阅读说明：本技术 基于内含液体芯有机压电材料球体的人体半规管实体模型 (Human body semicircular canal solid model based on organic piezoelectric material sphere containing liquid core ) 是由 边义祥 王智 姜亚妮 郑再象 郭广明 朱林 吴志学 刘冬稔 王昌龙 陈文家 于 2020-10-29 设计创作，主要内容包括：本发明公开一种基于内含液体芯有机压电材料球体的人体半规管实体模型,能够准确测量角加速度。本发明的人体半规管实体模型,包括一个刚性管道(9)和与所述刚性管道(9)两端密闭连接的圆环状连接管(8),所述刚性管道(9)水平放置,所述圆环状连接管(8)从刚性管道(4)上方越过；在所述刚性管道(9)与圆环状连接管(8)构成的密闭空间内充满液体(7)；还包括置于所述刚性管道(9)中部的柔性弹性体(6),所述柔性弹性体(6)周边与刚性管道(9)内壁密闭固定连接,将刚性管道(9)纵向分隔成互不相通的两部分；还包括包裹于所述柔性弹性体(6)中的至少二个液体芯有机压电材料球(1、4)。(The invention discloses a human body semicircular canal solid model based on a sphere containing a liquid core organic piezoelectric material, which can accurately measure angular acceleration. The human semicircular canal solid model comprises a rigid pipeline (9) and a circular connecting pipe (8) hermetically connected with two ends of the rigid pipeline (9), wherein the rigid pipeline (9) is horizontally arranged, and the circular connecting pipe (8) crosses over the rigid pipeline (4); a closed space formed by the rigid pipeline (9) and the annular connecting pipe (8) is filled with liquid (7); the flexible elastic body (6) is arranged in the middle of the rigid pipeline (9), the periphery of the flexible elastic body (6) is fixedly connected with the inner wall of the rigid pipeline (9) in a sealing way, and the rigid pipeline (9) is longitudinally divided into two parts which are not communicated with each other; the piezoelectric material ball also comprises at least two liquid core organic piezoelectric material balls (1, 4) wrapped in the flexible elastomer (6).)

1. A human semicircular canal solid model based on a sphere containing liquid core organic piezoelectric material is characterized in that:

the device comprises a rigid pipeline (9) and a circular connecting pipe (8) hermetically connected with two ends of the rigid pipeline (9), wherein the rigid pipeline (9) is horizontally arranged, and the circular connecting pipe (8) passes over the rigid pipeline (4);

a closed space formed by the rigid pipeline (9) and the annular connecting pipe (8) is filled with liquid (7);

the flexible elastic body (6) is arranged in the middle of the rigid pipeline (9), the periphery of the flexible elastic body (6) is fixedly connected with the inner wall of the rigid pipeline (9) in a sealing way, and the rigid pipeline (9) is longitudinally divided into two parts which are not communicated with each other;

the piezoelectric material ball also comprises at least two liquid core organic piezoelectric material balls (1, 4) wrapped in the flexible elastomer (6).

2. The physical model of human semicircular canal according to claim 1, characterized in that:

the liquid core organic piezoelectric material ball (1) comprises a spherical shell-shaped flexible organic piezoelectric material shell (102) and a spherical shell-shaped flexible elastic outer shell membrane (104) sleeved outside the organic piezoelectric material shell (102);

the organic piezoelectric material shell (102) is filled with inner-layer conductive liquid (101), and outer-layer conductive liquid (103) is filled between the flexible elastic shell membrane (104) and the organic piezoelectric material shell (102).

3. The physical model of human semicircular canal according to claim 2, characterized in that:

the electrode lead wire is characterized by further comprising an inner layer electrode lead wire (105) with one end electrically connected with the inner layer conductive liquid (101) and an outer layer electrode lead wire (106) with one end electrically connected with the outer layer conductive liquid (103).

4. The physical model of human semicircular canal according to claim 2, 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.

5. The mannequin of one of claims 1 to 4, wherein:

the liquid core organic piezoelectric material balls (1, 4) are identical in shape and structure.

Technical Field

The invention belongs to the technical field of bionics of human organs, and particularly relates to a human semicircular canal solid model based on a sphere containing a liquid core organic piezoelectric material.

