Coding method for anisotropy mechanics of stitch control textile fabric

Abstract

The invention discloses a coding method for anisotropy mechanics of a stitch control textile fabric, and the method comprises the steps: employing an expansion part, and enabling the outer side of the expansion part to be sleeved with an elastic part; the expansion part can expand and deform after being inflated with gas, and the elastic part has a deformation function and can guide the air bag to expand and deform. The elastic piece has multiple deformation states, the multiple deformation states correspond to different codes and the deformation states on the elastic piece, and simple and efficient anisotropic deformation regulation and control guidance can be achieved through interaction of the textile and the stitches; the local tensile property of the textile is controlled through stitch types of different structures, the deformation direction of the expansion piece is guided through the combination of the tensile strength of the hems on the two sides of the elastic piece, anisotropic coding design and control over the textile-based pneumatic driver are achieved, and only the textile, the air bag and the air pipe are needed for manufacturing; the method has the remarkable advantages of high flexibility, convenience in combination, high scheme richness and low comprehensive cost.

Description

Technical Field

[0001] This invention relates to the technical field of anisotropic mechanical coding methods, and in particular to a coding method for controlling the anisotropic mechanical properties of textile fabrics through stitch control. Background Technology

[0002] Achieving efficient and low-cost programmable control of textiles is a cutting-edge research issue in soft robotics and information coding. Traditional pneumatic actuators often use silicone materials combined with complex structural designs to achieve anisotropic mechanical output functions. This results in complex materials and manufacturing processes, high overall costs, and limitations in multi-dimensional motion design. Therefore, developing a simple, efficient, and low-cost pneumatic actuator deformation design is of significant practical importance. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is that traditional pneumatic actuators have limitations in multi-dimensional motion design.

[0004] The above-mentioned technical problems are solved by the following technical solution: This invention proposes a coding method for controlling the anisotropic mechanics of textile fabrics by stitch control, including, An expansion component, with an elastic component fitted to its outer side; The inflator expands and deforms after being filled with gas, and the elastic element has a deformation function, which can guide the expansion and deformation of the airbag. The elastic element has multiple deformation states, each corresponding to a different code. The deformation states on the elastic element are distributed according to the code of the required deformation form of the expansion element.

[0005] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics according to the present invention: the elastic element is a tubular object made of elastic fabric, the elastic fabric having stitches for sewing, and the deformation of the elastic element is limited by the stitches.

[0006] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics according to the present invention: the elastic member has a first stitch form and a second stitch form; the first stitch form and the second stitch form respectively correspond to two deformation states of the elastic member; The stretch rate of the elastic fabric using the first stitch pattern is lower than the stretch rate using the second stitch pattern.

[0007] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics according to the present invention: the first stitch pattern is used for the position where the expansion member needs to remain flat, and the second stitch pattern is used for the position where the expansion member needs to be bent into an arc shape.

[0008] In a preferred embodiment of the coding method for anisotropic mechanics of textile fabrics for stitch control described in this invention: the elastic fabric is any fabric material with anisotropic tensile properties, and the elongation of the elastic fabric is above 5%.

[0009] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics by stitch control according to the present invention: when the elongation of the elastic element under expansion is less than 5%, it is defined as 0 in the coding; when the coding is defined as 0, the elastic element uses a first stitch form; When the elastic element has an elongation rate greater than 5% under expansion, it is defined as 1 in the code. When the code is defined as 1, the elastic element uses a second stylus form.

[0010] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics by stitch control according to the present invention: one side of the elastic member uses a first stitch form and the other side uses a second stitch form, which enables the elastic member to bend towards the side closer to the first stitch form. At this time, the stitch on the elastic member is coded as 01 or 10.

[0011] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics according to the present invention: when the first stitch form is used on both sides of the elastic member, the expansion member can achieve expansion deformation with constant length, and the stitch on the elastic member is coded as 00.

[0012] In a preferred embodiment of the coding method for controlling the anisotropic mechanics of textile fabrics according to the present invention: when the second stitch form is used on both sides of the elastic member, the expansion member can achieve elongation expansion deformation, and the stitch on the elastic member is coded as 11.

[0013] In a preferred embodiment of the coding method for anisotropic mechanics of textile fabrics for stitch control described in this invention: the width of the internal space of the elastic member does not exceed 50% of the width of the expanded member in its undeformed state.

