A bionic eyeball rotating device based on PVCG drive

Abstract

The invention discloses a bionic eyeball rotating device based on PVCG drive, comprising a central axis, a lens is arranged on the top of the central axis, an annular groove recessed inwardly is opened on the central axis along the axial direction, an inner electrode is arranged on the annular groove, an outer electrode is connected to the outer side of the inner electrode, a PVCG material is bonded between the inner electrode and the outer electrode, the PVCG material can creep under the action of an electric field to drive the central axis to deflect on one side that creeps, a pin is arranged on the outer electrode, and the rotation direction and angle of the central axis are controlled by the position of the pin and the working voltage. The device has the advantages of simple driving mode, fast response, small size, etc., and is suitable for being carried on equipment requiring small and flexible lenses, such as unmanned aerial vehicles, monitoring, and robots.

Description

Technical Field

[0001] The invention belongs to the technical field of PVCG materials, and in particular relates to a bionic eyeball rotating device driven by PVCG. Background Art

[0002] PVCG (polyvinyl chloride gel) is a new type of electroactive polymer material, usually used as the core layer of the driver. When the PVCG material is driven, electrodes are placed on both sides. When the power is turned on, the PVCG will creep toward the anode side to achieve the driving effect. The PVCG drive has the advantages of fast response speed, light weight, good flexibility, and large strain, which is suitable for driving the bionic eyeball. The bionic eyeball driven by PVCG material is also suitable for equipment that requires small and flexible lenses, such as drones, surveillance, and robots.

[0003] The existing bionic eyeball rotation technology controls the up and down, left and right of the eyeball through a rotating mechanism, which is powered by a motor and driven by gears to achieve omnidirectional eyeball rotation. This control method is relatively complex, and the size of the motor and the production and installation of tiny gear components are also a major difficulty in technical implementation. Another method is based on a bionic human eye structure driven by flexible parallel connection, which uses six groups of artificial muscles to form bionic human extraocular muscles. The three-dimensional rotation of the bionic eyeball is achieved by pulling the artificial muscles. The artificial muscles used need to be pneumatically driven, which has a slow response speed and is difficult to miniaturize the driving airway. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a bionic rotating eyeball device based on PVCG drive in view of the deficiencies in the above-mentioned prior art, so as to solve the technical problems that the bionic rotating eyeball cannot be miniaturized and the control is complex.

[0005] The present invention adopts the following technical solutions:

[0006] A bionic eyeball rotating device driven by PVCG comprises a central axis, a lens is arranged on the top of the central axis, an annular groove recessed inwardly is opened on the central axis along the axial direction, an inner electrode is arranged on the annular groove, an outer electrode is connected to the outer side of the inner electrode, a PVCG material is laminated between the inner electrode and the outer electrode, the PVCG material can creep under the action of an electric field to drive the central axis to deflect on one side that creeps, a pin is arranged on the outer electrode, and the rotation direction and angle of the central axis are controlled by the position of the pin and the working voltage.

[0007] Specifically, the central axis is a conical tumbler structure that is wide at the bottom and narrow at the top, the bottom of the central axis is a spherical structure, the spherical structure is arranged in the base, and the deflection angle of the central axis is less than or equal to 45°.

[0008] Furthermore, the inner electrode is the cathode and the outer electrode is the anode. The inner electrode wraps the bottom of the central axis. The outer electrodes are correspondingly installed in grooves set on the base. The bottom welding lead of each outer electrode is connected to the base. The number of outer electrodes is 3 to 12.

[0009] Furthermore, the inner electrode is an anode, the outer electrode is a cathode, a groove for placing the inner electrode is provided at the bottom of the central axis, and the outer electrode is fixed on the base.

[0010] Furthermore, the anode is a metal sheet structure, the thickness of the metal sheet structure is 0.01-0.05 mm, and the width is less than 5 mm.

[0011] Specifically, the outer electrode is a circular ring structure with an outer diameter of 20 to 30 mm and an inner diameter of less than or equal to 10 mm.

[0012] Specifically, the PVCG material and the outer electrode are an integrated structure.

[0013] Furthermore, the electrode surface of the outer electrode is a hollow or mesh structure.

[0014] Specifically, a CCD module is disposed inside the central axis, and the CCD module is electrically connected to the lens.