Background

The semicircular canal in the human vestibular system can sense the angular acceleration of the head of a human body, is used for keeping the balance of the body and maintaining stable vision, and is an important human-shaped sense organ. Due to the small volume, the complex structure and the hidden skull, the mechanical response inside the semi-gauge pipe is difficult to directly measure by the existing technical means. According to the real human semicircular structure, artificial materials (or devices) are used for replacing corresponding biological tissues, a human semicircular canal solid model is designed and prepared, the working mechanism of the human semicircular canal can be observed and measured more truly, physical experiments which cannot be carried out by various organisms are carried out, and understanding of the etiology of the relevant vestibular diseases is promoted.

At present, the structure of a human semicircular canal solid model is as described in the Chinese invention patent 'artificial cilia cochlear semicircular canal rotation acceleration sensor' (application number: 201510750074.1 published: 2016.03.09). The model comprises more than one hollow complete pipeline, two ends of the pipeline are communicated with a sealed container, the pipeline and the container are filled with insulating liquid, and more than one raised fiber device is arranged on the ampulla ridge inside each pipeline.

The rotating acceleration sensor adopts the piezoelectric fiber sensing element with the metal core, wherein the metal core has higher elastic modulus which is greatly different from the elastic modulus in cilia sensory cells in the human semicircular canal, so that the biomechanical characteristics of the rotating acceleration sensor are greatly different from those of the human semicircular canal; the plastic material in the pipeline does not completely separate the pipeline, liquid in the pipeline can flow through the surface of the plastic material during rotation to form circulation in the pipeline, the circulation is essentially different from the structure of the pipeline with the ampulla ridge completely separating the pipeline in the semicircular canal of a human body, the flow modes of internal fluid are completely different, the biomechanical characteristics of the circulation are greatly different, and the problem of coupling of angular acceleration and linear acceleration exists, so that the measurement of the angular acceleration is not accurate enough.

Disclosure of Invention

The invention aims to provide a human semicircular canal solid model based on an organic piezoelectric material sphere containing a liquid core, which can avoid the coupling of angular acceleration and linear acceleration and accurately measure the angular acceleration.

The technical solution for realizing the purpose of the invention is as follows:

a physical model of a human semicircular canal based on a sphere containing a liquid core organic piezoelectric material comprises a rigid pipeline 9 and a circular connecting pipe 8 hermetically connected with two ends of the rigid pipeline 9, wherein the rigid pipeline 9 is horizontally arranged, and the circular connecting pipe 8 passes over the rigid pipeline 4;

a closed space formed by the rigid pipeline 9 and the annular connecting pipe 8 is filled with liquid 7;

the flexible elastic body 6 is arranged in the middle of the rigid pipeline 9, the periphery of the flexible elastic body 6 is fixedly connected with the inner wall of the rigid pipeline 9 in a sealing way, and the rigid pipeline 9 is longitudinally divided into two parts which are not communicated with each other;

and the flexible piezoelectric material also comprises at least two liquid core organic piezoelectric material balls 1 and 4 wrapped in the flexible elastic body 6.

Compared with the prior art, the invention has the following remarkable advantages:

the angular acceleration can be accurately measured: the invention imitates the semicircular canal structure used for measuring the angular acceleration in the human head vestibular system in structure, has the sensing function similar to the human semicircular canal, utilizes the working principle completely same as the human semicircular canal, can effectively distinguish the angular acceleration from the linear acceleration, avoids the coupling of the angular acceleration and the linear acceleration, and can accurately measure the angular acceleration. Is very suitable for the angular acceleration of the head of the humanoid robot.

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 semicircular canal solid model based on a liquid core organic piezoelectric material sphere.

Fig. 2 is a detailed view of the structure of the liquid-cored organic piezoelectric material spheres of fig. 1.

In the figure, liquid core organic piezoelectric material balls 1 and 4, a flexible elastomer 6, a liquid 7, a connecting pipe 8, a rigid pipeline 9,

the piezoelectric ceramic comprises an inner layer conductive liquid 101, a spherical shell-shaped flexible organic piezoelectric material shell 102, an outer layer conductive liquid 103, a spherical shell-shaped flexible elastic outer shell film 104, an inner layer electrode lead 105 and an outer layer electrode lead 106.

