Man-machine interaction force measuring device based on multilayer laminated composite material and preparation method of man-machine interaction force measuring device

Abstract

The invention discloses a man-machine interaction force measuring device based on a multi-layer laminated composite material and a preparation method, and relates to the field of intelligent sensing sample pieces, the man-machine interaction force measuring device comprises two layers of second carbon fiber laminated plates and an epoxy laminated plate located between the two layers of second carbon fiber laminated plates; one side, deviating from the epoxy layer plate, of each second carbon fiber laminated plate is connected with at least two electrodes, and the electrodes connected with the two second carbon fiber laminated plates are in one-to-one correspondence. The measuring device can be used as a part of a structure, and sensing structure integration is realized, so that the material has sensing capability, and meanwhile, the original mechanical property of the material cannot be reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of intelligent sensor samples, and in particular relates to a human-machine interaction force measurement device based on a multi-layer laminated composite material and a preparation method thereof. Background Art

[0002] Carbon fiber reinforced polymer matrix composites have good fatigue resistance and impact resistance, making them widely used in aviation, automobiles, ships and other fields. It can replace traditional metal structural materials, reduce structural weight, improve carrying capacity and fuel efficiency, and thus have significant economic and environmental benefits. Therefore, carbon fiber reinforced polymer matrix composites are considered to be a new material with broad prospects. In addition, carbon fiber reinforced polymer matrix composites have excellent properties such as corrosion resistance, high temperature resistance, high strength, light weight, and high conductivity, making them potential as new materials for intelligent sensing. The application of carbon fiber reinforced polymer composites in intelligent sensing mainly utilizes their excellent electromechanical sensing properties. Dispersing the conductive content in the resin matrix can make the composite material have a certain conductivity. When subjected to external force, the conductive material will deform, resulting in a change in resistance value, thereby realizing the sensing of the stress state of the structure. This sensing method can realize real-time monitoring of structural damage and fatigue conditions, early warning and prevention of accidents.

[0003] In the fields of aviation, aerospace, and automobiles, carbon fiber reinforced polymer composites are widely used to manufacture aircraft, missiles, car bodies, and other structures, and to establish corresponding structural health monitoring systems to achieve remote monitoring and control of structures. In addition, carbon fiber reinforced polymer composites can also be used in smart medical devices, artificial limbs, and other fields to monitor and control the movement of the human body. These application fields reflect the important position and broad application prospects of carbon fiber reinforced polymer composites in intelligent sensing. Summary of the invention

[0004] The technical problem solved by the present application is: to overcome the deficiencies of the prior art and provide a human-machine interaction force measurement device based on a multi-layer laminated composite material. The measurement device is also a part of the structural component, and the sensing structure is integrated, so that the material itself has sensing capabilities without reducing the original mechanical properties of the material.

[0005] The structural sensing sample is mainly composed of carbon fiber reinforced polymer matrix composite materials. It uses the material's own sensing properties to measure the bending angle of the laminate and the human-machine interaction force without additional sensors. The invention has been applied to deformation monitoring of composite sample parts, load analysis, and motion load analysis of hyperelastic composite exoskeletons.

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

[0007] A human-machine interaction force measurement device based on a multi-layer laminated composite material includes two layers of second carbon fiber laminates and an epoxy layer located between the two layers of second carbon fiber laminates; each second carbon fiber laminate is connected to at least two electrodes on one side facing away from the epoxy layer, and the electrodes connected to the two second carbon fiber laminates correspond to each other one by one.

[0008] The thickness of the epoxy layer is 1-2 mm.

[0009] Through the above technical solution, if the epoxy layer is too thick, it will affect the bending strength of the human-computer interaction force measurement device, and if the epoxy layer is too thin, it cannot form a stable capacitor. At the thickness of the present application and combined with the structure of the second carbon fiber laminate, the human-computer interaction force measurement device has better bending strength and can play a measuring role.

[0010] The second carbon fiber laminate comprises multiple layers of high-strength carbon fiber unidirectional prepreg and plain woven fabric, wherein the plain woven fabric is located on a side of the high-strength carbon fiber unidirectional prepreg away from the epoxy layer.

[0011] The high-strength carbon fiber unidirectional prepreg is modified by carbon nanotubes.

[0012] The step of modifying the high-strength carbon fiber unidirectional prepreg with carbon nanotubes comprises:

[0013] Carbon nanotube powder is dispersed in ethanol and mixed evenly to obtain a carbon nanotube solution. The carbon nanotube solution is distributed to one side edge of the high-strength carbon fiber unidirectional prepreg, and the solution is evenly distributed on the surface of the high-strength carbon fiber unidirectional prepreg. The ethanol is evaporated to obtain a carbon nanotube coating.