[0015] Specifically, the pins are triangular pins, the number of the pins is greater than or equal to 4, and when the number of the pins is 4, two pairs of pins are arranged vertically at 90 degrees.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] A bionic rotating eyeball device based on PVCG drive, which is convenient for installing a CCD module through a central axis, an inner electrode, an outer electrode, and PVCG material is laminated between the inner electrode and the outer electrode. When power is turned on, the PVCG material creeps under the action of the electric field to attract the anode material to drive the central axis to creep and deflect to one side. The direction and angle of rotation of the central axis can be controlled by connecting pins at different positions of the electrodes and adjusting the working voltage. The device has the advantages of simple driving mode, fast response, and small size, and is suitable for being mounted on equipment that requires small and flexible lenses, such as drones, monitoring, and robots.

[0018] Furthermore, the tumbler structure of the central axis can help it return to its original position after power failure, and the deflection angle of the central axis can ensure that the eyeball has a good field of vision.

[0019] Furthermore, electrodes on both sides clamp the PVCG material in the middle to energize the PVCG material, and the inner and outer electrodes can be interchanged for easy installation and replacement.

[0020] Furthermore, the inner and outer electrodes can be interchanged to facilitate installation and replacement.

[0021] Furthermore, a metal sheet thickness of 0.01 to 0.05 mm can reduce the volume of the entire eyeball, and a width of less than 5 mm can prevent the metal sheet from breaking due to bending during installation.

[0022] Furthermore, the outer diameter limits the size of the bionic eyeball device, the inner diameter limits the size of the CCD module, and the circular ring structure better fits the shape of the eyeball.

[0023] Furthermore, the integrated structure enables the PVCG material to be tightly connected to the outer electrode, thereby preventing the PVCG material from being peeled off from the outer electrode during the process of driving the adsorption.

[0024] Furthermore, the electrode surface of the outer electrode is a hollow or mesh structure, which is convenient for integrated casting and manufacturing of the PVCG material and the outer electrode.

[0025] Furthermore, the CCD module is small in size and can be easily installed in a small-volume released eyeball for collecting images, thereby realizing the image collection function of the released eyeball.

[0026] Furthermore, increasing the number of pins can improve the rotation accuracy of the bionic eyeball. When the number of pins is four, the deflection of the central axis can be evenly controlled.

[0027] In summary, the present invention uses PVCG material to drive to achieve the effect of omnidirectional rotation of the lens, and has the advantages of simple driving method, fast response and small size.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall structure of the bionic rotating eyeball of the present invention;

[0030] Figure 2 This is a cross-sectional structural diagram of the bionic rotating eyeball of the present invention;

[0031] Figure 3 This is a schematic diagram of the cathode pin of the present invention;

[0032] Figure 4 This is a schematic diagram of a CCD module of the present invention;

[0033] Figure 5 This is a schematic diagram of the rotation of the bionic eyeball of the present invention;

[0034] Figure 6 It is a schematic diagram of the bionic eyeball with the central axis of the tumbler structure of the present invention.

[0035] Among them: 1. Lens; 2. Center axis; 3. Inner electrode; 4. PVCG material; 5. Outer electrode; 6. Pins; 7. CCD module; 8. Base. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "one side", "one end", "one side" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0040] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0041] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0042] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0043] The present invention provides a bionic rotating eyeball device based on PVCG drive. When the PVCG material is energized, it creeps and deforms under the action of the electric field to attract the anode material to drive the central axis to creep and deflect on one side. The direction and angle of rotation of the central axis are controlled by connecting pins at different positions of the electrode and adjusting the working voltage. The device has the advantages of simple driving mode, fast response, and small size. It is suitable for being mounted on equipment that requires small and flexible lenses, such as drones, monitoring, and robots.

[0044] See also Figure 1 and Figure 2 The present invention discloses a bionic eyeball rotating device based on PVCG drive, comprising a lens 1, a central axis 2, an inner electrode 3, a PVCG material 4 and an outer electrode 5;

[0045] The lens 1 is installed on the top of the central axis 2, and the CCD module 7 is installed inside the central axis 2 and connected to the lens 1. An annular groove is opened on the central axis 2 along the axial direction. The annular groove is a concave structure. A conductive material is coated on the annular groove as an inner electrode 3. The outer side of the inner electrode 3 is connected to the outer electrode 5 of the circular ring structure through the PVCG material 4. Two pairs of pins 6 arranged vertically at 90° are provided on the outer electrode 5. The PVCG material 4 is located between the inner electrode 3 and the outer electrode 5, and is respectively bonded to the inner electrode 3 and the outer electrode 5. When power is turned on, the PVCG material 4 undergoes creep adsorption deformation under the action of the electric field to attract the inner electrode 3 of the anode material to drive the central axis 2 to deflect to the side where creep occurs. The direction and angle of rotation of the central axis 2 are controlled by connecting the pins at different positions of the outer electrode 5 and adjusting the working voltage.

