe 9 is arranged above the round box-shaped rigid shell, and each end of the communicating pipe 9 is bent downwards and is fixedly connected with the side wall of the rigid shell 8 in a sealing way;
a cylindrical flexible elastomer 5 is arranged in the rigid shell 8, the circle centers of the flexible elastomer 5 and the rigid shell 8 are overlapped, and the lower end of the flexible elastomer is fixedly connected with the bottom of the rigid shell 8;
a gap is arranged at the joint of the bottom of the rigid shell 8 and the flexible elastic body 5, and the gap is sealed by the flexible elastic membrane 4;
the piezoelectric ceramic material also comprises a base 3 with a closed bottom and periphery and an open upper part and first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 fixed at the bottom of the base 3;
the lower end of the ladder-structured elastic rod 2 is fixedly connected to the bottom of the base 3 and positioned between the first liquid core organic piezoelectric material spheres 11, 12, 13 and 14, and the upper end of the ladder-structured elastic rod 2 penetrates through the flexible elastic membrane 4 and is sealed in the flexible elastic body 5;
as shown in fig. 3, the first to fourth liquid core organic piezoelectric material spheres 11, 12, 13, 14 are circumferentially and uniformly distributed around the stepped structure elastic rod 2, and are respectively in contact with the stepped structure elastic rod 2;
the upper end of the base 2 is fixedly connected with the bottom of the rigid shell 8, and the connecting lines of every two sphere centers which are spaced in the first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 are parallel to the axes of the corresponding communicating pipes 9.
The sealed space formed by the communication tube 9 and the rigid housing 8 is filled with the liquid 7.
As a modification, the flexible elastic body 5 is provided with a plurality of solid particles 6 in an array on the upper surface.
The solid particles embedded on the surface of the flexible elastomer 5 have higher density than the flexible elastomer, so that the inertia force is increased, and the measurement is more sensitive.
As shown in fig. 4, the first liquid core organic piezoelectric material sphere 11 includes a circular bottom plate 101, a hemispherical shell-shaped flexible organic piezoelectric material shell 103 and a hemispherical shell-shaped flexible elastic outer shell film 105;
the opening end of the flexible organic piezoelectric material shell 103 is hermetically connected with the bottom plate 101, the interior of the shell is filled with the inner-layer conductive liquid 102, the flexible elastic outer shell membrane 105 is sleeved outside the flexible organic piezoelectric material shell 103, the opening end of the shell is hermetically connected with the bottom plate 101, and the outer-layer conductive liquid 104 is filled between the flexible elastic outer shell membrane 105 and the flexible organic piezoelectric material shell 103;
and the bending rigid rod 108 is further included, one end of the bending rigid rod 108 is fixedly connected with the flexible elastic casing membrane 105, and the other end of the bending rigid rod 108 is contacted with the elastic rod 2.
Preferably, said curved rigid rod 108 is tangent and fixedly connected at one end to the flexible elastic casing membrane 105 and at the other end to said elastic rod 2.
On the one hand, the slight pendulum of the bending rigid rod 108 can be perceived as the flexible elastic casing film 105, and on the other hand, the contact with the elastic rod 2 is more sufficient. Not only improves the sensitivity, but also increases the reliability.
And further comprises an inner layer electrode lead 107 with one end electrically connected with the inner layer conductive liquid 102 and an outer layer electrode lead 106 with one end electrically connected with the outer layer conductive liquid 104.
Preferably, the outer layer conductive liquid 103 and the inner layer conductive liquid 101 are carbon black solutions, metal ion solutions, or metal compound solutions.
The first to fourth liquid core organic piezoelectric material spheres 11, 12, 13 and 14 are identical in shape and structure.
When the whole sphere is deformed under the action of external force, charges are generated in the 2 layers of conductive liquid due to the piezoelectric effect; the magnitude of the external force can be calculated according to the magnitude of the electric charge.
