Energy storage hyperelastic composite material booster and passive ankle joint walking and jumping assisting system

Abstract

The invention discloses an energy storage hyperelastic composite material booster and a passive ankle joint walking and jumping assisting system, and relates to the field of walking and jumping assisting. The energy storage hyperelastic composite material booster comprises a carbon fiber laminated plate, and the carbon fiber laminated plate comprises a plurality of layers of high-strength carbon fiber one-way prepreg and at least two layers of plain woven fabric; the high-strength carbon fiber unidirectional prepreg is a carbon nanotube modified high-strength carbon fiber unidirectional prepreg, and the plain woven fabric and the high-strength carbon fiber unidirectional prepreg are molded through an autoclave molding process. The energy storage advantage of a super-elastic laminated structure composite material is combined with a passive clutch device capable of realizing clutch locking and free movement of a specific point position, so that the problems that a walking and jumping assisting mechanism is low in power assisting efficiency, large in mass volume and difficult to put on and take off are solved, and the power assisting effect is improved.

Description

Technical Field

[0001] The present invention relates to an energy storage superelastic composite material booster based on superelastic composite material energy storage and a passive ankle joint walking and jumping assistance system, belonging to the technical field of walking and jumping assistance. The walking and jumping assistance system of the present invention can reduce energy consumption such as walking and jumping, and can be used in scenarios such as long-distance travel. Background Art

[0002] Research on human walking gait shows that when walking on flat ground, the ankle joint does the most positive work, accounting for 58.8% of the total positive work, the hip joint accounts for 22.1%, and the knee joint accounts for 19.1%. This shows that the human ankle joint plays a major active role in walking. For the lower limb ankle joint power-assist system, the main power-assist mechanism is to convert the gravitational potential energy during walking into an elastic form through an energy storage structure and store it. When the human body moves further, the stored elastic potential energy is released and converted into kinetic energy, which assists the human body in walking or jumping.

[0003] At present, the research on walking and jumping assistance mechanisms that reduce walking metabolic energy consumption and enhance human walking ability is divided into two categories, namely active and passive. Active walking and jumping assistance mechanisms often need to carry heavy power devices, which are not only difficult to put on and take off, but also not beautiful in appearance. The energy storage operation time of a single charge is very short, and the conditions of use are very limited. In order to solve the above problems of active power-assist systems, passive passive power-assist mechanism designs have begun to appear. The most common is the passive walking and jumping assistance mechanism with a spring structure, but its energy conversion efficiency is not high, and the structure is too complicated, the durability is poor, and it will also cause difficulty in wearing, have certain restrictions on the stride, and the comfort is not high. In summary, a lower limb walking and jumping assistance system that is applied to passive and passive types, has a lightweight and easy-to-wear structure, and can achieve high energy conversion efficiency is still blank. Summary of the invention

[0004] The technical problem solved by the present application is: to overcome the deficiencies of the prior art, to provide an energy storage super-elastic composite material booster and a passive ankle joint walking and jumping assistance system, to combine the energy storage advantages of the super-elastic laminated structure composite material with a passive clutch device that can achieve clutch locking and free movement at specific points, to solve the problems of low assisting efficiency, large mass and volume, and difficulty in putting on and taking off of the walking and jumping assistance mechanism, and to improve the assisting effect.

[0005] The invention can provide auxiliary torque at the ankle joint to reduce walking metabolic energy consumption and enhance human walking ability. The device has a significant effect on reducing walking metabolism, alleviating the burden on the wearer, and enhancing human sports performance.

[0006] The technical solutions provided by this application are as follows:

[0007] A super-elastic composite material booster for energy storage comprises a carbon fiber laminate, which comprises multiple layers of high-strength carbon fiber unidirectional prepreg and at least two layers of plain woven fabric prepreg. The high-strength carbon fiber unidirectional prepreg is a high-strength carbon fiber unidirectional prepreg modified by carbon nanotubes. The plain woven fabric prepreg is compounded to both sides of the multiple layers of high-strength carbon fiber unidirectional prepreg by a hot-press molding process.

[0008] The high-strength carbon fiber unidirectional prepreg is modified by carbon nanotubes, including spraying carbon nanotube powder on the surface of the high-strength carbon fiber unidirectional prepreg.

[0009] The method of spraying carbon nanotube powder on the surface of the high-strength carbon fiber unidirectional prepreg comprises dispersing the carbon nanotube powder in ethanol, mixing evenly to obtain a carbon nanotube solution, distributing the carbon nanotube solution to one side edge of the high-strength carbon fiber unidirectional prepreg, evenly distributing the solution on the surface of the high-strength carbon fiber unidirectional prepreg, evaporating the ethanol, and obtaining a carbon nanotube coating.

[0010] The ethanol concentration is 0.5-1.5 g / 30 ml.

[0011] The carbon nanotube powder is treated with oxygen plasma.

[0012] The spraying amount of the carbon nanotube solution on the surface of each layer of the high-strength carbon fiber unidirectional prepreg is (0.05g-0.25g) / 140cm2.