[0014] The electrode is a copper tape, and the electrode is adhered to the second carbon fiber laminate by a conductive adhesive.

[0015] A method for preparing a human-machine interaction force measurement device based on a multi-layer laminated composite material comprises:

[0016] S1: stacking and laying multiple layers of high-strength carbon fiber unidirectional prepreg in sequence, with a carbon nanotube coating between two adjacent layers of high-strength carbon fiber unidirectional prepreg, to obtain an intermediate layer, and then laying a plain woven fabric prepreg on one side of the intermediate layer to obtain a stacked prepreg;

[0017] S2: repeat step S1 to obtain two stacked prepregs, and solidify the stacked prepregs to obtain a second carbon fiber laminate;

[0018] S3: 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, after curing, the epoxy resin layer hardens into an epoxy laminate to obtain a sample;

[0019] S4: Then, a copper tape with a conductive adhesive is attached to the surface of the second carbon fiber laminate of the sample as an external electrode; and any of the above-described human-computer interaction force measurement devices based on multi-layer laminated composite materials is obtained.

[0020] The curing conditions of step S2 and step S3 are both: curing at 120° C. for 90 minutes, with a heating rate of 3° C. / min, and demoulding after the curing is completed by cooling to room temperature at a cooling rate of 1.5° C. / min.

[0021] In step S1, the carbon nanotube coating is obtained by:

[0022] Carbon nanotube powder is dispersed in ethanol and mixed evenly to obtain a carbon nanotube solution, the carbon nanotube solution is distributed to one side edge of the high-strength carbon fiber unidirectional prepreg, the solution is evenly distributed on the surface of the high-strength carbon fiber unidirectional prepreg, and the ethanol is evaporated to obtain a carbon nanotube coating.

[0023] 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) / 140cm 2 .

[0024] The present invention constructs a human-machine interaction force measurement device based on a multi-layer laminated composite material, which can perform human-machine interaction intelligent perception measurement, and the device can be used as part of a collective force structure. The structure consists of two upper and lower carbon fiber composite laminates, separated by an epoxy resin dielectric layer in the middle to form a parallel plate capacitor, and electrodes are added on both sides of the upper and lower surfaces of the laminate. The bending deformation of the laminate is calculated by detecting the changes in the capacitance, resistance and strain of the laminate, and the magnitude of the human-machine interaction force is calculated by combining the bending strength and bending angle of the material.

[0025] The core of the structural sensing integrated human-machine interactive force measurement device based on multi-layer composite materials is a three-layer laminate structure. The upper and lower layers are composed of conductive carbon fiber composite materials, and the middle layer is an insulating resin layer. The laminate as a whole forms a parallel plate capacitor. Electrodes and strain gauges are added on both sides of the upper and lower surfaces of the laminate. The electrodes on both sides of the same plane can be used to measure the resistance of the surface material, and the electrodes on the upper and lower surfaces of the same side can be used to measure the capacitance of the material on this side. The strain gauge can be used to monitor the strain change of the material on the surface. When the interactive force measurement device is deformed, the resistance, capacitance and strain on both sides of the upper and lower surfaces are constant parameters. When the laminate is bent, the thickness of the laminate changes, resulting in a change in capacitance, the outer fibers are stretched, resulting in an increase in the resistance of the outer surface and a tensile strain, and the inner fibers are compressed, resulting in a decrease in the resistance of the inner surface and a compressive strain.

[0026] The bending angle of the laminate is calculated through the relationship function between the bending angle and the laminate capacitance C1, C1, resistance R1, R2, strain ε1, ε2. And the human-computer interaction force is calculated by combining the relationship between the bending strength of the laminate and the bending angle.

[0027] In summary, this application at least includes the following beneficial technical effects:

[0028] (1) The carbon fiber plate used in the multi-layer composite laminate structure of the present invention has high sensitivity to resistance and capacitance. After multiple experimental tests and continuous modification, it can be ensured that the bending angle error measured by the multi-layer laminate structure is ≤5°, and the human-computer interaction force error measured is ≤10N.

[0029] (2) The present invention is convenient and fast. By real-time monitoring the changes in resistance, capacitance, and strain of the multi-layer laminated composite material during the deformation process, it can provide real-time feedback on the bending angle of the laminate and the changes in the magnitude of the human-computer interaction force, thus playing a good role in health monitoring and also providing good guidance for future technological development.

[0030] (3) The present invention can measure the bending angle of the laminate and the human-machine interaction force without the need for additional sensors.

