CN109203518A

CN109203518A - A kind of design method of plastotype formula robot skin

Info

Publication number: CN109203518A
Application number: CN201810945524.6A
Authority: CN
Inventors: 胡明建
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-08-20
Filing date: 2018-08-20
Publication date: 2019-01-15

Abstract

A kind of design method of plastotype formula robot skin, its technical field is to belong to, chemical industry, circuit design, the fields such as intelligence computation, its major technique is the model of a people first to be designed, then graphene and foaming agent, it pours into silica gel, do not stop quickly to stir, so that graphene is evenly distributed, uniform in foaming, the silica gel of even foaming is coated on the model of people, the artificial skin of multilayer is made in right later layer silica gel one metal wire layer in layer, and temperature sensor is embedded, and the various perception of control skin are carried out by intelligence control system.

Description

A kind of design method of plastotype formula robot skin

Technical field

A kind of design method of plastotype formula robot skin, technical field is to belong to, chemical industry, circuit design, and intelligence is counted Fields, the major techniques such as calculation are that the model for first designing a people pours into silica gel then graphene and foaming agent, are not stopped Quickly stirring, makes graphene be evenly distributed, uniform in foaming is coated in the silica gel of even foaming on the model of people, right later layer The artificial skin of multilayer is made in silica gel one metal wire layer in layer, and temperature sensor is embedded, and passes through intelligent control System carries out the various perception of control skin.

Background technique

The present whole world is exactly artificial intelligence, the most most important component part of artificial intelligence it may be said that very hot research It is robot, is exactly to allow robot to have the function of that people is the same by way of the bionical mankind, skin is the maximum area of the mankind Tissue, therefore to be an anti-robot people, the design of skin is the technology for being directly related to this robot and liking people, The just not design of skin at all of present robot, present some robots also use some common silica gel, make in this way The skin for the robot being made is not only very heavy, and does not perceive, therefore can only be posturing, also has using paraffin , the skin being made into this way is very true to nature, but touch also cannot, let alone thoughts cicada, also somebody exists Many different sensors are installed in silica gel, allow skin that there is sensing capability, but this discrete sensor one by one, not only installation fiber crops It is tired, it is expensive, due to that highdensity distribution therefore can not uniformly cannot actually use, have in the world many panoramic Design, it is very more, but due to various defects, make them have no idea really to use in robot, therefore There is the present invention.

Summary of the invention

Robot is varied in the world, there is various robots, multifarious, has industrial robot, has bionical There is anti-robot people in robot, everybody extremely concerns the operational capability of robot and the degree of intelligence of robot, without ten The attention divided is for robot, and the tissue appearance integumentary system of maximum area, integumentary system is made of many sensors , it can experience external pressure, the variation of temperature, moreover it is possible to keep body temperature, tactile energy variation can perceive the weight of object certainly Amount, shape, the present invention are exactly to design the skin of such mystery, a kind of design method of plastotype formula robot skin, characterized in that This artificial skin through the following steps that manufactured, main material have it is following these, human-like model, silica gel, silica gel coagulator, Silica gel foaming agent, graphene, wire, hub, and control skin intelligence control system, manufacturing process is as follows, at first Silica gel is poured out, and graphene is added, is continuously agitated, and is allowed to uniformly, be subsequently poured into coagulator and quickly stir and be allowed to uniform, then Foaming agent is poured into, silica gel is made to become foam-like, next is that these silica gel foams are uniformly layered on human-like model, is allowed to Then solidification spreads lateral wire on the silica gel of this foaming, repeats silica gel manufacture craft above, send out being prepared into The silica gel of bubble is layered on the cohesion silica gel for completing wire of last preparation, is then covered with longitudinal metallic wire, and wire can also be with It is designed as liquid metals silk, is printed thereon by 3 dimensions, silica gel can also be printed by 3 dimensions, and above process, paving is repeated several times At the N layer according to design requirement, wherein wire is distributed in this way, and the 1st layer is transverse direction, and the 2nd layer must be longitudinally the 3rd layer Laterally, spreading in layer in this way, the interval between wire is to be designed according to the requirement of design, upper one layer and The distance between next layer is also intended to according to design requirement design, most importantly will be according to the calculating energy of intelligence control system What power was designed, and these skin mounting temperature sensors are given, these temperature sensors are implanted directly among silica gel, paving It picks out to come in intermediate wire, be connected on hub, hub is connected with smart controller system, and temperature sensor also connects It connects on hub, allows intelligence control system that can scan each one metal wire and each temperature sensor in this way, work as intelligence Controller system scans two adjacent wires or upper and lower wire, the voltage alignment of adjacent wire are one positive, One negative, thus according to the graphene of centre doping, carries out conductive, just can know that its resistance, be according to silicon entirely later The deformation of glue measures the variation of resistance to realize the various feelings of mechanical skin, perceives the size of contact material, shape, weight, And various parameters, and the temperature of the perception skin according to temperature sensor heats skin, and temperature by being powered to wire Sensor combination holding skin is spent, some attributes of contact material can also be understood according to the gradient difference of temperature.

