CN106965506A - 一种机器人耐高温智能皮肤 - Google Patents

一种机器人耐高温智能皮肤 Download PDF

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CN106965506A
CN106965506A CN201710375158.0A CN201710375158A CN106965506A CN 106965506 A CN106965506 A CN 106965506A CN 201710375158 A CN201710375158 A CN 201710375158A CN 106965506 A CN106965506 A CN 106965506A
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layer
skin
high temperature
electronic shell
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杨丽
张晖
马姣姣
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Hebei University of Technology
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Abstract

本发明提供了一种机器人耐高温智能皮肤，属于机器人技术领域，包括基层、保护层和传感层，还包括薄膜层、下电子层、复合层、上电子层、气泡层、阻燃层、编制层和铝膜层，所述的基层的上表面设有传感层，传感层以复合层为中心基准层，上下分别设有上电子层和下电子层，传感层与基层、保护层接触位置设有高分子材料的薄膜层，保护层由下到上依次为气泡层、阻燃层、编制层和铝膜层。本发明的有益效果为：结构简单、成本低廉且不易被损坏，采用柔性材质，提高了皮肤的真实性和人性化，同时设有智能触觉感知系统，更接近地模拟人类肤质的触觉感观，提高智能水平；此外设有阻燃耐高温的保护层，使得该类皮肤更加适用于高温作业环境中。

Description

一种机器人耐高温智能皮肤
技术领域
本发明涉及机器人技术领域，尤其涉及一种机器人耐高温智能皮肤。
背景技术
目前的机器人绝多数只具备外壳而不具备柔软皮肤，柔软的皮肤相比硬质的外壳使机器人更加人性化，增加亲和力；在现有的机器人的人造皮肤中，具有柔软皮肤的机器人的皮肤多数都是用硅胶等模拟人的皮肤，虽然外形和手感都可以与真人相似度很高，但几乎都不具备触觉功能；同时对于特殊环境下，如高温、高压下，常规的硅胶材料皮肤材料很容易受损，无法适用于某些环境下的正常作业。
发明内容
本发明提供了一种机器人耐高温智能皮肤，结构简单、成本低廉且不易被损坏，采用柔性材质，提高了皮肤的真实性和人性化，同时设有智能触觉感知系统，更接近地模拟人类肤质的触觉感观，提高智能水平；此外设有阻燃耐高温的保护层，使得该类皮肤更加适用于高温作业环境中。
为解决上述技术问题，本申请实施例提供了一种机器人耐高温智能皮肤，包括基层、保护层和传感层，其特征在于，还包括薄膜层、下电子层、复合层、上电子层、气泡层、阻燃层、编制层和铝膜层，所述的基层的上表面设有传感层，传感层以复合层为中心基准层，上下分别设有上电子层和下电子层，传感层与基层、保护层接触位置设有高分子材料的薄膜层，保护层由下到上依次为气泡层、阻燃层、编制层和铝膜层。
作为本方案的优选实施例，所述的基层为柔性材料，可以为硅橡胶或树脂，厚度为10-50微米。
作为本方案的优选实施例，所述的下电子层和上电子层的基体为导电橡胶材料，在表面采用双组份注塑的办法生成导电非金属的电子线路。
作为本方案的优选实施例，所述的复合层为柔性的力敏材料，内部成矩阵形式排列有导电纤维和导电颗粒。
作为本方案的优选实施例，所述的阻燃聚乙烯气泡层由聚乙烯挤出吹制而成的气泡体组成，气泡体的高度为3-10毫米,气泡体直径为3-30毫米，上层覆盖有聚乙烯制成的薄膜状的阻燃层，厚度为10-30微米。
作为本方案的优选实施例，所述的编制层的材质为由聚丙烯编织成的阻燃无纺布，厚度为5-20微米，与铝膜层之间通过玻璃胶混合物进行连接。
作为本方案的优选实施例，所述的导电纤维和导电颗粒的材质分别为棒状的碳纤维和炭黑颗粒。
本申请实施例中提供的一个或多个技术方案，至少具有如下技术效果或优点：
结构简单、成本低廉且不易被损坏，采用柔性材质，提高了皮肤的真实性和人性化，同时设有智能触觉感知系统，更接近地模拟人类肤质的触觉感观，提高智能水平；此外设有阻燃耐高温的保护层，使得该类皮肤更加适用于高温作业环境中。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例的结构示意图；
图2是本申请实施例的电子层结构示意图。
图1-图2中，1、基层，2、薄膜层，3、下电子层，4、复合层，5、上电子层，6、气泡层，7、阻燃层，8、编制层，9、铝膜层，10、导电纤维，11、导电颗粒，12、气泡体，13、保护层，14、传感层，15、电子线路。
具体实施方式
本发明提供了一种机器人耐高温智能皮肤，结构简单、成本低廉且不易被损坏，采用柔性材质，提高了皮肤的真实性和人性化，同时设有智能触觉感知系统，更接近地模拟人类肤质的触觉感观，提高智能水平；此外设有阻燃耐高温的保护层，使得该类皮肤更加适用于高温作业环境中。
为了更好的理解上述技术方案，下面将结合说明书附图以及具体的实施方式对上述技术方案进行详细的说明。
如图1-图2所示，一种机器人耐高温智能皮肤，包括基层1、保护层13和传感层14，其特征在于，还包括薄膜层2、下电子层3、复合层4、上电子层5、气泡层6、阻燃层7、编制层8和铝膜层9，所述的基层1的上表面设有传感层14，传感层14以复合层4为中心基准层，上下分别设有上电子层5和下电子层3，传感层14与基层1、保护层13接触位置设有高分子材料的薄膜层2，保护层13由下到上依次为气泡层6、阻燃层7、编制层8和铝膜层9。
其中，在实际应用中，所述的基层1为柔性材料，可以为硅橡胶或树脂，厚度为10-50微米，采用柔性材质，提高了皮肤的真实性和人性化，满足机器人皮肤的高感度、柔韧性与多功能化的要求。
其中，在实际应用中，所述的下电子层3和上电子层5的基体为导电橡胶材料，在表面采用双组份注塑的办法生成导电非金属的电子线路15，电子线路15为由若干相互平行的导电介质的线阵列，表面紧贴遮盖于电子线路15表面的高分子薄膜2，并用于探测复合层4产生的电信号，并将该电信号传输至该机器人的控制器，由该控制器根据该电信号控制该机器人执行相应的操作。
其中，在实际应用中，所述的复合层4为柔性的力敏材料，内部成矩阵形式排列有导电纤维10和导电颗粒11，当受到外力触压到皮肤时，复合层4将会产生形变，从而导致电阻参数的变化，产生相应的电信号，导电纤维10和导电颗粒11起着类似于人体皮肤中迈斯纳触觉小体的作用。
其中，在实际应用中，所述的阻燃聚乙烯气泡层6由聚乙烯挤出吹制而成的气泡体12组成，气泡体12的高度为3-10毫米,气泡直径为3-30毫米，上层覆盖有聚乙烯制成的薄膜状的阻燃层7，厚度为10-30微米，利用聚乙烯气泡良好的隔热阻燃性能，可以有效的提高材料的高阻燃和高隔热性能，使该类皮肤完全适合高温极限环境下的作业。
其中，在实际应用中，所述的编制层8的材质为由聚丙烯编织成的阻燃无纺布，厚度为5-20微米，与铝膜层9之间通过玻璃胶混合物进行连接，利用了无纺布层高强度、韧性好及铝膜高反射等特点，使得制备的隔热材料具有高阻燃、高隔热、高耐腐蚀、高强度、减震等优异性能，同时借由玻璃胶的抗氧化性和一定的延伸性，增强了该机器人皮肤的抗氧化性。
其中，在实际应用中，所述的导电纤维10和导电颗粒11的材质分别为棒状的碳纤维和炭黑颗粒，可以影响传感件的LCR谐振性能，从而令电子皮肤有着敏感的信号输出，不仅兼有人类皮肤的柔韧性和多维敏感性特征，而且更近接地模拟人类肤质的触觉感观。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案范围内，当可利用上述揭示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (7)

