Wearable robot skin

Abstract

The invention discloses wearable robot skin. The wearable robot skin comprises a silicon rubber case and a magnetic attraction fixing structure. The silica gel sleeve wraps the metal framework and is divided into a plurality of modular assemblies, and the adjacent modular assemblies are detachably assembled through concave-convex meshing structures. The magnetic attraction fixing structure is composed of a ferrite sheet pre-embedded in the silicon rubber case and a neodymium iron boron magnet embedded in the metal framework, and the assembly is attracted and fixed through a magnetic field. First silica gel micro-beads are distributed on the contact interface of the silica gel sleeve and the metal framework, and second silica gel micro-beads are distributed on the periphery of the ferrite sheet and used for buffering impact stress and enhancing interface fitness. The robot skin adopts a double-fixing mechanism of magnetic attraction and concave-convex occlusion, the double-fixing mechanism and the double-fixing mechanism work cooperatively to achieve dynamic and static complementation, the magnetic attraction structure provides flexible attachment and dynamic compliance, the concave-convex occlusion structure ensures rigid supporting and anti-shearing torsion capacity, the shock resistance and the connection stability are jointly improved, and therefore the service life of the silicon rubber sleeve is prolonged.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a wearable robot skin. Background Art

[0002] Humanoid robots mainly have metal shells. The metal surface has strong thermal conductivity and will quickly absorb human body heat in low temperature environments, resulting in a cold feeling when touched. The untreated metal shell has a low friction coefficient and lacks a sense of damping when touched. It is easy to slip due to dirt or oil stains during dynamic operation. The joints of the metal skeleton or sharp edges may form tiny burrs due to processing errors, which can easily cause a tingling sensation when in direct contact with the skin. In addition, the original colors of metal (such as silver gray and titanium black) lack a soft texture, which creates a visual conflict with the human living environment and reduces psychological affinity. The high reflective properties easily form a mirror effect, which interferes with the user's vision in a strong light environment. Scratches on the metal shell are difficult to repair, and slight wear will form obvious color difference stripes, affecting the overall appearance. The metal shell lacks buffering capacity and is prone to structural damage due to stress concentration when falling or colliding, and the impact of the fall may be transmitted to precision sensors (such as visual systems).

[0003] Silicone has an elasticity close to that of real skin, a delicate and soft biomimetic feel, and can accurately replicate skin texture and vascular details, enhancing the realism of interactive actions like handshakes and hugs while also improving the aforementioned drawbacks of metal shells. Prior art uses silicone directly coated onto metal components to mitigate the material deficiencies of these components, making it suitable for use as skin for humanoid robots to compensate for the shortcomings of metal shells. However, the use of silicone in humanoid robots presents numerous challenges. Firstly, the silicone is primarily secured to the metal skeleton of the humanoid robot through its adhesion. During robot motion, particularly in areas susceptible to impact, such as joints or functional areas, the impact can easily lead to unstable connections between the silicone and the metal skeleton, causing localized stress concentrations, which can lead to material fatigue or even fracture, shortening the lifespan of the robot skin. Secondly, traditional connection methods struggle to achieve both flexible fit and rigid support, failing to simultaneously meet the flexible adaptability and structural stability requirements of robots during dynamic motion. Furthermore, when maintenance or component replacement is required, the robot skin cannot be replaced.

[0004] Therefore, there is an urgent need for a wearable robot skin structure that can effectively solve the interface stress concentration problem between the rigid metal skeleton and the flexible silicone, improve the impact resistance and connection stability, and facilitate disassembly and assembly. Summary of the Invention

[0005] In order to solve the problem of interface stress concentration between the rigid metal skeleton and the flexible silicone, and at the same time achieve precise control of material fatigue during dynamic movement, the present application provides a wearable robot skin that adopts a dual fixing mechanism of "magnetic attraction + concave-convex bite". The two work together to form an efficient combination of dynamic and static complementarity. The magnetic attraction mechanism provides a uniformly dispersed fixing force under static conditions, effectively reducing interface stress concentration; while the concave-convex bite structure enhances shear resistance during dynamic movement and suppresses material fatigue failure. It not only optimizes the interface stress distribution and improves the interface bonding strength and stability, but also improves the fatigue resistance and service life of the wearable device, thereby obtaining a wearable and easy-to-replace wearable robot skin. The technical solutions provided in this application are as follows: In one aspect, the present application provides a wearable robotic skin, comprising: The silicone sleeve is wrapped around the outer surface of the metal frame and is divided into multiple modular components along the robot's joints or functional areas; the joints of adjacent modular components are connected by concave-convex interlocking structures; A magnetic fixing structure, comprising a ferrite sheet embedded in the silicone sleeve and a neodymium iron boron magnet embedded in the metal frame and matched with the ferrite sheet; First silica gel micro beads are distributed at the contact interface between the silica gel sleeve and the metal skeleton; second silica gel micro beads are distributed around the ferrite sheet.