[0013] The method for preparing the carbon fiber laminate comprises:

[0014] Layering multiple layers of high-strength carbon fiber unidirectional prepreg modified by carbon nanotubes in sequence, and finally layering the plain woven fabric prepreg on both sides of the multiple layers of high-strength carbon fiber unidirectional prepreg modified by carbon nanotubes to obtain a layered component;

[0015] The laminated parts are cured to obtain a superelastic composite material; the curing conditions are 120° C.-125° C. and the curing time is 90-100 minutes.

[0016] There is an arc bend between the two ends of the carbon fiber laminate. The width, thickness and ply angle of the carbon fiber laminate are obtained by simulation method:

[0017] S1: Establish a booster model with a width of 20mm-40mm according to the shape of the carbon fiber laminate;

[0018] S2: Testing - Mechanical properties of single-layer high-strength carbon fiber unidirectional prepreg and single-layer plain woven fabric prepreg, input into the single-layer plate constitutive model;

[0019] S3: Under the booster models with different widths, the ply number and ply angle parameters of high-strength carbon fiber unidirectional prepreg and plain woven fabric prepreg are set according to experience;

[0020] S4: Apply loads and boundary conditions to the carbon fiber laminate according to the actual wearable motion conditions;

[0021] S5: The maximum bending angle of the carbon fiber laminate, the reaction force and torque provided under actual wearable sports conditions are obtained through simulation software according to the preset width, number of plies, ply angle, and mechanical properties of a single-layer high-strength carbon fiber unidirectional prepreg and a single-layer plain woven fabric prepreg in steps S1-S4;

[0022] S6: Repeat the above steps S1-S5 to obtain multiple groups of maximum bending angles of carbon fiber laminates with different widths, different numbers of plies and different ply angles, and the reaction forces and moments provided under actual wearable sports conditions; and select the width, number of plies and ply angle combination parameters that meet the requirements for the maximum bending angle, reaction force and moment as the parameters of the carbon fiber laminate.

[0023] A passive ankle joint walking and jumping assistance system comprises a passive clutch structure, a shoe cover, a binding protective gear and any one of the above-mentioned energy storage super-elastic composite material boosters, one end of the super-elastic composite material booster is connected to the upper position of the shoe cover, and the other end is connected to the binding protective gear through the passive clutch structure, the binding protective gear is used to be bound to the calf and thigh, and the arc between the two ends of the super-elastic composite material booster is convex toward the side facing the calf.

[0024] In summary, this application at least includes the following beneficial technical effects:

[0025] (1) The ankle joint walking and jumping assistance system of the present invention is a passive system, which adopts the principle of energy conversion of superelastic composite material energy storage, does not require electromechanical, hydraulic, or pneumatic drive, and does not contain electronic control system components such as controllers, sensors, and drivers. It can work for a long time with high reliability and unlimited endurance;

[0026] (2) The passive clutch stroke of the ankle joint walking and jumping assistance system of the present invention fits the human gait cycle curve, and can achieve clutch locking and free movement at specific points during the ankle joint movement process according to the changes in the human gait cycle, thereby improving the assistance effect;

[0027] (3) The protective gear binding structure and shoe covers of the ankle joint walking and jumping aid system of the present invention are specifically designed according to the ankle joint system, are easy to put on and take off, have a light structure, and are comfortable to wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a passive ankle joint walking and jumping assistance system in an embodiment of the present application;

[0029] Figure 2 It is a structural diagram of the passive clutch structure in the embodiment of the present application;

[0030] Figure 3 A top cross-sectional view of a passive clutch structure in an embodiment of the present application;

[0031] Figure 4 This is a passive clutch shaft system connection diagram in an embodiment of the present application;

[0032] Figure 5 Schematic diagram of different states of the passive clutch structure in the embodiment of the present application;

[0033] Figure 6 The appearance design and simulation of the superelastic composite booster in the embodiment of the present application;

[0034] FIG. 7 is a structural diagram of a superelastic composite booster in an embodiment of the present application, wherein: Figure 7a and Figure 7b The following are the schematic diagrams of its two structures: Figure 7c The specific structure and size diagram of the booster;

[0035] Figure 8 This is a process diagram of a superelastic composite booster in an embodiment of the present application;

[0036] Fig. 9 This is a schematic diagram of a superelastic composite booster in an embodiment of the present application;

[0037] Fig.10 A three-dimensional diagram of a shoe cover in an embodiment of the present application;

[0038] Fig.11 This is an assembly diagram of the binding protective gear and the passive clutch in the embodiment of the present application;

[0039] Fig.12 This is a diagram of ankle joint state changes corresponding to the human gait cycle in the embodiment of the present application.

