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CN-122008150-A - Rigid-flexible coupling self-adaptive protective shell for exoskeleton robot and preparation method thereof

CN122008150ACN 122008150 ACN122008150 ACN 122008150ACN-122008150-A

Abstract

The rigid-flexible coupling self-adaptive protective shell for the exoskeleton robot comprises a flexible protective component and a rigid support component which are mutually attached, wherein the rigid support component is positioned in an inner layer and consists of an aramid fiber paper honeycomb core material and skin panels which are compounded on two sides of the aramid fiber paper honeycomb core material, the flexible protective component is coated on the outer surface of the rigid support component and comprises a three-dimensional spacing fabric layer loaded with shear thickening fluid and an artificial cartilage foam layer laminated on the inner side of the fabric layer, and the outer surface of the flexible protective component is also compounded with a wear-resistant skin layer. The invention designs a rigid-flexible coupled multi-layer self-adaptive protective shell structure aiming at the technical problems of single material performance, adaptability and vibration noise of an exoskeleton robot shell, aims at solving the pain point through the synergistic effect of each layer, and simultaneously provides a preparation method of the shell and definitely applies the shell to the exoskeleton robot.

Inventors

  • LIU XI
  • WEI QINGSONG
  • WANG MINGLING
  • YUAN ZISHUN
  • Dai Ziang
  • Zhu Lvtao
  • ZHANG HUAPENG

Assignees

  • 浙江理工大学

Dates

Publication Date
20260512
Application Date
20260318

Claims (7)

  1. 1. The self-adaptive protection shell for rigid-flexible coupling of the exoskeleton robot is characterized by comprising a flexible protection assembly (1) and a rigid support assembly (2) which are mutually attached; The rigid support component (2) is positioned on the inner layer and consists of an aramid paper honeycomb core material (21) and skin panels (22) compounded on two sides of the aramid paper honeycomb core material; The flexible protection component (1) is coated on the outer surface of the rigid support component (2) and comprises a three-dimensional interval fabric layer (11) loaded with shear thickening fluid and an artificial cartilage foam layer (12) laminated on the inner side of the fabric layer; the outer surface of the flexible protection component (1) is also compounded with a wear-resistant skin layer (13).
  2. 2. A method of making a rigid-flexible coupled adaptive protective housing for an exoskeleton robot, the protective housing of claim 1, comprising the steps of: S1, forming a rigid framework, namely attaching a skin panel pre-impregnated with resin and an aramid paper honeycomb core material, then placing the skin panel and the aramid paper honeycomb core material in a custom mold, and heating, pressurizing and curing in an autoclave to prepare a rigid support piece with a preset curvature; S2, preparing an intelligent soft layer, namely immersing the three-dimensional spacer fabric in STF dispersion liquid, adopting ultrasonic vibration to assist in immersing for 10-30 min, then placing the three-dimensional spacer fabric in a vacuum drying oven for drying at 40-60 ℃, and removing the solvent; S3, compounding an interface buffer layer, namely, after thermally attaching the ACF film and the hot melt adhesive net film, pressing the ACF film and the hot melt adhesive net film on the inner side surface of the three-dimensional spacer fabric obtained in the step S2 to form a flexible protective base piece; S4, integrally coating and curing, namely coating the flexible protection base member obtained in the step S3 on the outer convex surface of the rigid support member obtained in the step S1, shaping by adopting a vacuum plastic suction or manual coating process, and curing at room temperature or low temperature to enable the flexible protection assembly and the rigid support assembly to be tightly adhered into a whole.
  3. 3. The method for preparing the rigid-flexible coupling self-adaptive protective shell for the exoskeleton robot, according to claim 2, is characterized in that in the step S1, the process parameters of autoclave curing are 120-140 ℃ in temperature, 0.2-0.4 MPa in pressure and 60-90 min in heat preservation and pressure maintaining time; The aramid paper honeycomb core material is selected from meta-aramid honeycomb or para-aramid honeycomb, the cell side length is 1.83mm-4.8mm, and the density is 29-64kg/m 3 ; The skin panel is a carbon fiber prepreg panel, and the thickness is 0.3mm-0.6mm.
  4. 4. The method for preparing the rigid-flexible coupling self-adaptive protective shell for the exoskeleton robot according to claim 2, wherein in the step S2, the power of ultrasonic vibration is 200W-500W, and the three-dimensional spacer fabric loaded with STF is subjected to edge sealing treatment after drying; The shearing thickening fluid is filled in fiber gaps of the three-dimensional interval fabric layer, and the filling amount is 150% -300% of the fabric surface density; the shear thickening fluid is prepared by dispersing inorganic nano particles with the average particle size of 100-600 nm in a liquid oligomer medium, wherein the critical shear rate is 10 1 -10 2 s -1 , the three-dimensional spacer fabric layer is made of polyester material, the thickness is 2-4 mm, and an I-shaped connecting yarn structure is arranged in the three-dimensional spacer fabric layer.
  5. 5. The method of claim 2, wherein in step S3, the artificial cartilage foam layer is located between the three-dimensional spacer fabric layer and the rigid support component, and is used as an interface coupling layer, the thickness of the interface coupling layer is 1mm-3mm, and the loss factor tan delta is greater than or equal to 0.4.
  6. 6. The method for preparing the rigid-flexible coupling self-adaptive protective shell for the exoskeleton robot according to claim 2, wherein in the step S4, the technological parameters of low-temperature curing are 50-70 ℃ and 30-60 min of curing time, the adhesive is epoxy structural adhesive, and the adhesive coating amount is 50g/m 2 -80g/m 2 .
  7. 7. The rigid-flexible coupled adaptive protective casing for an exoskeleton robot made by the method of any of claims 2 to 6, wherein the casing has puncture-resistant and impact-resistant properties, wherein the flexible protective component is capable of preventing an impact head from contacting a surface of the rigid support component when the impact energy is 50J in a standard drop impact test.