1.一种机器人耐高温智能皮肤，包括基层(1)、保护层(13)和传感层(14)，其特征在于，还包括薄膜层(2)、下电子层(3)、复合层(4)、上电子层(5)、气泡层(6)、阻燃层(7)、编制层(8)和铝膜层(9)，所述的基层(1)的上表面设有传感层(14)，传感层(14)以复合层(4)为中心基准层，上下分别设有上电子层(5)和下电子层(3)，传感层(14)与基层(1)、保护层(13)接触位置设有高分子材料的薄膜层(2)，保护层(13)由下到上依次为气泡层(6)、阻燃层(7)、编制层(8)和铝膜层(9)。
2.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的基层(1)为柔性材料，可以为硅橡胶或树脂，厚度为10-50微米。
3.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的下电子层(3)和上电子层(5)的基体为导电橡胶材料，在表面采用双组份注塑的办法生成导电非金属的电子线路(15)。
4.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的复合层(4)为柔性的力敏材料，内部成矩阵形式排列有导电纤维(10)和导电颗粒(11)。
5.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的阻燃聚乙烯气泡层(6)由聚乙烯挤出吹制而成的气泡体(12)组成，气泡体(12)的高度为3-10毫米,气泡体(12)直径为3-30毫米，上层覆盖有聚乙烯制成的薄膜状的阻燃层(7)，厚度为10-30微米。
6.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的编制层(8)的材质为由聚丙烯编织成的阻燃无纺布，厚度为5-20微米，与铝膜层(9)之间通过玻璃胶混合物进行连接。
7.根据权利要求1所述的一种机器人耐高温智能皮肤，其特征在于，所述的导电纤维(10)和导电颗粒(11)的材质分别为棒状的碳纤维和炭黑颗粒。
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CN108031029A (zh) * 2017-10-26 2018-05-15 山东康威通信技术股份有限公司 一种电力隧道消防机器人的防火隔温结构
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