[0040] Description of the accompanying drawings: 001, passive clutch structure; 002, super elastic composite material booster; 003, shoe cover; 004, binding protective gear;

[0041] 110, ratchet disc clutch; 120, rack transmission slider; 130, knee mounting plate;

[0042] 111, wheel shaft; 112, thrust bearing; 113, ratchet; 114, flange bearing; 115, ratchet baffle; 116, clutch gear; 117, shaft end pressure piece; 118, ratchet teeth; 119, energy storage slow release mechanism;

[0043] 121. Slider pressure plate; 122. Linear slider; 123. Linear guide rail; 124. Rack mounting plate; 125. Rack;

[0044] 21. Carbon fiber laminate; 22. Second carbon fiber laminate; 23. Epoxy laminate; 24. Electrode;

[0045] 202. High-strength carbon fiber unidirectional prepreg; 201. Plain woven fabric prepreg;

[0046] 301, toe connecting splint; 302, hard toe cap; 303, non-slip sole; 304, flexible shoe cover;

[0047] 401. Thigh and calf binding straps; 402. Hard connecting guard plate; 403. Hard cover plate; 404. Flexible lining. DETAILED DESCRIPTION

[0048] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise noted.

[0049] The present application embodiment discloses a passive ankle joint walking and jumping assistance system, such as Figure 1 and Figure 2 As shown, including:

[0050] Passive clutch structure 001, superelastic composite booster 002, shoe cover 003, binding protector 004. Superelastic composite booster 002 is placed vertically on the front side of the calf, one end of the superelastic composite booster 002 is connected to the upper part of the shoe cover 003, and the other end is connected to the binding protector 004 through the passive clutch structure 001. The binding protector 004 is used to be bound to the calf and thigh.

[0051] Reference Figure 2 and Figure 4 The passive clutch structure 001 includes a ratchet disc clutch 110, a rack transmission slider 120, and a knee mounting plate 130. The mounting plate 130 is a carrier of the entire clutch structure, and is made of aluminum alloy material, and has a light structure.

[0052] like Figure 3 As shown, the ratchet disc clutch 110 is symmetrically arranged on both sides of the knee mounting plate 130. The ratchet disc clutch 110 mainly includes a wheel shaft 111, a thrust bearing 112, a ratchet 113, a flange bearing 114, a ratchet baffle 115, a clutch gear 116, a shaft end pressure plate 117, a ratchet tooth 118, an energy storage slow release mechanism 119, etc.

[0053] The rack transmission slider 120 is installed in the middle of the knee mounting plate 130, and mainly includes a slider pressure plate 121, a linear slider 122, a linear guide rail 123, a rack mounting plate 124, a rack 125, etc.

[0054] Reference Figure 4 The passive clutch shaft system connection method is as follows: the ratchet disc clutch 110 is connected to the knee mounting plate 130 through the wheel shaft 111, the wheel shaft 111 is fixedly connected to the knee mounting plate 130 through the flange edge, there is a thrust bearing 112 between the ratchet 113 and the knee mounting plate 130, the ratchet baffle 115 is axially fixed between the clutch gear 116 and the ratchet 113 through the flange bearing 114, the clutch gear 116 and the ratchet 113 are fixedly connected through the shaft sleeve, and all parts are axially fixed on the wheel shaft 111 by pressing the shaft end pressure plate 117, and there is also a thrust bearing 112 between the clutch gear 116 and the shaft end pressure plate 117. This connection method ensures the synchronous rotation of the clutch gear 116 and the ratchet 113, and at the same time ensures the independent rotation between the ratchet 113 and the ratchet baffle 115.

[0055] The circumferential surface of the ratchet 113 is provided with a slot, one end of the ratchet tooth 118 contacts the circumferential surface of the ratchet 113, the other end of the ratchet tooth 118 is connected to the energy storage slow release mechanism 119, the middle part of the ratchet tooth 118 is rotatably connected to the knee mounting plate 130 through a rotating shaft, and the other end of the energy storage slow release mechanism 119 is connected to the knee mounting plate 130. When the ratchet tooth 118 is facing the slot, the ratchet tooth 118 is stuck in the slot, and the ratchet 113 can only rotate in one direction at this time; the ratchet baffle 115 is provided with a rib, which is located outside the circumferential surface of the ratchet 113, the ratchet baffle 115 is provided with an arc hole, the ratchet 113 is provided with a protrusion, and the protrusion is located in the arc hole. When the protrusion is located at one end of the arc hole, the slot is blocked by the rib, and when the protrusion is located at the other end of the arc hole, the slot is exposed.

[0056] The surface of the knee mounting plate 130 is provided with a first arc groove and a second arc groove, the first arc groove and the second arc groove are coaxial with the wheel shaft 111, and the radius of the second arc groove is larger than the first arc groove, the rotating shaft in the middle of the ratchet tooth 118 is interactively connected to the first arc groove, and one end of the energy storage release mechanism 119 is slidably connected to the second arc groove.

[0057] The rack mounting plate 124 is located on the surface of the knee mounting plate 130, the linear slide rail 123 is fixedly connected to the side of the knee mounting plate 130 away from the rack mounting plate 124, the knee mounting plate 130 is provided with a vertical sliding hole, the rack mounting plate 124 is fixedly connected to the slider pressure plate 121 through a connecting portion, the connecting portion passes through the sliding hole, the slider pressure plate 121 is located on the side of the knee mounting plate 130 away from the rack mounting plate 124, the linear slider 122 is fixedly connected to the side of the slider pressure plate 121 facing the linear slide rail 123, and the linear slider 122 cooperates with the linear slide rail 123. Two racks 125 are provided, and the two racks 125 are respectively fixed on both sides of the rack mounting plate 124; the rack transmission slider 120 is installed in the middle of the knee mounting plate 130, and two passive clutch structures 001 are provided, and the two passive clutch structures 001 are respectively located on both sides of the rack transmission slider 120, and the clutch gear 116 of the passive clutch structure 001 is respectively engaged with a rack 125 of the rack transmission slider 120.