The working principle of the invention is detailed as follows:
when the whole device is subjected to linear acceleration, communication pipe 9 and rigid shell 8 generate linear motion. The liquid 7 has inertia and moves in the opposite direction, and friction force is generated between the liquid 7 and the flexible elastic body 5; the flexible elastomer 5 will also move in the opposite direction due to its own inertia, but at a slower speed than the liquid 7. The solid particles 6 on the surface of the flexible elastomer 5 increase the inertia force of the flexible elastomer 5 due to higher density; under the combined action of the friction force generated by the liquid 7, the flexible elastic body 5 and the self inertia force of the solid particles 6 on the surface, the flexible elastic body 5 generates bending deformation to press the internally wrapped stepped elastic rod 2 to generate bending deformation; in the base, the stepped elastic rod 2 presses one or two top bending rigid rods 108 of the first to four liquid core organic piezoelectric material spheres 11, 12, 13 and 14 on the corresponding side, so that the corresponding liquid core organic piezoelectric material spheres are subjected to compression deformation; because the outer layer conductive liquid 103 and the inner layer conductive liquid 101 in the liquid core organic piezoelectric material sphere are both liquids and have the characteristic of unchanged volume, the flexible organic piezoelectric material shell 103 is pressed to deform, and due to the piezoelectric effect, sensing charges are generated in the outer layer conductive liquid 103 and the inner layer conductive liquid 101, and the magnitude of the charges is in direct proportion to the pressure. According to the sensing charges generated by the outer layer conductive liquid 103 and the inner layer conductive liquid 101, the pressure applied on the top bending rigid rod 108 can be calculated, and further, the displacement generated at the contact part of the top bending rigid rod 108 and the stepped elastic rod 2 can be calculated. According to the displacement generated by the contact parts of the 4 top bending rigid rods 108 and the stepped elastic rods 2, the bending deformation direction and the bending deformation magnitude of the stepped elastic rods 2 can be calculated, the bending deformation direction and the bending deformation magnitude of the flexible elastic bodies 5 can be further calculated, the friction force generated by the liquid 7 and the inertia force magnitude and the inertia force direction of the flexible elastic bodies 5 can be further calculated, and the direction and the magnitude of the linear acceleration received by the whole device can be further calculated.
The specific calculation process is as follows: the size of the electric charge generated by the 4 liquid core organic piezoelectric material spheres, the size and the direction of the stress of the bending rigid rod, the size and the direction of the bending deformation of the elastic rod, the size and the direction of the inertial force borne by the flexible elastic body and the size and the direction of the linear acceleration borne by the whole device.
The invention completely imitates the structure and function of otolith organs in human inner ear, can calculate the magnitude and direction of linear acceleration, can be used in the medical field for researching the function mechanism of the otolith organs of human body, and can also be used for function examination of the otolith organs of human body. The robot can also be used in the field of robots, and can sense the direction and the magnitude of linear acceleration of the head of the robot, so that the robot can keep clear vision in motion, sense the posture of a body and maintain the balance of the body.
Claims (7)
1. The utility model provides a human otolith organ solid model based on bionic cell of liquid core which characterized in that:
the device comprises a round box-shaped rigid shell (8), wherein cross communicating pipes (9) are arranged above the round box-shaped rigid shell, and each end of each communicating pipe (9) is bent downwards and is fixedly connected with the side wall of the rigid shell (8) in a sealing way;
a cylindrical flexible elastomer (5) is arranged in the rigid shell (8), the circle centers of the flexible elastomer (5) and the rigid shell (8) are overlapped, and the lower end of the flexible elastomer is fixedly connected with the bottom of the rigid shell (8);
a gap is arranged at the joint of the bottom of the rigid shell (8) and the flexible elastic body (5), and the gap is sealed by the flexible elastic membrane (4);
the piezoelectric ceramic material also comprises a base (3) with a closed bottom and periphery and an open upper part and first to fourth liquid core organic piezoelectric material spheres (11, 12, 13 and 14) fixed at the bottom of the base (3);
the lower end of the ladder-structure elastic rod (2) is fixedly connected to the bottom of the base (3) and located between the first liquid core organic piezoelectric material spheres (11, 12, 13 and 14), and the upper end of the ladder-structure elastic rod penetrates through the flexible elastic membrane (4) and is sealed in the flexible elastic body (5);
the first to fourth liquid core organic piezoelectric material spheres (11, 12, 13, 14) are uniformly distributed on the periphery of the stepped structure elastic rod (2) in the circumferential direction and are respectively contacted with the stepped structure elastic rod (2);
the upper end of the base (2) is fixedly connected with the bottom of the rigid shell (8), and two spherical center connecting lines at intervals in the first to the fourth liquid core organic piezoelectric material spheres (11, 12, 13 and 14) are parallel to the axis of the corresponding communicating pipe (9).