Detailed Description

As shown in figure 1, the invention relates to a physical model of a human semicircular canal based on a sphere containing a liquid core organic piezoelectric material, which is characterized in that:

the device comprises a rigid pipeline 9 and a circular connecting pipe 8 hermetically connected with two ends of the rigid pipeline 9, wherein the rigid pipeline 9 is horizontally arranged, and the circular connecting pipe 8 passes over the rigid pipeline 4;

a closed space formed by the rigid pipeline 9 and the annular connecting pipe 8 is filled with liquid 7;

the flexible elastic body 6 is arranged in the middle of the rigid pipeline 9, the periphery of the flexible elastic body 6 is fixedly connected with the inner wall of the rigid pipeline 9 in a sealing way, and the rigid pipeline 9 is longitudinally divided into two parts which are not communicated with each other;

and the flexible piezoelectric material also comprises at least two liquid core organic piezoelectric material balls 1 and 4 wrapped in the flexible elastic body 6.

As shown in figure 2 of the drawings, in which,

the liquid core organic piezoelectric material ball 1 comprises a spherical shell-shaped flexible organic piezoelectric material shell 102 and a spherical shell-shaped flexible elastic outer shell membrane 104 sleeved outside the organic piezoelectric material shell 102;

the organic piezoelectric material shell 102 is filled with an inner layer conductive liquid 101, and an outer layer conductive liquid 103 is filled between the flexible elastic outer shell film 104 and the organic piezoelectric material shell 102.

As shown in figure 2 of the drawings, in which,

and further comprises an inner layer electrode lead 105 with one end electrically connected with the inner layer conductive liquid 101 and an outer layer electrode lead 106 with one end electrically connected with the outer layer conductive liquid 103.

Preferably, the first and second electrodes are formed of a metal,

the outer layer conductive liquid 103 and the inner layer conductive liquid 101 are carbon black solution, metal ion solution or metal compound solution.

Preferably, the first and second electrodes are formed of a metal,

the liquid core organic piezoelectric material balls 1 and 4 are identical in shape and structure.

The liquid core organic piezoelectric material balls 1 and 4 are uniformly distributed on the flexible elastic body 6.

The working principle of the human body semicircular canal solid model based on the organic piezoelectric material sphere containing the liquid core is detailed as follows:

when the rigid pipe 9 and the annular connection pipe 8 are subjected to angular acceleration, the rigid pipe 9 and the annular connection pipe 8 rotate integrally. The liquid 7 inside the ball has inertia and moves in the opposite direction, and generates pressure on the flexible elastic body 6, so that the whole flexible elastic body 6 generates bending deformation, one side of the ball 1 containing the liquid core organic piezoelectric material generates contraction deformation, and the ball 1 containing the liquid core organic piezoelectric material is also pressed to generate pressing deformation. In the liquid core-containing organic piezoelectric material ball 1, the outer layer conductive liquid 103 and the inner layer conductive liquid 101 have the characteristic of unchanged volume, so that the organic piezoelectric material shell 102 is pressed to deform. Due to the piezoelectric effect, electric charges are generated in the outer layer conductive liquid 103 and the inner layer conductive liquid 101, and a sensing signal is output. Due to the different pressures, the liquid core containing organic piezoelectric material ball 1 will generate different charges. Due to the fact that the direction and the size of the pressure generated by the liquid 7 on the flexible elastic body 6 are different, sensing charges with different sizes can be generated by the liquid core organic piezoelectric material ball 1 and the liquid core organic piezoelectric material ball 4 on the two sides. According to the size of sensing charges generated by the liquid core organic piezoelectric material ball 1 and the liquid core organic piezoelectric material ball 4 on the two sides, the direction and the size of the whole flexible elastic body 6 which generates bending deformation can be calculated, the direction and the size of the liquid 7 which generates inertia can be further calculated, and finally, the size and the direction of the angular acceleration which is integrally received by the rigid pipeline 9 and the annular connecting pipe 8 can be calculated.

The specific calculation process is as follows: the size of the electric charge generated by the 2 liquid core organic piezoelectric material spheres, the size and the direction of the bending deformation of the elastic body, the size and the direction of the inertial force borne by the flexible elastic body and the size and the direction of the angular acceleration borne by the pipeline.

The advantages are that: the sensor completely simulates the structure and function of the semicircular canal in the inner ear of a human body, can calculate the size and the direction of angular acceleration, can be used for the medical field, researching the functional mechanism of the semicircular canal of the human body, and can also be used for functional examination of the semicircular canal of the human body. The method can also be used in the field of robots, and can sense the direction and the magnitude of the angular acceleration of the head of the robot, so that the clear vision of the robot in motion is kept, the posture of the body is sensed, and the body balance is maintained.