[0006] In some specific embodiments, the concave-convex engaging structure includes a convex portion and a concave portion adapted therewith, and the mating surfaces of the convex portion and the concave portion are both progressively inclined surfaces.

[0007] In some specific embodiments, the compression ratio of the first silica gel microbeads and the second silica gel microbeads is greater than 80%.

[0008] In some specific embodiments, the silicone sleeve comprises, from outside to inside: The surface layer is made of medical-grade liquid silicone rubber and uses 3D microstructure printing technology to form a microstructure that simulates the human epidermis. The middle layer is a tear-resistant silicone layer with a built-in distributed optical fiber strain sensor array; The bottom layer is an insulating silicone layer that integrates a flexible heating circuit and a piezoresistive tactile sensor.

[0009] In some specific embodiments, in the area corresponding to the movable joint, the silicone sleeve adopts a corrugated structure, the wavelength of the corrugated structure is 5-8 mm, the peak height is 2-3 mm, and a stretching margin of 200%-300% is reserved.

[0010] In some specific embodiments, the middle layer of the corrugated corrugated structure includes two corrugated layers with different wave crests; The corrugated layer includes a reinforcement structure, which is a metal mesh or a nylon fiber mesh.

[0011] In some specific embodiments, a first through hole is opened on the surface layer of the corrugated corrugated structure, and the first through hole is an inclined hole with an inclination angle of 25° to 40°; A second through hole is provided on the corrugated layer close to the surface layer.

[0012] In some specific embodiments, in the area corresponding to the inactive joint, a groove is provided on the metal skeleton, and the depth of the groove is 1-2 mm for accommodating the first silica gel microbeads.

[0013] In some specific embodiments, the surface layer comprises first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0wt%, and the content of the nano-molybdenum disulfide is 0.5-0.9wt%. The intermediate layer comprises a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the second silica gel has a content of 90.0-100.0 wt %, the first fumed silica has a content of 20.0-30.0 wt %, the carbon nanotubes have a content of 0.1-2.0 wt %, and the cellulose nanofibers have a content of 2.0-3.0 wt %. The bottom layer comprises third silica gel and second fumed silica, wherein the content of the third silica gel is 90.0-100.0 wt %, and the content of the second fumed silica is 8.0-9.0 wt %.

[0014] In some specific embodiments, the first silica gel microbeads are composed of methyl vinyl silicone rubber, fumed silica, hydroxy silicone oil, and a di-pentadienyl vulcanizing agent; wherein the content of the methyl vinyl silicone rubber is 70.0-80.0 wt %, the content of the fumed silica is 15.0-20.0 wt %, the content of the hydroxy silicone oil is 5.0-10.0 wt %, and the content of the di-pentadienyl vulcanizing agent is 0.5-1.0 wt %; The second silica gel microbeads are composed of liquid silicone rubber, spherical silica powder, conductive carbon black and platinum catalyst; wherein the content of the liquid silicone rubber is 60.0-70.0wt%, the content of the spherical silica powder is 20.0-25.0wt%, the content of the conductive carbon black is 5.0-10.0wt%, and the content of the platinum catalyst is 0.1-0.3%wt%.

[0015] By adopting the above technical solution, the wearable robot skin provided by this application has the following beneficial effects: The robot skin in this application uses a dual fixing mechanism of "magnetic attraction + concave-convex bite". The two complement each other to achieve a dynamic and static collaborative working mode. The magnetic attraction structure provides flexible fit and dynamic compliance due to the characteristics of the magnetic field, perfectly adapting to the complex deformation requirements in various dynamic movements; the concave-convex bite structure ensures rigid support and excellent shear and torsion resistance through mechanical interlocking. The synergistic effect of the two improves the impact resistance and connection stability of the robot skin, effectively solves the problem of stress concentration at the interface between rigid metal and flexible silicone, and prolongs the service life of the silicone cover, providing the robot with a wearable silicone skin, achieving reliable and durable outer layer protection and flexible movement support.

[0016] Furthermore, a first layer of silicone microbeads is evenly distributed at the interface between the silicone sleeve and the metal frame, while a second layer of silicone microbeads is also distributed around the ferrite sheet. These two layers of silicone microbeads together form a dual-buffer system that not only effectively cushions impact stress but also significantly enhances interfacial adhesion, significantly improving interfacial mechanical properties and reducing the risk of material fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 A schematic diagram of a robot skin provided in an embodiment of the present application; Figure 2 A schematic diagram of a corrugated structure provided in an embodiment of the present application; Figure 3 A robot hand model provided in an embodiment of the present application; Figure 4 A skin-wearing robotic hand model provided in an embodiment of the present application.

