Simulation skin capable of being applied to humanoid robot and preparation method of simulation skin

Abstract

The invention discloses simulated skin applicable to a humanoid robot and a preparation method thereof, the simulated skin comprises a substrate layer and a silica gel layer, the surface of the substrate layer is provided with a plurality of convex rib parts, the convex rib parts are arched, the two ends of each convex rib part are adhered to the surface of the substrate layer, and the silica gel layer submerges the convex rib parts and is solidified and formed above the surface of the substrate layer. The invention discloses a simulated skin structure and a manufacturing method of the simulated skin, the simulated skin structure can be directly applied to whole body fitting and covering of a humanoid robot, and the problem that silica gel is difficult to stably and firmly fit with most of other materials when being used as the simulated skin is solved.

Description

Technical Field

[0001] This invention relates to a simulated skin, and more particularly to a simulated skin applicable to humanoid robots and its preparation method. Background Technology

[0002] With the rapid development of science and technology, we are clearly standing at a critical juncture in a robotics revolution. In this wave, humanoid robots, with their highly similar morphology to humans, demonstrate a natural potential for working in human society. They require no special modifications to their existing environment, can directly use various tools designed for humans, operate standardized equipment, and move freely in complex, unstructured spaces such as staircases and corridors. This inherent environmental adaptability and versatility give humanoid robots significant and irreplaceable advantages in numerous fields, from domestic service and industrial maintenance to disaster relief and space exploration.

[0003] However, as humanoid robots become increasingly lifelike in form and movement, the core issue that emerges and must be addressed is how to make their surface texture as close as possible to that of real human skin. Touch, as a crucial sensory channel for humans to perceive the world and build trust, directly impacts the safety, naturalness, and emotional depth of human-computer interaction. Therefore, endowing robots with skin-like tactile sensations is not merely about aesthetic improvement, but also crucial for their true integration into human physical and social spaces.

[0004] Among numerous materials, silicone stands out for its unique warmth, flexibility, and delicate, realistic texture, making it an excellent candidate for simulating human skin. Its soft and elastic touch mimics the subtle deformation and rebound of skin under pressure, and its excellent biocompatibility and durability theoretically provide an ideal choice for constructing the "skin" of humanoid robots.

[0005] However, silicone also has a significant drawback: its surface chemical properties make it difficult to achieve stable and secure adhesion with most other materials. In practical robotic applications, the skin layer needs to be tightly attached to internal mechanical structures, sensing elements, or drive devices, and withstand frequent bending, stretching, and friction. The adhesion challenges of silicone make its reliable and durable integration into the complex dynamic surfaces of robots a major hurdle. How to overcome material limitations so that silicone retains its tactile advantages while achieving stable integration with the robot body, thus truly becoming a realistic and reliable artificial skin, has become a pressing technical challenge in the field of robotic bionics. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a simulated skin that can be applied to humanoid robots and its preparation method.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a simulated skin applicable to humanoid robots, comprising a base layer and a silicone layer, wherein the surface of the base layer is provided with a plurality of raised ribs, the raised ribs are arched and their two ends are adhered to the surface of the base layer, and the silicone layer submerges the raised ribs and solidifies above the surface of the base layer.

[0008] To elaborate further, several of the convex ribs are connected end to end to form transverse line groups, each of the transverse line groups is wavy, and the several transverse line groups are arranged longitudinally.

[0009] To elaborate further, there is a common contact point between two adjacent transverse line groups, and several transverse line groups are arranged longitudinally and together form a mesh in the base layer.

[0010] A method for preparing simulated skin applicable to humanoid robots includes the following steps: S1. Use a glue gun to spray and adhere several raised ribs to the base layer; S2. After the raised ribs have cooled and solidified on the surface of the base layer, apply silicone to the surface of the base layer where the raised ribs are adhered, so that the silicone can fully penetrate into the space between the raised ribs and the base layer, thus creating an intermediate product with a preliminary silicone base. S3. Place the intermediate finished product into the silicone mold and inject silicone to make the simulated skin reach the target thickness.

[0011] Specifically, before step S1, conductive lines are printed on the surface of the substrate layer.

[0012] The beneficial effects of the present invention are as follows: The present invention discloses a simulated skin structure and a method for manufacturing the simulated skin. The simulated skin structure can be directly applied to the full-body coverage of humanoid robots, solving the problem that silicone is difficult to stably and firmly adhere to most other materials when used as simulated skin. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention.