Detailed description of the invention

Fig. 1 represents a fritter skin texture schematic diagram in a kind of design of plastotype formula robot skin, and 1 represents the slice of silica gel Figure, 2 represent bubble, and 3 represent graphene, and 4.5.6 representative is portion transverse wire, and what 7.8.9 was represented is longitudinal metallic wire, here also It is every one layer of silica gel between the portion transverse wire being described and longitudinal metallic wire, the thickness of this layer of silica gel is wanted according to design It asks and is designed, the interval between wire is also to be designed according to design requirement, and 10 represent temperature sensor, this is It to be arranged according to design requirement.

Embodiment

According to design method above, smart controller system constantly scans adjacent wire and upper and lower wire, and Temperature sensor, since, doped with graphene, and silica gel is foamed state in silica gel, the inside is all some uniform apertures, In this way you gently one press this silica gel, will deform, such deformation just occurs the distribution of the graphene inside silica gel Variation, the density of compressed part graphene become larger, result in resistance and become smaller, therefore by scanning adjacent wire Curent change is known that that a part is extruded, and knows the size for the power being extruded according to the size of curent change, due to It is multilayered structure, therefore has sense of depth, and the area being extruded can be known by each variation for squeezing point, and can root According to the gradient being laterally extruded, the state of skin stress is very readily calculated, in this way it is known that the shape of substance and again Amount, and this artificial skin can be made to heat, there is temperature as people, and in silica gel by being electrified to these wires In bury some temperature sensors, these artificial skins can experience external temperature change in this way, can also experience when this After a little skins and external substance contact, according to the variation of temperature gradient, each attribute of foreign object can be experienced.

Claims

1. a kind of design method of plastotype formula robot skin, characterized in that this artificial skin is through the following steps that be made , main material have it is following these, human-like model, silica gel, silica gel coagulator, silica gel foaming agent, graphene, wire, line concentration Device, and the intelligence control system of control skin, manufacturing process is as follows, and at first silica gel is poured out, and graphene is added, ceaselessly stirs It mixes, is allowed to uniformly, be subsequently poured into coagulator and quickly stir and be allowed to uniform, is subsequently poured into foaming agent, silica gel is made to become foam-like, Next is that these silica gel foams are uniformly layered on human-like model, is allowed to solidify, then on the silica gel upper berth of this foaming Upper lateral wire repeats silica gel manufacture craft above, the silica gel for being prepared into foaming, is layered on the paving of last preparation On the cohesion silica gel of good wire, it is then covered with longitudinal metallic wire, wire may be designed in liquid metals silk, beat by 3 dimensions It stamps, silica gel can also be printed by 3 dimensions, and above process is repeated several times, is paved into the N layer according to design requirement, wherein gold Belong to silk to be distributed in this way, the 1st layer is that laterally, the 2nd layer must be longitudinal, the 3rd layer of transverse direction, in this way spreading in layer, gold The interval belonged between silk is to be designed according to the requirement of design, and the distance between upper one layer and next layer are also intended to basis Design requirement design, it to be most importantly designed according to the computing capability of intelligence control system, and give these skins Skin mounting temperature sensor, these temperature sensors are implanted directly among silica gel, pick out next, connection intermediate wire is layered on On hub, hub is connected with smart controller system, and temperature sensor is also connected on hub, allows intelligent control in this way System processed can scan each one metal wire and each temperature sensor, when smart controller system scans two adjacent gold Belong to silk or upper and lower wire, the voltage alignment of adjacent wire is one positive, and one negative, is thus mixed according to centre Miscellaneous graphene carries out conduction, just can know that its resistance, be the deformation according to silica gel entirely later, and the variation for measuring resistance comes The various feelings for realizing mechanical skin, perceive the size of contact material, shape, weight and various parameters, and pass according to temperature The temperature of the perception skin of sensor, by being powered to wire, heating skin and temperature sensor combination holding skin can also To understand some attributes of contact material according to the gradient difference of temperature.