[0019] The following is a supplementary description of the accompanying drawings: 10-silicone sleeve; 101-surface layer; 102-middle layer; 103-bottom layer; 11-modular component; 20-concave-convex interlocking structure; 21-convex portion; 22-concave portion; 31-ferrite sheet; 40-first silicone microbead; 50-second silicone microbead; 60-pleated corrugated structure; 61-corrugated layer; 62-first through hole; 63-second through hole. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] For the following defined terms, these definitions shall apply unless a different definition is given in the claims or elsewhere in this specification. All numerical values, whether or not explicitly indicated, are defined herein as being modified by the term "about". The term "about" generally refers to a numerical range that one of ordinary skill in the art would consider equivalent to the stated value to produce substantially the same properties, functions, results, etc. A numerical range indicated by a lower value and an upper value is defined to include all numerical values ​​included in the numerical range and all subranges included in the numerical range.

[0022] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions.

[0023] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] See also Figure 1 , a wearable robot skin provided in an embodiment of the present application includes: The silicone sleeve 10 is coated on the outer surface of the metal frame and is divided into multiple modular components 11 along the robot joints or functional areas; the joints of adjacent modular components 11 are connected by concave-convex bite structures 20; The magnetic fixing structure includes a ferrite sheet 31 embedded in the silicone sleeve 10 and a neodymium iron boron magnet embedded in the metal frame and matched with the ferrite sheet 31; First silica beads 40 are distributed at the contact interface between the silica gel sleeve 10 and the metal frame; second silica beads 50 are distributed around the ferrite sheet 31 .

[0025] Specifically, the silicone sleeve 10 is divided into modular components 11 such as the head, torso, and limbs based on the movable characteristics and functional zoning of the robot's joints. Adjacent modules are connected and matched at the seams using a bidirectionally symmetrical concave-convex interlocking structure 20. The structure consists of a mutually matching raised portion 21 and a recessed portion 22. The mating surfaces of the raised portion 21 and the recessed portion 22 can optionally be a progressively inclined surface design (such as trapezoidal teeth). Compared with simple gluing or suturing, the concave-convex interlocking structure 20 can more effectively resist interlayer peeling and is particularly suitable for robot joints with dynamic movement. The concave-convex interlocking structure 20 forms a physical self-locking, dispersing the stress at the joints and reducing the risk of cracking of the silicone sleeve 10 due to repeated deformation (such as bending and stretching). The elasticity of the silicone sleeve 10 and the mechanical constraints of the concave-convex interlocking structure 20 work together to absorb vibrations during the movement of metal parts and reduce noise and wear.

[0026] The magnetic attachment structure consists of a ferrite sheet 31 embedded within the silicone sleeve 10 and a neodymium iron boron magnet (grade N35) embedded in the metal frame. These two components achieve stable attachment through a strong magnetic field. The ferrite sheet 31 is embedded in a pre-set cavity within the silicone sleeve 10. The magnetic attachment structure exhibits the flexibility of bionic ligaments, allowing controlled micro-displacements (such as sliding or rotation) at the joint under external force impact. By adaptively adjusting the contact surface through the magnetic field, concentrated stress is converted into multi-directional energy dissipation, effectively avoiding stress concentration in a single direction. This flexible attachment capability can buffer instantaneous impact forces (such as collisions and falls) at any angle, and is particularly suitable for complex load conditions (such as robot rollovers, tumbles, or side impacts), improving impact resistance. Furthermore, the structure utilizes a contactless magnetic design, eliminating the physical friction associated with traditional mechanical connections and extending the lifespan of the silicone sleeve 10. The magnetic joints offer a convenient "pull to open, stick to close" operation mode, facilitating component replacement, cleaning, and maintenance. Automatically aligning the joints without strict alignment is achieved, enabling precise docking at preset positions through magnetic guidance. This significantly simplifies the assembly process and reduces the difficulty of donning and operating complex robot structures. The design is particularly suitable for connecting joints within concave-convex interlocking structures 20. The flexible attraction of the magnetic system effectively absorbs high-frequency, low-amplitude vibrations (such as mechanical vibrations generated by micromotors), dissipating energy through flexible deformation across the magnetic gap. This reduces the long-term fatigue damage to key components such as joints caused by micro-vibrations of moving parts, thereby improving overall system stability and service life. Furthermore, the continuous magnetic attraction forces the silicone sleeve 10 tightly against the metal frame, enhancing fit and protection, forming a protective barrier that effectively blocks the intrusion of moisture, dust, and debris, and enhancing system reliability.

[0027] The first silicone micro-beads 40 are distributed at the contact interface between the silicone sleeve 10 and the metal skeleton. The application of silicone micro-beads transforms the contact interface from traditional surface contact to point contact mode, effectively disperses the impact force by reducing the contact area, and avoids material fatigue or fracture problems caused by local stress concentration. Reduce the stress peak transmitted to the NdFeB magnet and the metal skeleton. It is understandable that the first silicone micro-beads 40 are distributed in whole or in part at the contact interface between the silicone sleeve 10 and the metal skeleton; optionally, the first silicone micro-beads 40 are distributed at the position of the ferrite sheet 31 corresponding to the contact interface between the silicone sleeve 10 and the metal skeleton, and the width of the distributed first silicone micro-beads 40 is slightly larger than the width of the position of the ferrite sheet 31 to improve the buffering effect.