[0014] Figure 2 This is a schematic diagram illustrating the manufacturing process of the present invention.

[0015] Figure 3 This is a schematic diagram of the present invention applied to the elbow of a humanoid robot.

[0016] Figure 4 This is a cross-sectional view of the elbow of a humanoid robot.

[0017] The reference numerals are as follows: 10, silicone layer; 20, base layer; 30, rib; 31, horizontal line group; 40, elbow; 41, internal skeleton. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] Specific Implementation Example 1: Combined with Appendix Figure 1 As shown, a simulated skin applicable to humanoid robots includes a base layer 10 and a silicone layer 20. The base layer 10 is made of flexible plastic material. The surface of the base layer 10 is provided with several raised ribs 30. The raised ribs 30 are arched and their two ends are attached to the surface of the base layer 10. The silicone layer 20 submerges the raised ribs 30 and solidifies on the surface of the base layer 10.

[0020] Several convex ribs 30 are connected end to end to form transverse line groups 31. Each transverse line group 31 is wavy, and several transverse line groups 31 are arranged longitudinally. There is a common contact point between adjacent transverse line groups 31, and several transverse line groups 31 are arranged longitudinally and together form a mesh in the base layer 10.

[0021] Specific Implementation Example 2: Combined with Appendix Figure 2 As shown, a method for preparing simulated skin applicable to humanoid robots includes the following steps: S1. Use a glue gun to spray and adhere several raised ribs 30 onto the base layer 10. S2. After the rib 30 cools and solidifies on the surface of the base layer 10, apply silicone to the surface of the base layer 10 where the rib 30 is adhered, so that the silicone can fully penetrate into the space between the rib 30 and the base layer 10, and make an intermediate product with silicone pre-base layer. S3. Place the intermediate finished product into the silicone mold and inject silicone to make the simulated skin reach the target thickness.

[0022] Before step S1, conductive lines can be printed on the surface of the substrate layer 10. These conductive lines can be connected to a heating wire to simulate the temperature of real skin.

[0023] Specific Implementation Example 3: Combined with Appendix Figure 3 and attached Figure 4 As shown, this type of simulated skin can be directly applied to humanoid robots. (See attached image.) Figure 4 As shown, when this type of simulated skin is applied to the elbow 40 of a humanoid robot, the base layer 10 of the simulated skin is directly attached to the internal skeleton 41 of the elbow, and the protruding ribs 30 at the base layer 10 are like growing inside the simulated skin, which can tightly hook the silicone layer 20 so that the silicone layer 20 will not fall off from the base layer 10.

[0024] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] The above does not limit the technical scope of the present invention in any way. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the technical scope of the present invention.

Claims

1. A simulated skin applicable to humanoid robots, characterized in that: It includes a base layer (10) and a silicone layer (20). The surface of the base layer (10) is provided with a plurality of raised ribs (30). The raised ribs (30) are arched and their two ends are attached to the surface of the base layer (10). The silicone layer (20) submerges the raised ribs (30) and solidifies on the surface of the base layer (10).

2. The simulated skin applicable to humanoid robots according to claim 1, characterized in that: Several of the convex ribs (30) are connected end to end to form a transverse line group (31), each of the transverse line groups (31) is wavy, and the several transverse line groups (31) are arranged longitudinally.

3. The simulated skin applicable to humanoid robots according to claim 2, characterized in that: There is a common contact point between two adjacent transverse line groups (31), and several transverse line groups (31) are arranged longitudinally and together form a mesh in the base layer (10).

4. A method for preparing simulated skin applicable to humanoid robots, characterized in that: The simulated skin based on claim 1 includes the following steps: S1. Use a glue gun to spray and adhere several raised ribs (30) to the base layer (10). S2. After the rib (30) cools and solidifies on the surface of the base layer (10), apply silicone to the surface of the base layer (10) where the rib (30) is adhered, so that the silicone can fully penetrate into the space between the rib (30) and the base layer (10) to make an intermediate product with silicone as the initial base layer. S3. Place the intermediate finished product into the silicone mold and inject silicone to make the simulated skin reach the target thickness.

5. The preparation method according to claim 5, characterized in that: Before step S1, conductive lines are printed on the surface of the substrate layer (10).

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