[0058] like Figure 2 As shown, the rack mounting plate 124 is connected with a clamping plate, and the superelastic composite booster 002 is clamped between the clamping plate and the rack mounting plate 124. The passive clutch structure 001 of the present invention is connected to the superelastic composite booster 002 through a clamping clamping plate. Compared with the direct connection using fasteners such as bolts, the larger contact area of ​​this connection structure can reduce the pressure of the fasteners, prevent the local collapse of the superelastic composite booster, and increase the service life of the booster.

[0059] The ratchet 113 is fixedly connected to the clutch gear 116 and is synchronously driven. The up and down displacement of the superelastic composite booster 002 in a gait cycle will be converted into the back and forth rotation of the clutch gear 116. The clutch is locked and unlocked through the cooperation of the clutch gear 116, the ratchet 113, and the ratchet teeth 118. The relative position of the slot on the ratchet 113 and the ratchet baffle 115 is adjusted to adapt to the gait cycles of different people; the main function of the rack transmission slider 120 is to convert the up and down movement of the superelastic composite booster 002 driven during the ankle joint movement into the rotation acting on the clutch, and then the conversion of the exoskeleton energy storage-boosting period and the free movement period is realized through the locking and unlocking of the clutch structure. The clutch gear 116 and the rack 125 use carbon steel or carbon fiber as the basic material, and the combination of the two has a higher strength, while the latter has a lighter weight, which can reduce the burden on the wearer.

[0060] like Figure 5 As shown, from left to right are the unlocking mode (rotation point A), the locked state (rotation point B), and the energy storage slow release stage (rotation point C) of the passive clutch structure 001.

[0061] like Figure 5 and Fig.12As shown, the passive clutch structure can realize adaptive switching of three different modes according to the gait of human body movement. It is mainly reflected in that when the sole of the foot leaves the ground, the ratchet 113 and the ratchet baffle 115 are located at the rotation point A, and the unlocking mode is entered at this time: the ratchet teeth 118 are blocked by the ratchet baffle 115 and will not contact the ratchet, so that it will not be stuck, and the clutch is unlocked, so that the lower limb exoskeleton booster can slide freely, thereby realizing the unconstrained free movement of the ankle joint, and avoiding the worn lower limb exoskeleton booster to limit the ankle joint's inward / outward eversion and inward / outward rotation degrees of freedom. When the gait enters the support cycle, the ratchet 113 and the ratchet baffle 115 are located at the rotation point B, and the energy storage mode is entered: at this time, the ratchet is exposed from the ratchet baffle 115, and is stuck with the ratchet teeth 118 as a whole and no longer rotates, the clutch is locked, and the matching lower limb exoskeleton enters the energy storage-assisting state, which can store and release the gravitational potential energy during the movement. When the gait enters the force-generating cycle, the clutch is unlocked, and the gear sleeve rotates to the rotation point C with the load. The hyperelastic composite booster releases its elastic potential energy and converts its stored elastic potential energy into the kinetic energy of human movement, thereby achieving the effect of motion assistance.

[0062] The clutch unlocking mode is taken as the initial state, at which time the clutch can rotate freely, realizing the unconstrained free movement of the lower limb exoskeleton booster; as the gait proceeds, when the sole of the foot touches the ground, the rack drives the clutch gear 116 and the ratchet baffle 115 to move, and the ratchet teeth 118 turn to the locking point, and the clutch is in a locked state. At this time, the ankle joint angle becomes smaller, and the lower limb exoskeleton is in a bending energy storage stage; as the gait proceeds, when the toes push off the ground, it enters the energy storage and slow release stage, releasing the stored elastic potential energy and converting it into kinetic energy to provide assistance for human movement, and at this time the clutch is transformed into the unlocking mode again.

[0063] While providing energy storage effect, the superelastic booster can achieve elastic deformation at a certain angle through its own structural characteristics to meet the wearer's ankle eversion / version freedom.

[0064] Reference Figure 6 and Figure 7c The hyperelastic composite booster of the present invention better adapts to the boosting torque requirements of the ankle joint, and the dimensional parameters of the hyperelastic composite booster structure are modeled, analyzed, simulated and predicted, and optimized. Specifically, a force analysis model of the hyperelastic composite booster structure is established, and the preliminary parameters of the booster structure are determined. On this basis, finite element modeling and simulation are performed to determine the stress concentration of the sample under the sample working condition, and the parameters of the stress concentration structure are adjusted to finally determine the dimensional parameters of the hyperelastic composite booster 002.