[0028] Second silicone microbeads 50 are distributed around the ferrite sheet 31. The surrounding silicone microbeads not only continue the point contact advantage of the silicone microbeads on the main contact surface, further disperse the impact force and reduce local stress concentration, but also build a surround-type buffer barrier to effectively absorb the lateral impact energy from the periphery of the ferrite sheet 31, which not only enhances the impact resistance of the overall structure, but also provides stable positioning support for the ferrite sheet 31, ensuring that the magnetic fixing structure can still maintain precise alignment under complex stress conditions.

[0029] This application adopts "magnetic attraction + concave-convex bite" dual fixation. The magnetic attraction structure can stretch and position the silicone sleeve 10 to achieve multi-directional fitting, and the brief separation during movement can play a buffering role, and then quickly fit together, similar to the function of ligaments, so that the silicone sleeve 10 fits the metal skeleton. The concave-convex bite structure 20 provides rigid support against shear force and torsion on the basis of magnetic attraction, reducing the silicone sleeve 10 from excessive sliding or even dislocation due to insufficient magnetic force in dynamic scenarios such as high-speed rotation and vibration of the robot, bending of the arms, and support of standing by the arms and legs after falling. The two structures cooperate in dynamic and static, and multi-directional buffering, realizing the application of long-life modular silicone sleeve 10 on robots.

[0030] Combine Figure 3 and Figure 4 , Figure 3 For the robot hand model, the project initially used a low-cost and easily available plastic robot hand model to conduct experiments to verify the feasibility. Figure 3 This is the robot hand model before wearing. Figure 4 This is a model of a robot hand wearing skin. The examples do not actually show the various parts of the robot and the connection structure (the pictures cannot show some detailed structures). Please refer to the solution given in this application. This example is only used to clearly show the form of wearable skin. Figure 3-4 It can be seen that the wearable robot skin can be easily removed and replaced, and the skin of each part of the robot can be quickly covered and replaced. It is a feasible structure for the outer layer of the robot with great potential. Figure 4The skin-wearing robotic hand model is not intended to limit the implementation of different solutions of the present application.

[0031] In some specific embodiments, during the preparation of the silicone sleeve 10, when the silicone material has not yet completely solidified, the second silicone microbeads 50 are evenly distributed on the surface of the silicone sleeve layer by spraying or a similar process to form a uniform and consistent covering layer on the surface of the silicone sleeve 10, thereby ensuring good bonding strength between the silicone microbeads and the silicone sleeve 10.

[0032] In some specific embodiments, a polyurea layer is sprayed on the other parts of the silicone sleeve 10 outside the inner layer of silicone microbeads. The polyurea layer interacts with the silicone sleeve 10 to form a stable support structure, effectively enhancing the shaping ability of the silicone sleeve 10; at the same time, the high strength and wear resistance of the polyurea layer provide an additional protective barrier for the silicone sleeve 10, which is beneficial to improving the wear resistance of the silicone sleeve 10.

[0033] In some specific embodiments, before the metal skeleton is coated with the silicone sleeve 10, the metal skeleton surface is sandblasted, preferably with an 80-120 mesh sandblasting medium, to a surface roughness Ra of 3.2-6.3 μm, thereby enhancing adhesion between the silicone sleeve 10 and the metal skeleton. Alternatively, a silane coupling agent (such as KH-550, 1%-3% concentration) may be sprayed on the metal skeleton surface to form -Si-O- chemical bonds on the metal skeleton surface through a hydrolysis reaction, thereby improving adhesion. Furthermore, in high-temperature areas (such as near motors), a heat-resistant primer with a temperature resistance greater than 150°C may be applied to further enhance adhesion between the two and prevent the silicone sleeve 10 from peeling off the metal skeleton.

[0034] In some specific embodiments, the concave-convex engaging structure 20 includes a convex portion 21 and a concave portion 22 adapted thereto, and the mating surfaces of the convex portion 21 and the concave portion 22 are both progressively inclined surfaces.

[0035] Specifically, the concave-convex engaging structure 20 includes a raised portion 21 and a matched recessed portion 22. The mating surfaces of the raised portion 21 and the recessed portion 22 are both progressively inclined. The inclined design of the raised portion 21 and the recessed portion 22 enables the two to slide into engagement smoothly under the action of magnetic attraction, which not only reduces the difficulty of assembly but also ensures precise alignment of the engagement. The progressive design of the inclined surface enhances the anti-torsion ability of the engagement. When an external force attempts to rotate the silicone sleeve 10 relative to the metal frame, the inclined surface structure converts the torque into a component force perpendicular to the contact surface, thereby resisting torsion through a larger contact area and a deeper engagement depth, effectively preventing structural displacement or dislocation. In addition, the progressive inclined surface is preferably trapezoidal teeth. The trapezoidal tooth structure also has self-locking properties in the axial direction. Even if it is impacted or vibrated, the engagement part can maintain a firm connection through the wedging effect of the inclined surface.