[0031] The sensing structure is truly integrated, so that the material itself has sensing capabilities without reducing the original mechanical properties of the material.

[0032] (4) The present invention can now be normally applied to deformation monitoring and load analysis of composite material samples and motion load analysis of hyperelastic composite material exoskeletons, which is of great benefit to the intelligence and automation of the exoskeleton field. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural diagram of a passive ankle joint walking and jumping assistance system in an embodiment of the present application;

[0034] Figure 2 1 is a structural diagram of the passive clutch structure in the embodiment of the present application, wherein FIG. a is a schematic diagram of a superelastic composite material booster being fixed by a rack transmission slider, and FIG. b is a schematic diagram of a state in which the superelastic composite material booster is released by the rack transmission slider;

[0035] Figure 3 A top cross-sectional view of a passive clutch structure in an embodiment of the present application;

[0036] Figure 4 This is a passive clutch shaft system connection diagram in an embodiment of the present application;

[0037] Figure 5 Schematic diagram of different states of the passive clutch structure in the embodiment of the present application;

[0038] Figure 6 The appearance design and simulation of the superelastic composite booster in the embodiment of the present application;

[0039] Figure 7 1 is a structural diagram of a superelastic composite booster in an embodiment of the present application, wherein FIG. a and FIG. b are schematic diagrams of two structures thereof, and FIG. c is a diagram of the specific structure and dimensions of the booster;

[0040] Figure 8 This is a process diagram of a superelastic composite booster in an embodiment of the present application;

[0041] Fig. 9 This is a schematic diagram of a superelastic composite booster in an embodiment of the present application;

[0042] Fig.10 A three-dimensional diagram of a shoe cover in an embodiment of the present application;

[0043] Fig.11 This is an assembly diagram of the binding protective gear and the passive clutch in the embodiment of the present application;

[0044] Fig.12 This is a diagram of ankle joint state changes corresponding to the human gait cycle in the embodiment of the present application.

[0045] Description of the accompanying drawings: 001, passive clutch structure; 002, super elastic composite material booster; 003, shoe cover; 004, binding protective gear;

[0046] 110, ratchet disc clutch; 120, rack transmission slider; 130, knee mounting plate;

[0047] 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;

[0048] 121. Slider pressure plate; 122. Linear slider; 123. Linear guide rail; 124. Rack mounting plate; 125. Rack;

[0049] 21. Carbon fiber laminate; 22. Second carbon fiber laminate; 23. Epoxy laminate; 24. Electrode;

[0050] 202. High-strength carbon fiber unidirectional prepreg; 201. Plain woven fabric prepreg;

[0051] 301, toe connecting splint; 302, hard toe cap; 303, non-slip sole; 304, flexible shoe cover;

[0052] 401. Thigh and calf binding straps; 402. Hard connecting guard plate; 403. Hard cover plate; 404. Flexible lining. DETAILED DESCRIPTION

[0053] 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.

[0054] The present application embodiment discloses a passive ankle joint walking and jumping assistance system, such as Figure 1 and Figure 2 As shown, including:

[0055] 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.

[0056] 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.

[0057] like Figure 3As 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] like Figure 2As shown in Figure a and Figure b, 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.

[0063] 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.

[0064] 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.

[0065] like Figure 5 As shown, from left to right are the unlocking mode (rotation point A), the locking state (rotation point B), and the energy storage slow release stage (rotation point C) of the passive clutch structure 001.

[0066] like Figure 5 and Fig.12 As 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.

[0067] 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.

[0068] 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.

[0069] Reference Figure 6 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.

[0070] The size parameters of the superelastic composite booster 002 are obtained by the following simulation method:

[0071] S1: Establish a booster model with a width of 20 mm to 40 mm according to the shape of the carbon fiber laminate 21;

[0072] S2: Testing the mechanical properties of a single-layer high-strength carbon fiber unidirectional prepreg 202 and a single-layer plain woven fabric prepreg 201, inputting the single-layer plate constitutive model;

[0073] 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;

[0074] S4: applying loads and boundary conditions to the carbon fiber laminate 21 according to actual wearing motion conditions;

[0075] 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;

[0076] 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;

[0077] 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.

[0078] Reference Figure 6 and Figure 7 , the super elastic composite booster 002 has two structures.

[0079] like Figure 7As shown in Figures a and c, a structure of a super elastic composite booster 002 is: including a carbon fiber laminate 21, the carbon fiber laminate is a multi-layer laminated 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.

[0080] 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.