Description

Rigid-flexible coupling self-adaptive protective shell for exoskeleton robot and preparation method thereof Technical Field The invention relates to the field of functional protective materials, in particular to a rigid-flexible coupling self-adaptive protective shell for an exoskeleton robot and a preparation method thereof. Background With the deep fusion of artificial intelligence, material science and mechatronics technologies, exoskeleton robots are accelerating the transition from laboratory research to multi-scenario landing. In the industrial field, the device can assist workers to finish tasks such as heavy goods handling and high-altitude operation, and the like, so that the risk of occupational injury is remarkably reduced, in a medical rehabilitation scene, a patient is assisted to recover a movement function through accurate force control, and in the military field, the device is applied to special tasks such as individual load enhancement, complex terrain maneuver and the like. This growing trend puts higher demands on the core component, the exoskeleton shell, which not only needs to meet the basic protection function, but also needs to realize breakthrough in aspects of light weight, impact resistance, environmental adaptability and the like. The exoskeleton shell in the prior art mainly has three problems: (1) The material performance is single, the traditional metal shell has the advantages of high weight and increased equipment energy consumption, and the carbon fiber composite material has the advantages of light weight, high brittleness and poor puncture resistance, and is easy to generate sharp fracture surfaces during collision, thereby causing secondary injury to human and machine. (2) The existing shell is made of constant stiffness materials, cannot distinguish daily touch from severe impact, cannot actively dissipate energy when suffering from high-energy impact such as falling and collision, and can directly transmit shock waves to internal precise elements to cause element damage. (3) The vibration noise problem is that the rigid shell is easy to generate resonance, so that the running noise of the motor can be amplified, the external vibration can be directly transmitted to a wearer, and the wearing comfort is seriously affected. Disclosure of Invention In order to solve the technical problems, the invention provides the soft-package hard composite shell which has the ultra-light high-strength characteristic of the aramid honeycomb and the dynamic protection capability of the shear thickening material, and the technical problems of single material performance, adaptability and vibration noise of the existing exoskeleton robot shell are effectively solved. The rigid-flexible coupling self-adaptive protective shell for the exoskeleton robot comprises a flexible protective component and a rigid support component, wherein the flexible protective component and the rigid support component are mutually attached, the rigid support component is located in an inner layer and consists of an aramid fiber paper honeycomb core material and skin panels compounded on two sides of the aramid fiber paper honeycomb core material, the flexible protective component is coated on the outer surface of the rigid support component and comprises a three-dimensional spacing fabric layer loaded with shear thickening fluid and an artificial cartilage foam layer laminated on the inner side of the fabric layer, and an abrasion-resistant skin layer is compounded on the outer surface of the flexible protective component. According to the invention, the aramid paper honeycomb core material is selected from meta-aramid honeycomb or para-aramid honeycomb, the cell side length is 1.83mm-4.8mm, the density is 29-64kg/m 3, the skin panel is a carbon fiber prepreg panel, the thickness is 0.3mm-0.6mm, and the aramid paper honeycomb core material are combined into a whole through resin hot pressing, so that the structure provides stable rigid support for the shell, and meanwhile, the weight is reduced. The shear thickening fluid is filled in fiber gaps of the three-dimensional spacer fabric layer, the filling amount is 150% -300% of the fabric surface density, the shear thickening fluid is prepared by dispersing inorganic nano particles with the average particle size of 100-600 nm in a liquid-state oligomer medium, the critical shear rate is 10 1-102s-1, the shear thickening fluid is a core material for realizing dynamic self-adaptive protection of the shell, the three-dimensional spacer fabric layer is made of polyester material and has the thickness of 2-4 mm, and an I-shaped connecting yarn structure is arranged in the three-dimensional spacer fabric layer, so that the shear thickening fluid can be stably borne and prevented from losing. The artificial cartilage foam layer is positioned between the three-dimensional spacer fabric layer and the rigid support component, is used as an interface coupling layer, has the t