[0036] In some specific embodiments, the compression ratio of the first silica microbeads 40 and the second silica microbeads 50 is greater than 80%.

[0037] Specifically, the use of silicone microbeads with a high compression ratio enables them to deform significantly when subjected to vertical pressure, effectively absorbing impact energy. When the system is subjected to external impact, the silicone microbeads can deform significantly within their compressible space, converting the impact kinetic energy into elastic potential energy and gradually releasing it, significantly reducing the peak stress transmitted to the NdFeB magnets and metal frame. Furthermore, the high compression ratio enables the silicone microbeads to maintain stable rebound properties under varying pressure conditions, ensuring that the initial cushioning effect is maintained even after long-term use.

[0038] For some specific implementations, please refer to Figure 1 The silicone sleeve 10 includes, from outside to inside: The surface layer 101 is made of medical-grade liquid silicone rubber and uses 3D microstructure printing technology to form a microstructure that simulates the human epidermis. The middle layer 102 is a tear-resistant silicone layer with a built-in distributed optical fiber strain sensor array; The bottom layer 103 is an insulating silicone layer, which integrates a flexible heating circuit and a piezoresistive tactile sensor.

[0039] Specifically, the silicone sleeve 10 utilizes a multi-layer composite structure. The surface layer 101 is made of medical-grade liquid silicone rubber and precisely molded using 3D microstructure printing technology to create a highly realistic microstructure that mimics human epidermal lines. This not only enhances tactile comfort and anti-slip properties, but also optimizes stress distribution through microtexture. The middle layer 102 is a tear-resistant silicone layer, within which an array of optical fiber strain sensors is evenly distributed. This allows for real-time monitoring of the silicone sleeve 10's deformation under complex stress conditions, providing precise mechanical feedback for the system. Optimally, a fiber grating array (FBG) is arranged along the silicone surface, achieving a spatial resolution of 1-2 cm. This allows for real-time monitoring of the continuous strain distribution generated by the silicone skin under bending, stretching, or compression, accurately pinpointing the contact point, force intensity, and deformation range. The bottom layer 103, an insulating silicone layer, integrates a flexible heating circuit and a piezoresistive tactile sensor. The heating circuit maintains the silicone sleeve 10's flexibility and functional stability in low-temperature environments, while the piezoresistive tactile sensor can sense minute pressure changes, providing system tactile sensing capabilities. This application integrates biomimetics, intelligent sensing and material engineering through a multi-layer composite structure, so that the silicone sleeve 10 not only has excellent mechanical properties and durability, but also achieves a comprehensive improvement in environmental adaptability and human-computer interaction capabilities.

[0040] In some specific embodiments, the surface layer 101 uses nanoimprinting technology (template accuracy of up to 1μm) to replicate human skin texture (including fingerprints and pore structure), while selectively spraying a silicone dilution solution (silicone and solvent mixed in a 1:3 ratio) locally, leveraging surface tension to create a micron-scale bumpy texture to enhance tactile feedback and visual realism. The bottom layer 103 is sprayed with flesh-colored silicone ink (Pantone color card 7521C) to simulate natural skin color, and the middle layer 102 is injected with red dye to construct a simulated capillary network. In addition, a flexible LED array (preferably 0.2mm thick and 5mm apart) can be embedded in the silicone sleeve 10 to simulate the light transmission effect of subcutaneous blood vessels, and a graphene heating film (preferably with a power density of 0.5W / cm²) and an NTC temperature sensor can be integrated to achieve precise temperature control of ±1°C. Semiconductor cooling chips (TEC1-12706) can also be configured in local areas to simulate the dynamic changes in skin temperature in cold environments, enhancing bionic performance and interactive experience.

[0041] In some specific embodiments, see Figure 2 In the area corresponding to the movable joint, the silicone sleeve 10 adopts a pleated corrugated structure 60, the wavelength of the pleated corrugated structure 60 is 5-8mm, the peak height is 2-3mm, and a stretching margin of 200%-300% is reserved.

[0042] Specifically, for high-frequency joints such as elbows and knees, the silicone sleeve 10 is designed with a pleated corrugated structure 60 with a wavelength of 5-8mm and a peak height of 2-3mm, with a 200%-300% stretch margin reserved to accommodate joint movement requirements. This structure produces a pumping effect during joint flexion and extension. When the joint bends, the crests and troughs of the corrugated structure undergo periodic deformation, forming a continuous airflow channel and accelerating air convection circulation. When the joint extends, the airflow is forced to flow in the opposite direction, thus forming an efficient dynamic ventilation mechanism, promoting air convection heat dissipation, thereby improving the durability and fatigue resistance of the silicone sleeve 10, extending its service life, and facilitating heat dissipation in areas with high heat generation, such as active joints.

[0043] For some specific implementations, please refer to Figure 2 , the middle layer 102 of the corrugated corrugated structure 60 includes two corrugated layers 61 with different wave crests; The corrugated layer 61 includes a reinforcement structure, which is a metal mesh or a nylon fiber mesh.