[0065] The size parameters of the superelastic composite booster 002 are obtained by the following simulation method:

[0066] S1: Establish a booster model with a width of 20 mm to 40 mm according to the shape of the carbon fiber laminate 21;

[0067] S2: Testing - Mechanical properties of single-layer high-strength carbon fiber unidirectional prepreg 202 and single-layer plain woven fabric prepreg 201, input into the single-layer plate constitutive model;

[0068] S3: Under booster models with different widths, the ply number and ply angle parameters of the high-strength carbon fiber unidirectional prepreg 202 and the plain woven fabric prepreg 201 are set according to experience;

[0069] S4: applying loads and boundary conditions to the carbon fiber laminate 21 according to actual wearing motion conditions;

[0070] S5: The maximum bending angle of the carbon fiber laminate 21, the reaction force and torque provided under actual wearing motion conditions are obtained through simulation software according to the preset width, number of plies, ply angle, and mechanical properties of the single-layer high-strength carbon fiber unidirectional prepreg 202 and the single-layer plain woven fabric prepreg 201 in steps S1-S4;

[0071] S6: Repeat the above steps S1-S5 to obtain multiple groups of maximum bending angles of the carbon fiber laminate 21 with different widths, different numbers of plies and different ply angles, and the reaction force and torque provided under actual wearable sports conditions; specifically, different numbers of plies lead to different ply thicknesses, the ply thickness range is 1mm-3mm, increasing by 0.5mm each time, the width range is 20mm-40mm, increasing by 10mm each time, and the ply angles are [0°]n, [0°, 90°]sn, [0°, 45°, -45°, 90°]sn;

[0072] S7: According to the result of step S6, the width, number of plies, and ply angle combination parameters that meet the requirements of maximum bending angle, reaction force, and moment are selected as parameters of the carbon fiber laminate 21. The parameters of the carbon fiber laminate 21 produced subsequently are determined according to the simulation results.

[0073] Reference Figure 6 , Figure 7a and Figure 7b , the super elastic composite booster 002 has two structures.

[0074] like Figure 7aAs shown, a structure of a super elastic composite booster 002 is: including a carbon fiber laminate 21, the carbon fiber laminate is a multi-layer laminate structure, the carbon fiber laminate 21 includes multiple layers of high-strength carbon fiber unidirectional prepreg 202 and at least two layers of plain woven fabric prepreg 201, the high-strength carbon fiber unidirectional prepreg 202 is a high-strength carbon fiber unidirectional prepreg 202 modified by carbon nanotubes, and the plain woven fabric prepreg 201 and the high-strength carbon fiber unidirectional prepreg 202 are formed by a hot autoclave process.

[0075] Multiple layers of high-strength carbon fiber unidirectional prepreg 202 are laid to form an intermediate layer, providing the main support and boosting effect. During the laying process, carbon nanotubes are used to modify the surface of the high-strength carbon fiber unidirectional prepreg 202, so that the super elastic composite booster 002 can achieve the effect of strengthening and toughening.

[0076] The preparation method of the superelastic composite material booster 002 comprises:

[0077] S1: The carbon nanotube powder uses Bayer Material Science C150P carbon nanotube powder, and the high-strength carbon fiber unidirectional prepreg 202 uses Toray t800 carbon fiber prepreg. The thickness of the high-strength carbon fiber unidirectional prepreg 202 is 0.1mm, the thickness of the plain weave prepreg 201 is 0.2mm, and the area of ​​the high-strength carbon fiber unidirectional prepreg 202 and the plain weave prepreg 201 is 140cm 2 . Carbon nanotube powder is treated with oxygen plasma;

[0078] S2: First lay a plain woven fabric prepreg 201, and then lay a layer of high-strength carbon fiber unidirectional prepreg 202 on the surface of the plain woven fabric prepreg 201; the plain woven fabric prepreg 201 is a commercially available finished product with the specification of 3k200g plain fabric. This prevents the delamination and interlayer cracking of the unidirectional carbon fiber during the bending process, thereby improving the boosting effect and durability of the booster;

[0079] S3: The high-strength carbon fiber unidirectional prepreg 202 is then modified using carbon nanotubes, specifically comprising: dispersing carbon nanotube powder in ethanol with a concentration of 1.0 g / 30 ml, vortex mixing the solutions evenly using an IKA ms3 Basic (vortex mixer) to obtain a carbon nanotube solution, and then distributing the carbon nanotube solution on the surface of the high-strength carbon fiber unidirectional prepreg 202 using a stretch coating method. The drawing coating method comprises: using a pipette to distribute the obtained carbon nanotube solution to the top edge of the high-strength carbon fiber unidirectional prepreg 202, and a glass rod is placed on the surface of the high-strength carbon fiber unidirectional prepreg 202, and without directly rolling the glass rod, the carbon nanotube solution is distributed on the surface of the high-strength carbon fiber unidirectional prepreg 202 by using a wire-drawn glass rod (wire gauge 0.5 mm), and then ethanol is evaporated to obtain a high-strength carbon fiber unidirectional prepreg 202 with a carbon nanotube coating; the spraying amount of the carbon nanotube mixed solution on the surface of each layer of the high-strength carbon fiber unidirectional prepreg 202 is 3 ml;

[0080] S4: Then, a layer of high-strength carbon fiber unidirectional prepreg 202 is laid on the surface of the high-strength carbon fiber unidirectional prepreg 202 with the carbon nanotube coating, and step S3 is repeated until all the high-strength carbon fiber unidirectional prepregs 202 are laid, and the adjacent high-strength carbon fiber unidirectional prepregs 202 are all provided with the carbon nanotube coating, so as to obtain an intermediate layer;

[0081] S5: Laying the plain woven fabric prepreg 201 on the surface of the last layer of high-strength carbon fiber unidirectional prepreg 202 of the middle layer to obtain a laminate.