And a closed space formed by the communicating pipe (9) and the rigid shell (8) is filled with liquid (7).
2. The physical model of a human otolith organ according to claim 1, characterized in that:
the upper surface of the flexible elastomer (5) is provided with a plurality of solid particles (6) in an array manner.
3. The physical model of a human otolith organ according to one of claims 1 or 2, characterized in that:
the first liquid core organic piezoelectric material sphere (11) comprises a round bottom plate (101), a hemispherical shell-shaped flexible organic piezoelectric material shell (103) and a hemispherical shell-shaped flexible elastic outer shell film (105);
the opening end of the flexible organic piezoelectric material shell (103) is hermetically connected with the bottom plate (101), the interior of the shell is filled with inner-layer conductive liquid (102), the flexible elastic shell membrane (105) is sleeved outside the flexible organic piezoelectric material shell (103), the opening end of the shell is hermetically connected with the bottom plate (101), and outer-layer conductive liquid (104) is filled between the flexible elastic shell membrane (105) and the flexible organic piezoelectric material shell (103);
the flexible elastic shell membrane is characterized by further comprising a bending rigid rod (108), wherein one end of the bending rigid rod (108) is fixedly connected with the flexible elastic shell membrane (105), and the other end of the bending rigid rod is in contact with the elastic rod (2).
4. The physical model of human semicircular canal according to claim 3, wherein:
one end of the bending rigid rod (108) is tangent and fixedly connected with the flexible elastic casing membrane (105), and the other end of the bending rigid rod is tangent and contacted with the elastic rod (2).
5. The physical model of human semicircular canal according to claim 3, wherein:
the electrode lead wire structure further comprises an inner layer electrode lead wire (107) with one end electrically connected with the inner layer conductive liquid (102) and an outer layer electrode lead wire (106) with one end electrically connected with the outer layer conductive liquid (104).
6. The physical model of a human otolith organ according to claim 3, characterized in that:
the outer layer conductive liquid (103) and the inner layer conductive liquid (101) are carbon black solution, metal ion solution or metal compound solution.
7. The physical model of human semicircular canal according to claim 3, wherein:
the first to fourth liquid core organic piezoelectric material spheres (11, 12, 13, 14) are identical in shape and structure.
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| CN1851472A (en) * | 2006-05-29 | 2006-10-25 | 东南大学 | Pressure-resistance athermal flow speed-direction sensor based micro mechanical technology |
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| CN105891544A (en) * | 2016-04-27 | 2016-08-24 | 扬州大学 | Linear acceleration sensor for bionic-ear stone implement structure |
| CN106128256A (en) * | 2016-07-25 | 2016-11-16 | 张扬 | The emulation full head model of semicircular duct otolith |
| CN108573648A (en) * | 2018-05-26 | 2018-09-25 | 重庆医科大学 | Three-dimensional artificial Canalith repositioning maneuvers apparatus for demonstrating |
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2020
- 2020-10-29 CN CN202011175485.XA patent/CN112258956A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851472A (en) * | 2006-05-29 | 2006-10-25 | 东南大学 | Pressure-resistance athermal flow speed-direction sensor based micro mechanical technology |
| CN105047813A (en) * | 2015-06-17 | 2015-11-11 | 扬州大学 | Liquid core piezoelectric polymer device and preparation method and application thereof |
| CN204946454U (en) * | 2015-07-24 | 2016-01-06 | 北京大学人民医院 | Otolith disease anatomic teaching mould |
| CN105891544A (en) * | 2016-04-27 | 2016-08-24 | 扬州大学 | Linear acceleration sensor for bionic-ear stone implement structure |
| CN106128256A (en) * | 2016-07-25 | 2016-11-16 | 张扬 | The emulation full head model of semicircular duct otolith |
| CN108573648A (en) * | 2018-05-26 | 2018-09-25 | 重庆医科大学 | Three-dimensional artificial Canalith repositioning maneuvers apparatus for demonstrating |
Non-Patent Citations (1)
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| 钱国明: "《基于蚊子听觉机理的含金属芯PVDF仿生气流传感特性研究》", 《中国优秀硕士学位论文全文数据库（电子期刊）信息科技辑》 * |
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