[0046] Conductive materials include but are not limited to graphite electrodes and carbon nanotubes,

[0047] The electrode surface of the outer electrode 5 is a hollow or mesh structure, which is convenient for integral casting of the PVCG material 4 and the outer electrode 5, so that the PVCG material 4 and the outer electrode 5 are tightly connected to avoid peeling off from the outer electrode 5 during the process of driving the adsorption of the PVCG material 4.

[0048] See also Figure 3 The outer diameter of the outer electrode 5 is 20 to 30 mm, the inner diameter is less than or equal to 10 mm, the number of pins 6 used for wiring is greater than or equal to four, when the number of pins 6 is four, the two pairs of pins are arranged vertically at 90°, and the pins 6 are triangular pins; increasing the number of pins can improve the rotation accuracy of the bionic eyeball.

[0049] See also Figure 4 The CCD module 7 is placed inside the central axis 2, and the shape of the CCD module is consistent with the size of the central axis 2 for easy installation and use.

[0050] See also Figure 6 The shape of the central axis 2 is a conical "tumbler" structure that is wide at the bottom and narrow at the top, which is convenient for the automatic resetting of the eyeball when the power is off. The spherical bottom of the central axis 2 is connected from the inside to the outside to the inner electrode 3, the PVCG material 4, and the outer electrode 5 and the base 8 wrapped around the bottom of the central axis 2.

[0051] The specific arrangement of electrodes is as follows:

[0052] The inner electrode 3 is the cathode, and the outer electrode 5 is the anode. The inner electrode 3 is made of materials including but not limited to stainless steel metal materials, which wrap the bottom of the central axis 2. The outer electrode 5 is a metal sheet. The electrode material of the outer electrode 5 includes but is not limited to zinc, copper, chromium, and iron metals. The outer electrode 5 is installed at the corresponding groove position of the base 8. The bottom welding lead of each outer electrode 5 is connected to the base 8. The number of metal sheets required for the base 8 is 3 to 12 pieces, and a corresponding number of grooves are set on the base 8.

[0053] The inner electrode 3 is an anode, the outer electrode 5 is a cathode, a groove is provided at the bottom of the central axis 2, and a metal sheet serving as an anode is placed in the groove. The outer electrode 5 is fixed on a base 8.

[0054] The thickness of the metal sheet is 0.01-0.05 mm, and the width of each metal sheet is less than 5 mm.

[0055] See also Figure 5 When the bionic eyeball is energized, the PVCG material 4 creeps toward the anode under the action of the electric field force, causing the central axis 2 to deflect. The deflection angle of the central axis 2 is less than or equal to 45°. When in use, adjusting and connecting different pins can control the direction of rotation of the bionic eyeball, and adjusting the applied working voltage can control the angle of rotation of the bionic eyeball.

[0056] The more pins there are, the more adsorption occurs in PVCG when power is turned on, and the greater the angle of eyeball rotation. The same is true for voltage regulation. The greater the applied voltage, the greater the creep adsorption of PVCG, and the greater the angle of rotation of the central axis.

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0058] Example 1

[0059] See also Figures 1 to 5 The present embodiment is mainly composed of a lens 1, a central axis 2, an inner electrode 3, a PVCG material 4, an outer electrode 5, a triangular pin 6, and a CCD module 7.

[0060] The PVCG material 4 and the outer electrode sheet 5 are cast in one piece. The outer electrode adopts a stainless steel metal mesh. The inner diameter of the outer electrode is 10 mm and the outer diameter is 25 mm. In the present embodiment, the outer electrode serves as a cathode. Two pairs of triangular pins 6 arranged vertically at 90° are arranged on the cathode. Adjacent pins are separated by insulating material. The lens 1 is mounted on the top of the central axis 2. The central axis 2 is hollow for mounting a CCD module 7. An annular groove is opened at the waist of the central axis 2. The annular groove is coated with graphite paint as the inner electrode 3 of the anode.

[0061] In this embodiment, the central axis 2 is integrally formed by 3D printing with photocurable resin, which is lightweight and highly precise, and can effectively protect the internal CCD module. A customized CCD module 7 is fixedly connected to the lens, and the overall shape matches the central axis 2, making it easy to install and use.

[0062] In this embodiment, when in use, the central axis 2, the inner anode 3, and the integrated PVCG material 4 and cathode 5 are installed in sequence from the inside to the outside. When power is turned on, the PVCG material 4 undergoes creep deformation toward the anode, thereby driving the central axis to deflect toward the side where power is turned on. When in use, connecting different pins can control the direction of rotation of the bionic eyeball, and adjusting the applied working voltage can control the angle of rotation of the bionic eyeball.