[0082] S6: The laminate is formed into a carbon fiber laminate by a hot-pressing molding process. Figure 8 The curing conditions of the autoclave molding process are: heating rate of 3℃ / min; curing for 2 hours when the mold reaches 120℃; cooling rate after curing is controlled at 3℃ / min, and when the temperature drops below 50℃, take out the cured sample; cut out the required size according to the design drawing, and drill holes at the corresponding positions.

[0083] like Figure 7b As shown, another structure of the superelastic composite booster 002 is a human-machine interaction force measurement device based on a multi-layer laminated composite material: specifically, it includes two layers of second carbon fiber laminates 22, and an epoxy layer 23 located between the two layers of second carbon fiber laminates 22. Two electrodes 24 are connected to one side of each second carbon fiber laminate 22 away from the epoxy layer 23, and the electrodes 24 connected to the two second carbon fiber laminates 22 correspond to each other one by one, and the two second carbon fiber laminates and the epoxy layer form a parallel plate capacitor.

[0084] The preparation method of the superelastic composite material booster 002 comprises:

[0085] Step 1: Lay multiple layers of high-strength carbon fiber unidirectional prepreg 202 according to the above-mentioned S2, S3 and S4 methods, and use carbon nanotubes to modify the high-strength carbon fiber unidirectional prepreg 202 in this process to improve the conductivity of the high-strength carbon fiber unidirectional prepreg 202; obtain stacked prepreg; specifically, lay the prepreg on the upper surface of the mold in the order of a layer of 3k carbon fiber plain woven fabric prepreg 201 and 5 layers of high-strength carbon fiber unidirectional prepreg 202;

[0086] Step 2: Repeat step 1 to obtain two stacked prepregs, and cure the stacked prepregs to obtain a second carbon fiber laminate; the stacked prepregs are formed by an autoclave process. The curing parameters are 120°C for 90 minutes and a heating rate of 3°C / min. After curing, the material is cooled to room temperature at a cooling rate of 1.5°C / min and then demolded to obtain a second carbon fiber laminate;

[0087] Step 3: applying epoxy resin to a second carbon fiber laminate to form an epoxy resin layer, and then placing another second carbon fiber laminate on top of the epoxy resin layer to sandwich the epoxy resin layer between the two second carbon fiber laminates; curing is performed, and the curing conditions are the same as those in step 2; after curing, the epoxy resin layer is hardened into an epoxy laminate to obtain a sample;

[0088] The edges of the specimens were trimmed to avoid uneven thickness, and then two copper tapes with conductive adhesive were attached to the top and bottom of the laminate surface as external electrodes of the superelastic composite booster 002;

[0089] After manufacturing is completed, the test piece is loaded with a cyclic load using a universal testing machine to measure the real-time capacitance and resistance of the composite material, while also measuring the force at the joint of the universal testing machine and the strain on the surface of the material using DIC. Finally, the data is summarized as input and output data for training the artificial neural network model.

[0090] like Fig. 9 As shown, as the bending angle of the superelastic composite booster 002 changes during operation, micro-deformation will occur in the thickness direction of the epoxy layer, which will then cause the capacitance of the second carbon fiber laminate as a parallel plate capacitor to change, thereby sensing the state parameters of the wearer during movement; finally, the data is summarized as input and output data for training the artificial neural network model.

[0091] The specific workflow is as follows: When the sample of the structure-sensing integrated human-machine interaction measurement device is not in operation, the capacitance C on both sides of the sample, the resistance R on the inside and outside, the strain ε and other parameters are measured through electrodes and strain gauges and an external power supply. When the sample is in operation, bending deformation occurs, the outer carbon fiber laminate is stretched, the inner carbon fiber laminate is compressed, the thickness of the entire carbon fiber laminate changes, the epoxy laminate is bent, the capacitance of the parallel plate capacitor changes, the resistance of the inside and outside of the carbon fiber laminate changes, and tensile strain and compressive strain are generated at the same time. Measure the capacitance C, the resistance R on the inside and outside, the strain ε and other parameters on both sides of the sample when bending, calculate the bending angle of the sample based on the measurement parameters and the bending angle calculation formula, and then calculate the human-machine interaction force in combination with the bending modulus of the composite material to complete the real-time measurement of the human-machine interaction force.