[0044] Specifically, the middle layer 102 of the pleated corrugated structure 60 is composed of two corrugated layers 61 with different wave crests. Each corrugated layer 61 is integrated with a reinforcement structure, which can be made of a metal mesh or a nylon fiber mesh. The corrugated layers 61 with different wave crests are superimposed on each other to produce more complex deformation and recovery mechanisms, thereby improving the elasticity and adaptability of the silicone skin. At the same time, the high strength and high rigidity of the metal mesh, or the high strength, high toughness and light weight of the nylon fiber mesh, can enhance the tensile and shear resistance of the corrugated layer 61, allowing it to maintain its integrity in complex motion and force scenarios, effectively alleviating the impact of external pressure and impact on the internal structure of the robot.

[0045] For some specific implementations, please refer to Figure 2 The surface layer 101 of the corrugated structure 60 is provided with a first through hole 62 , and the first through hole 62 is an inclined hole with an inclination angle of 25° to 40°; A second through hole 63 is formed in the corrugated layer 61 on a side close to the surface layer 101 .

[0046] Specifically, the surface layer 101 of the corrugated structure 60 is provided with first through-holes 62 inclined at an angle of 25° to 40°. Second through-holes 63 are provided in the corrugated layer 61 on the side closest to the surface layer 101. When the structure is bent, the through-holes form airflow channels, promoting convection and heat dissipation, thereby improving heat dissipation and effectively reducing heat accumulation in high-heat-generating areas such as joints. The first through-holes 62 are inclined at an angle of 25° to 40° to prevent dust from entering. The corrugated layer 61 on the side away from the surface layer 101 is not provided with holes, preventing dust and other debris from entering the joints.

[0047] In some specific embodiments, a groove is provided on the metal skeleton in the area corresponding to the inactive joint. The depth of the groove is 1-2 mm, and is used to accommodate the first silica gel microbeads 40 .

[0048] Specifically, grooves with a depth of 1-2 mm are machined in the corresponding areas of inactive joints (i.e., the outer areas of the corrugated corrugated structure 60 at active joints such as fingers and elbows, as well as the metal frame surface outside the seams and magnetic structures). These grooves cooperate with the pre-placed first silicone microbeads 40, utilizing a groove constraint mechanism to prevent the silicone microbeads from slipping and shifting during dynamic movement. Preferably, trapezoidal grooves aligned with the joint's primary bending direction are employed in active joints such as the knee joint, which require frequent bending. The trapezoidal groove structure, due to its wedge-shaped cross-section, allows the silicone microbeads to move along the inclined surfaces of the trapezoidal groove and fill the groove space when the joint bends. This not only disperses stress in the direction of joint movement but also creates a mechanical interlocking effect by increasing the contact area, enhancing interfacial bonding strength. Furthermore, the special geometry of the trapezoidal grooves physically limits the lateral displacement of the silicone microbeads. During processes such as twisting of the leg around an axis, the restraining effect of the groove walls on the silicone microbeads prevents unintended deformation, guiding the silicone sleeve 10 to deform in an orderly manner along the set direction while preventing material fatigue damage caused by excessive twisting, thereby achieving structural stability and motion compliance at the joint.

[0049] In some specific embodiments, the particle size range of the silica gel microbeads is preferably 1-5 mm, among which the silica gel microbeads used in conjunction with the groove structure are preferably 1-3 mm in size, and the anti-torsion function is achieved by precisely matching the groove size; and the silica gel microbeads used for filling are preferably 3.1-5 mm in a larger particle size, which can not only enhance the overall wear resistance of the silica gel beads, but also effectively increase the gap between the silica gel microbeads to achieve gas heat dissipation.

[0050] In some specific embodiments, the surface layer 101 comprises first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0 wt %, and the content of the nano-molybdenum disulfide is 0.5-0.9 wt %. The intermediate layer 102 comprises a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the content of the second silica gel is 90.0-100.0 wt %, the content of the first fumed silica is 20.0-30.0 wt %, the content of the carbon nanotubes is 0.1-2.0 wt %, and the content of the cellulose nanofibers is 2.0-3.0 wt %. The bottom layer 103 comprises third silica gel and second fumed silica, wherein the content of the third silica gel is 90.0-100.0 wt %, and the content of the second fumed silica is 8.0-9.0 wt %.

[0051] Specifically, the composition of the surface layer 101 is achieved by adding an appropriate amount of nano-molybdenum disulfide (MoS2) to the silicone matrix material. The two-dimensional layer structure of nano-MoS2 forms a multi-layer physical barrier in the silicone matrix, effectively improving the hydrophobicity of the coating by extending the water vapor penetration path. The reflection and scattering of ultraviolet rays by its layered structure can enhance the material's resistance to ultraviolet aging. During dynamic friction, the MoS2 flakes reduce the surface friction coefficient of the silicone through directional slip. At the same time, its nano-scale dispersion characteristics can evenly bear external loads, effectively disperse local stress concentration, inhibit the initiation and expansion of microcracks, and improve the wear resistance of the silicone layer. In addition, MoS2, as an efficient catalyst, can accelerate the kinetic process of the silicone cross-linking reaction, promote chemical bonding between molecular chains, and improve the strength of the surface coating.