[0081] The preparation method of the superelastic composite material booster 002 comprises:

[0082] 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;

[0083] 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;

[0084] S3: The high-strength carbon fiber unidirectional prepreg 202 is then modified using carbon nanotubes, specifically including: dispersing carbon nanotube powder in ethanol with a concentration of 1.0 g / 30 ml, vortex mixing the solutions evenly using IKAms3 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;

[0085] 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;

[0086] 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.

[0087] 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.

[0088] like Figure 7 As shown in Figure b, 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 the side of each second carbon fiber laminate 22 facing 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.

[0089] The preparation method of the superelastic composite material booster 002 comprises:

[0090] 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;

[0091] 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;

[0092] 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;

[0093] 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;

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

Claims

1. A human-machine interaction force measurement device based on multi-layer laminated composite materials, characterized in that: The invention comprises two layers of second carbon fiber laminates (22) and an epoxy layer (23) located between the two layers of second carbon fiber laminates (22); at least two electrodes (24) are connected to a side of each second carbon fiber laminate (22) facing 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.

2. The human-machine interaction force measurement device based on multi-layer laminated composite materials according to claim 1 is characterized in that: The thickness of the epoxy layer (23) is 1-2 mm.

3. The human-machine interaction force measurement device based on multi-layer laminated composite material according to claim 1, characterized in that: The second carbon fiber laminate (22) comprises multiple layers of high-strength carbon fiber unidirectional prepreg (202) and plain woven fabric (201), wherein the plain woven fabric (201) is located on a side of the high-strength carbon fiber unidirectional prepreg (202) facing away from the epoxy laminate.

4. The human-machine interaction force measurement device based on multi-layer laminated composite materials according to claim 3 is characterized in that: The high-strength carbon fiber unidirectional prepreg (202) is modified with carbon nanotubes.

5. The human-machine interaction force measurement device based on multi-layer laminated composite materials according to claim 4 is characterized in that: The step of modifying the high-strength carbon fiber unidirectional prepreg (202) with carbon nanotubes comprises: dispersing 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 (202), evenly distributing the solution on the surface of the high-strength carbon fiber unidirectional prepreg (202), evaporating the ethanol, and obtaining a carbon nanotube coating.

6. The human-machine interaction force measurement device based on multi-layer laminated composite materials according to claim 1, characterized in that: The electrode (24) is a copper tape, and the electrode (24) is adhered to the second carbon fiber laminate (22) by a conductive adhesive.

7. A method for preparing a human-machine interactive force measurement device based on a multi-layer laminated composite material, characterized in that: include: S1: stacking and laying multiple layers of high-strength carbon fiber unidirectional prepreg (202) in sequence, with a carbon nanotube coating between two adjacent layers of high-strength carbon fiber unidirectional prepreg (202) to obtain an intermediate layer, and then laying a plain woven fabric prepreg (201) on one side of the intermediate layer to obtain a stacked prepreg; S2: repeating step S1 to obtain two stacked prepregs, and curing the stacked prepregs to obtain a second carbon fiber laminate (22); S3: applying epoxy resin to one of the second carbon fiber laminates (22) to form an epoxy resin layer, and then placing another second carbon fiber laminate (22) on top of the epoxy resin layer to sandwich the epoxy resin layer between the two second carbon fiber laminates; Curing is performed, and after curing, the epoxy resin layer is hardened into an epoxy layer plate (23), thereby obtaining a sample; S4: Then attach a copper tape with a conductive adhesive to the surface of the second carbon fiber laminate of the sample as an external electrode; obtain the human-computer interaction force measurement device based on the multi-layer laminated composite material as described in any one of claims 1-6.

8. The method for preparing a human-machine interaction force measurement device based on a multi-layer laminated composite material according to claim 7, characterized in that: The curing conditions of step S2 and step S3 are both: curing at 120° C. for 90 minutes, with a heating rate of 3° C. / min, and demoulding after the curing is completed by cooling to room temperature at a cooling rate of 1.5° C. / min.

9. The method for preparing a human-machine interaction force measurement device based on a multi-layer laminated composite material according to claim 7, characterized in that: In step S1, the carbon nanotube coating is obtained by: Carbon nanotube powder is dispersed in ethanol and mixed evenly to obtain a carbon nanotube solution. The carbon nanotube solution is distributed to one side edge of a high-strength carbon fiber unidirectional prepreg (202), and the solution is evenly distributed on the surface of the high-strength carbon fiber unidirectional prepreg (202). The ethanol is evaporated to obtain a carbon nanotube coating.

10. The method for preparing a human-machine interaction force measurement device based on a multi-layer laminated composite material according to claim 9, 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 .

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