[0092] Reference Fig.10 , the shoe cover 003 consists of four parts: a toe connecting splint 301, a hard toe cap 302, a non-slip sole 303 and a flexible shoe cover 304. The toe connecting splint 301 is fixedly connected to the super elastic composite material booster 002 by bolts, and is hinged to the hard toe cap 302 by pins, providing freedom for dorsiflexion / plantar flexion of the ankle joint. At the same time, thanks to the characteristics of the super elastic composite material, it also provides freedom for inversion and eversion of the sole of the foot; the hard toe cap 302 is embedded with hard materials such as steel sheets, and the front protrusion design is used for easy connection; the hard toe cap, non-slip sole and flexible shoe cover are integrated into one, and the sole and shoe cover are soft and elastic, which will not cause discomfort to the wearer and is also convenient to put on and take off, further improving the wearing comfort. The non-slip sole 303 can provide sufficient friction while also protecting the wearer's shoes; the flexible shoe cover 304 is designed to facilitate the wearer's putting on and taking off, and will not cause discomfort to the wearer, thereby improving the wearing experience. The bottom end of the super-elastic composite booster 002 is inserted into the toe connecting splint, which is fixed by four bolts and has flexible rubber strips on both sides. While tightening and fixing, it can also reduce the stress concentration caused by the shaking of the connection during exercise and improve the service life.

[0093] Reference Fig.11 The binding protective gear 004 includes thigh and calf binding straps 401, a hard connection guard plate 402, a hard cover plate 403, a flexible lining 404, etc. Among them, the hard connection guard plate 402 is provided with a number of holes, and the passive clutch structure 001 is symmetrically installed on both sides, which is fixed by screws, and the fixed holes can be adjusted according to different wearers to meet the needs of wearers of different body shapes; the hard cover plate 403 is connected to the flexible lining 404 by screws, and at the same time, the passive clutch structure 001 is covered therein.

[0094] The binding protective gear is divided into two parts: the calf and the thigh. The thigh and knee joints are designed with a combination of flexible lining and knee pads, and are bound and fixed to the thigh with easy-to-disassemble fixing devices such as Velcro; the outside of the flexible lining of the calf has a hard connecting guard plate, which is fixed to the knee mounting plate of the passive clutch structure by bolts. At the same time, there is a hard cover plate on the outer layer to wrap the entire passive clutch, which hides the parts for aesthetics while protecting the wearer and preventing parts from falling off and causing harm to the human body.

[0095] Example 1

[0096] An energy storage superelastic composite material booster includes a carbon fiber laminate 21. The preparation steps of the carbon fiber laminate 21 include:

[0097] S1: The thickness of the high-strength carbon fiber unidirectional prepreg 202 is 0.1 mm, and the thickness of the plain woven fabric prepreg 201 is 0.2 mm; the carbon nanotube powder is treated with oxygen plasma;

[0098] S2: first lay a plain woven fabric prepreg 201, and then lay a layer of high-strength carbon fiber unidirectional prepreg 202 on the surface of the plain woven fabric prepreg 201;

[0099] S3: Then, the high-strength carbon fiber unidirectional prepreg 202 is modified by using carbon nanotubes, specifically comprising: dispersing carbon nanotube powder in ethanol with a concentration of 1.0 g / 30 ml, mixing evenly to obtain a carbon nanotube solution, distributing the carbon nanotube solution on the surface of the high-strength carbon fiber unidirectional prepreg 202, and applying 3 ml of the carbon nanotube solution on the surface of each layer of the high-strength carbon fiber unidirectional prepreg 202;

[0100] S3: Then lay a layer of high-strength carbon fiber unidirectional prepreg 202 on the surface of the high-strength carbon fiber unidirectional prepreg 202 with carbon nanotube coating, repeat step S3 until all high-strength carbon fiber unidirectional prepreg 202 are layered, and adjacent high-strength carbon fiber unidirectional prepreg 202 have carbon nanotube coatings, to obtain an intermediate layer.

[0101] S4: Laying the plain woven fabric prepreg 201 on the surface of the last layer of high-strength carbon fiber unidirectional prepreg 202 in the middle layer to obtain a laminate.

[0102] S5: The laminated parts are manufactured into a carbon fiber laminate through a hot press molding process, and the curing conditions are 120° C.-125° C. and the curing time is 90-100 minutes.

[0103] Example 2

[0104] The difference from Example 1 is that the carbon nanotube spraying concentration on the surface of each layer of high-strength carbon fiber unidirectional prepreg 202 is 0.5 g / 30 ml.

[0105] Example 3

[0106] The difference from Example 1 is that the carbon nanotube spraying concentration on the surface of each layer of high-strength carbon fiber unidirectional prepreg 202 is 1.5 g / 30 ml.

[0107] The carbon fiber laminate 21 obtained in the above-mentioned embodiments 1-3 was subjected to a three-point bending performance test, and the test results are shown in Table 1.

[0108] Table 1 Performance test table

[0109] Example 1 Example 2 Example 3 Bending Strength 1456MPa 1852MPa 1623MPa

[0110] From Examples 1-3 and Table 1, it can be seen that if too much carbon nanotube powder is sprayed, the bending performance will decrease, and if too little carbon nanotube powder is sprayed, the bending performance will also decrease. When the carbon nanotube powder on the surface of the high-strength carbon fiber unidirectional prepreg 202 is within the spraying amount range specified in this application, the carbon fiber laminate 21 has better bending performance.