[0052] The intermediate layer 102 is composed of silica gel with a content of 20.0-30.0 wt %, carbon nanotubes with a content of 0.1-2.0 wt %, and cellulose nanofibers with a content of 2.0-3.0 wt %.

[0053] Among them, the addition of fumed silica, on the one hand, because of its good ability to absorb ultraviolet rays, can prevent the silicone layer from aging and fading under long-term ultraviolet radiation, thereby improving its anti-ultraviolet ability and weather resistance; on the other hand, by adding a high content of fumed silica, the tensile strength, tear resistance and wear resistance of silicone rubber products can be improved, and the viscosity can be increased. It can also fill the cross-linked network of silicone, reduce volume shrinkage during curing, avoid interface debonding caused by shrinkage stress, and fill micropores to form a continuous heat conduction path, reducing interfacial thermal resistance. In addition, the high specific surface area and porous structure of fumed silica can also increase the thermal conduction path of silicone, improve thermal conductivity, and fill the internal voids and defects of silicone to avoid local electric field concentration and breakdown risks caused by air gaps, thereby improving the overall insulation performance. Carbon nanotubes have high electrical conductivity, high strength, and high thermal conductivity, and are linearly distributed. Together with one-dimensional granular fillers such as fumed silica particles, they easily form a high-strength cross-linked network with silicone rubber, enhancing mechanical strength, tear resistance, and overall electrical conductivity, thermal conductivity, and antistatic properties. However, excessive amounts can lead to high costs, and excessive strength and conductivity, along with increased hardness, can affect texture. Below a certain level, performance is limited. Cellulose nanofibers, as low-cost, one-dimensional linear nanomaterials, help reduce costs. Their surface hydroxyl groups enhance interfacial chemical bonding, and together with zero-dimensional granular fillers such as fumed silica particles, they easily form a high-strength cross-linked network with silicone rubber, improving mechanical strength. Furthermore, in combination with carbon nanotubes, they achieve a balance between rigidity and toughness, improving rigidity, toughness, tear resistance, and tensile strength. Cellulose nanofibers partially replace the fiber reinforcement of carbon nanofibers, effectively reducing the amount of carbon nanotubes used, enhancing tensile properties while maintaining thermal and electrical conductivity.

[0054] The base layer 103 is composed of a small amount of fumed silica added to the silicone rubber to reduce silicone shedding. Fumed silica's excellent UV absorption prevents aging and discoloration of the silicone layer bonded to the metal under prolonged UV exposure (natural or during UV repair), improving UV resistance and weather resistance. Furthermore, the addition of fumed silica improves the tensile strength, tear resistance, and abrasion resistance of silicone rubber products. Its high surface area and porous structure increase the thermal conductivity of the silicone rubber, effectively enhancing thermal conductivity. Silica fills voids and defects within the silicone rubber, preventing localized electric field concentration and the risk of breakdown caused by air gaps, thereby improving overall insulation performance. Silica enhances the silicone's physical adhesion, facilitating bonding to the metal framework. The thermal expansion coefficient of the main component, SiO2, is between that of metal and silicone, reducing interfacial thermal stress caused by temperature fluctuations and maintaining long-term thermal stability. Fumed silica also enhances insulation properties, further improving insulation.

[0055] In some specific embodiments, the first silica gel microbeads 40 are composed of methyl vinyl silicone rubber, fumed silica, hydroxy silicone oil, and a di-pentadienyl vulcanizing agent; wherein the content of methyl vinyl silicone rubber is 70.0-80.0 wt %, the content of fumed silica is 15.0-20.0 wt %, the content of hydroxy silicone oil is 5.0-10.0 wt %, and the content of the di-pentadienyl vulcanizing agent is 0.5-1.0 wt %. The second silica gel microbeads 50 are composed of liquid silicone rubber, spherical silica powder, conductive carbon black and platinum catalyst; wherein the content of liquid silicone rubber is 60.0-70.0wt%, the content of spherical silica powder is 20.0-25.0wt%, the content of conductive carbon black is 5.0-10.0wt%, and the content of platinum catalyst is 0.1-0.3%wt%.