[0063] Example 2

[0064] The present embodiment is mainly composed of a lens 1, a central axis 2, an inner electrode 3, a PVCG material 4, an outer electrode 5, a triangular pin 6, a CCD module 7, and a base 8. The lens 1 is mounted on the top of the central axis 2, and the CCD module 7 is mounted inside the central axis 2. The shape of the central axis 2 is a conical "tumbler" structure that is wide at the bottom and narrow at the top, which is convenient for automatically resetting the eyeball when the power is off and maintaining the balance of the bionic eyeball when the power is off. The bottom of the central axis is wrapped with a stainless steel metal mesh as a cathode, and the stainless steel metal mesh and the PVCG material 4 are integrally cast and manufactured. There are 12 grooves in the base 8 for installing anode metal zinc sheets. The thickness of the metal zinc sheets is 0.01 mm, and each sheet is 4 mm wide. The welding leads at the bottom of each electrode are connected to the base 8.

[0065] When in use, connect the anode lead and different pins to control the direction of rotation of the bionic eyeball. Adjusting the applied working voltage can control the angle of rotation of the bionic eyeball to achieve the effect of omnidirectional rotation of the bionic eye. When the power is off, the "tumbler" structure of the central axis can assist the bionic eyeball to return to the midpoint.

[0066] In summary, the present invention is a bionic rotating eyeball device based on PVCG drive. When powered on, the PVCG material undergoes creep deformation under the action of the electric field to attract the anode material to drive the central axis to creep and deflect to one side. The direction and angle of rotation of the central axis can be controlled by connecting pins at different positions of the electrode and adjusting the working voltage. The device has the advantages of simple driving mode, fast response, and small size, and is suitable for being mounted on equipment that requires small and flexible lenses, such as drones, monitoring, and robots.

[0067] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A bionic eyeball rotating device based on PVCG drive, characterized in that: The invention comprises a central axis (2), a lens (1) being arranged on the top of the central axis (2), the central axis (2) being a tapered tumbler structure which is wide at the bottom and narrow at the top, the bottom of the central axis (2) being a spherical structure, the spherical structure being arranged in a base (8), the spherical bottom of the central axis (2) being connected from the inside to the outside to an inner electrode (3) wrapped around the bottom of the central axis (2), a PVCG material (4), an outer electrode (5) and a base (8), the outer electrode (5) being arranged at a corresponding groove position of the base (8), the deflection angle of the central axis (2) being less than or equal to 45°, the PVCG material (4) being able to creep under the action of an electric field to drive the central axis (2) to deflect towards a side where creep occurs, and a pin (6) being arranged on the outer electrode (5), and the rotation direction and angle of the central axis (2) being controlled by the position of the pin (6) and the working voltage; When the inner electrode (3) is a cathode, the outer electrode (5) is an anode, the inner electrode (3) wraps around the bottom of the central axis (2), the outer electrodes (5) are correspondingly mounted in a groove provided on the base (8), the bottom of each outer electrode (5) is welded with a lead wire that converges into the base (8), and the number of outer electrodes (5) is 3 to 12; When the inner electrode (3) is an anode, the outer electrode (5) is a cathode, a groove for placing the inner electrode (3) is provided at the bottom of the central axis (2), and the outer electrode (5) is fixed on a base (8).

2. The PVCG-driven bionic eyeball rotating device according to claim 1 is characterized in that: The anode is a metal sheet structure with a thickness of 0.01-0.05 mm and a width of less than 5 mm.

3. The PVCG-driven bionic eyeball rotating device according to claim 1 is characterized in that: The outer electrode (5) is a circular ring structure with an outer diameter of 20 to 30 mm and an inner diameter of less than or equal to 10 mm.

4. The PVCG-driven bionic eyeball rotating device according to claim 1, characterized in that: The PVCG material (4) and the outer electrode (5) are an integrated structure.

5. The PVCG-driven bionic eyeball rotating device according to claim 4 is characterized in that: The electrode surface of the outer electrode (5) is a hollow structure.

6. The PVCG-driven bionic eyeball rotating device according to claim 1, characterized in that: A CCD module (7) is arranged inside the central shaft (2), and the CCD module (7) is electrically connected to the lens (1).

7. The PVCG-driven bionic eyeball rotating device according to claim 1, characterized in that: The pins (6) are triangular pins, and the number of the pins (6) is greater than or equal to 4. When the number of the pins (6) is 4, the two pairs of pins (6) are arranged vertically at 90 degrees.

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