[0111] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

[0112] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

Claims

1. An energy storage superelastic composite material booster, characterized in that: The carbon fiber laminate (21) comprises a plurality of layers of high-strength carbon fiber unidirectional prepreg (202) and at least two layers of plain woven fabric prepreg (201), wherein the high-strength carbon fiber unidirectional prepreg (202) is a high-strength carbon fiber unidirectional prepreg (202) modified by carbon nanotubes, and the plain woven fabric prepreg (201) is compounded to both sides of the plurality of layers of high-strength carbon fiber unidirectional prepreg (202) through a hot-press molding process.

2. The energy storage superelastic composite material booster according to claim 1, characterized in that: The high-strength carbon fiber unidirectional prepreg (202) is modified with carbon nanotubes, including spraying carbon nanotube powder on the surface of the high-strength carbon fiber unidirectional prepreg (202).

3. The energy storage superelastic composite material booster according to claim 2, characterized in that: The process of spraying carbon nanotube powder on the surface of the high-strength carbon fiber unidirectional prepreg (202) comprises dispersing the carbon nanotube powder in ethanol, mixing uniformly to obtain a carbon nanotube solution, distributing the carbon nanotube solution to a side edge of the high-strength carbon fiber unidirectional prepreg (202), uniformly distributing the solution on the surface of the high-strength carbon fiber unidirectional prepreg (202), evaporating the ethanol, and obtaining a carbon nanotube coating.

4. The energy storage superelastic composite material booster according to claim 3, characterized in that: The ethanol concentration is 0.5-1.5 g / 30 ml.

5. The energy storage superelastic composite material booster according to claim 3, characterized in that: The carbon nanotube powder is treated with oxygen plasma.

6. The energy storage superelastic composite material booster according to claim 3, characterized in that: The spraying amount of the carbon nanotube solution on the surface of each layer of the high-strength carbon fiber unidirectional prepreg (202) is (0.05g-0.25g) / 140cm 2 .

7. The energy storage superelastic composite material booster according to claim 1, characterized in that: The method for preparing the carbon fiber laminate (21) comprises: First, a plain woven fabric prepreg (201) is laid, and then multiple layers of high-strength carbon fiber unidirectional prepreg (202) are laid in sequence on the surface of the plain woven fabric prepreg (201), and each layer of high-strength carbon fiber unidirectional prepreg (202) is modified with carbon nanotubes. Finally, the plain woven fabric prepreg (201) is laid on the other side of the multiple layers of high-strength carbon fiber unidirectional prepreg (202) modified with carbon nanotubes to obtain a laminated component; The laminated parts are cured to obtain a superelastic composite material; the curing conditions are 120° C.-125° C. and the curing time is 90-100 minutes.

8. The energy storage superelastic composite material booster according to claim 1, characterized in that: There is an arc bend between the two ends of the carbon fiber laminate (21), and the width, thickness and ply angle of the carbon fiber laminate (21) are obtained by a simulation method: S1: establishing a booster model with a width of 20 mm to 40 mm according to the shape of the carbon fiber laminate (21); S2: Testing - Mechanical properties of a single layer of high strength carbon fiber unidirectional prepreg (202) and a single layer of plain woven fabric prepreg (201), input into a single layer plate constitutive model; S3: Under booster models with different widths, the ply number and ply angle parameters of the high-strength carbon fiber unidirectional prepreg (202) and the plain woven fabric prepreg (201) are set based on experience; S4: applying loads and boundary conditions to the carbon fiber laminate (21) according to actual wearable sports conditions; S5: by using the preset width, number of plies, ply angle, and mechanical properties of the single-layer high-strength carbon fiber unidirectional prepreg (202) and the single-layer plain woven fabric prepreg (201) in steps S1-S4, the maximum bending angle of the carbon fiber laminate (21), the reaction force and torque provided under actual wearing motion conditions are obtained through simulation software; S6: Repeat the above steps S1-S5 to obtain multiple groups of maximum bending angles of carbon fiber laminates (21) with different widths, different numbers of plies and different ply angles, and the reaction forces and moments provided under actual wearable sports conditions; and select the width, number of plies and ply angle combination parameters that meet the requirements for the maximum bending angle, reaction force and moment as the parameters of the carbon fiber laminate (21).

9. A passive ankle joint walking and jumping assistance system, characterized in that: The invention comprises a passive clutch structure (001), a shoe cover (003), a binding protective gear (004) and an energy storage super elastic composite material booster (002) as described in any one of claims 1 to 8, wherein one end of the super elastic composite material booster (002) is connected to the upper portion of the shoe cover (003), and the other end is connected to the binding protective gear (004) through the passive clutch structure (001), and the binding protective gear (004) is used for binding to the calf and thigh, and the arc between the two ends of the super elastic composite material booster (002) is convex toward the side facing the calf.

Images