[0056] Specifically, the first silica microbeads 40 and the second silica microbeads 50 are both multi-aperture, highly porous silica (SiO2) microbead materials with a chemical formula of mSiO2·nH2O. They are amorphous inorganic compounds with the characteristics of high specific surface area (350-500 m² / g), specific pore size (e.g., 10 nm), high hardness, high temperature resistance (up to 500°C), and chemical inertness (insoluble in water and common solvents, with excellent stability except for strong alkali and hydrofluoric acid). The first silica microbeads 40 are made of methyl vinyl silicone rubber (70.0-80.0 wt%), fumed silica (15.0-20.0 wt%), hydroxy silicone oil (5.0-10.0 wt%), and bis(penta-dihydrogen) vulcanizing agent (0.5-1. The second silicone microbeads 50 are made of liquid silicone rubber (60.0-70.0wt%), spherical silica powder (20.0-25.0wt%), conductive carbon black (5.0-10.0wt%) and platinum catalyst (0.1-0.3wt%), with a Shore hardness of 40A-50A (medium hardness) and high wear resistance (wear loss <0.02cm³ / 1.61km). The thermal conductivity can be further improved by adding thermal conductive materials, making it suitable for application requirements in magnetic attraction area buffering and high heat generation areas.

[0057] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A wearable robot skin, characterized in that: include: A silicone sleeve (10) is coated on the outer surface of the metal frame and is divided into a plurality of modular components (11) along the robot joints or functional partitions; the joints of adjacent modular components (11) are connected by a concave-convex bite structure (20); A magnetic fixing structure, comprising a ferrite sheet (31) pre-buried in the silicone sleeve (10) and a neodymium iron boron magnet embedded in the metal frame and matched with the ferrite sheet (31); First silica gel micro beads (40) are distributed at the contact interface between the silica gel sleeve (10) and the metal skeleton; and second silica gel micro beads (50) are distributed around the ferrite sheet (31).

2. The wearable robot skin according to claim 1, characterized in that: The concave-convex engaging structure (20) comprises a convex portion (21) and a concave portion (22) adapted thereto, and the mating surfaces of the convex portion (21) and the concave portion (22) are both progressively inclined surfaces.

3. The wearable robot skin according to claim 1, characterized in that: The compression ratio of the first silica gel microbeads (40) and the second silica gel microbeads (50) is greater than 80%.

4. The wearable robot skin according to claim 1, characterized in that: The silicone sleeve (10) comprises, from the outside to the inside: The surface layer (101) is made of medical-grade liquid silicone rubber and uses 3D microstructure printing technology to form a microstructure that simulates the human epidermal texture; The middle layer (102) is a tear-resistant silicone layer with a built-in distributed optical fiber strain sensor array; The bottom layer (103) is an insulating silicone layer, which integrates a flexible heating circuit and a piezoresistive tactile sensor.

5. The wearable robot skin according to claim 4, characterized in that: In the area corresponding to the movable joint, the silicone sleeve (10) adopts a corrugated corrugated structure (60), the wavelength of the corrugated corrugated structure (60) is 5-8 mm, the peak height is 2-3 mm, and a stretch margin of 200%-300% is reserved.

6. The wearable robot skin according to claim 5, characterized in that: The middle layer (102) of the pleated corrugated structure (60) includes two corrugated layers (61) with different wave crests; The corrugated layer (61) comprises a reinforcement structure, and the reinforcement structure is a metal mesh or a nylon fiber mesh.

7. The wearable robot skin according to claim 6, characterized in that: The surface layer (101) of the corrugated corrugated structure (60) is provided with a first through hole (62), and the first through hole (62) is an inclined hole with an inclination angle of 25° to 40°; A second through hole (63) is provided on the corrugated layer (61) on a side close to the surface layer (101).

8. The wearable robot skin according to claim 1, characterized in that: In the area corresponding to the inactive joint, a groove is provided on the metal skeleton, the depth of the groove being 1-2 mm, for accommodating the first silica gel microbeads (40).

9. The wearable robot skin according to claim 4, characterized in that: The surface layer (101) comprises first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0 wt%, and the content of the nano-molybdenum disulfide is 0.5-0.9 wt%. The components of the intermediate layer (102) include a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the content of the second silica gel is 90.0-100.0 wt%, the content of the first fumed silica is 20.0-30.0 wt%, the content of the carbon nanotubes is 0.1-2.0 wt%, and the content of the cellulose nanofibers is 2.0-3.0 wt%. The bottom layer (103) comprises a third silica gel and a second fumed silica, wherein the content of the third silica gel is 90.0-100.0 wt%, and the content of the second fumed silica is 8.0-9.0 wt%.

10. The wearable robot skin according to claim 1, characterized in that: The first silica gel microbeads (40) are composed of methyl vinyl silicone rubber, fumed silica, hydroxy silicone oil and dipentadienyl vulcanizing agent; wherein the content of the methyl vinyl silicone rubber is 70.0-80.0 wt%, the content of the fumed silica is 15.0-20.0 wt%, the content of the hydroxy silicone oil is 5.0-10.0 wt%, and the content of the dipentadienyl vulcanizing agent is 0.5-1.0 wt%; The components of the second silica gel microbeads (50) include liquid silicone rubber, spherical silica powder, conductive carbon black and platinum catalyst; wherein the content of the liquid silicone rubber is 60.0-70.0wt%, the content of the spherical silica powder is 20.0-25.0wt%, the content of the conductive carbon black is 5.0-10.0wt%, and the content of the platinum catalyst is 0.1-0.3%wt%.

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