[0014] The beneficial effects of this invention are as follows: through the interaction between textiles and stitches, simple and efficient anisotropic deformation control guidance can be achieved; by using stitch patterns with different structures to control the local tensile properties of textiles, the direction of deformation of the expansion member can be guided by the combination of the tensile strength of the seams on both sides of the elastic member, thus realizing the anisotropic coding design and control of textile-based pneumatic actuators. The manufacturing process only requires textiles, airbags, and air tubes, and has significant advantages such as high flexibility, convenient combination, rich solution options, and low overall cost. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the structure of the present invention is shown; Figure 2 A schematic diagram of the expansion component in this invention is shown; Figure 3 A schematic diagram of the elastic element in this invention is shown; Figure 4 A schematic diagram of the bending state of the present invention is shown. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0018] Reference Figure 1 This embodiment provides a coding method for controlling the anisotropic mechanics of textile fabrics by stitch control, including: An expansion member 1, with an elastic member 2 sleeved on its outer side; The expansion component 1 expands and deforms after being filled with gas, and the elastic component 2 has a deformation function. The elastic component 2 can guide the expansion and deformation of the airbag. The elastic element 2 has multiple deformation states, and each deformation state corresponds to a different code. The deformation states on the elastic element 2 are distributed according to the code of the required deformation form of the expansion element 1. The expander 1 is an airbag structure with one end connected to an external air source. After the external air source enters the expander 1 and inflates it, the expander 1 expands and deforms. The elastic element 2 has space. Since the elastic element 2 is sleeved on the outside of the expander 1, when the expander 1 expands inside the elastic element 2, it is restricted and guided by it. According to the direction or state of the expansion of the expander 1, that is, the deformation shape of the expander 1, different deformation states are distributed on the elastic element 2. In this way, the deformation state on the elastic element 2 can be adjusted according to the code, so that the expander 1 is constrained by the elastic element 2 to achieve the deformation shape required by the operator. This coding scheme can achieve highly efficient shape customization in scenarios such as grasping unpredictable shaped objects, exploring unstructured environments, and wearable medical assistive rehabilitation devices, thereby better adapting to various application scenarios.

[0019] As an optional embodiment, the elastic element 2 is a tubular object made of elastic fabric with stitches for sewing, and the deformation of the elastic element 2 is limited by the stitches; Elastic component 2 is made of elastic fabric sewn together with stitches. It is used to guide the expansion and deformation of the airbag. When making elastic component 2, the elastic fabric is first cut into long strips with a length and width of 17cm and 4.5cm respectively. The weft direction is the long side and the warp direction is the wide side to reduce the expansion of the elastic fabric in the diameter direction and promote bending deformation. Then, the airbag placement position is marked on the strip and two marking lines are drawn on both sides. The width of the airbag position is 15mm. Then, the two sides of the strip are sewn together along the marking lines. Finally, the excess seam allowance is trimmed to complete the production. The width of the remaining seam allowance is generally no more than 1cm. Thus, elastic component 2 is completed. Furthermore, in this embodiment, the airbag is a tubular long strip made of soft silicone or latex material, which can be uniformly expanded by air pressure. Under normal pressure, the circumference of the circular cross-section of the airbag is about 2cm, the length is 15cm, and the thickness of the gel is 0.2mm. After sewing, turn the elastic part 2 over and attach it to the outside of the expansion part 1, so that the stitches of the elastic part 2 are inside. After the expansion part 1 is placed into the elastic part 2, attach the open end of the expansion part 1 to the air tube and use the locking part 3 to fix the expansion part 1 to the air tube. At the same time, use the locking part 3 to fix the tail ends of the elastic part 2 and the expansion part 1. The connection between the air source and the expansion part 1 is completed through the above operations.

[0020] As an optional embodiment, the elastic member 2 has a first line pattern 21 and a second line pattern 22; the first line pattern 21 and the second line pattern 22 respectively correspond to two deformation states of the elastic member 2; The stitch pattern on the elastic element 2 is the standard stitch specified in GB / T 24118—2009 / ISO4915:1991. The selected stitches have significant differences in tensile properties after sewing the fabric. In this example, the first stitch type 21 corresponds to stitch type 201 in the standard, and the second stitch type 22 corresponds to stitch type 304 in the standard. Because different stitch types are used, the elastic element 2 has different tensile properties, which allows different stitch types to be set on the elastic element 2 according to the different deformation states of the expansion element 1. The different deformation states of the expansion element 1 correspond to different codes, so that the stitch types on the elastic element 2 can correspond one-to-one with the codes. This achieves the goal of controlling the local tensile properties of the elastic element 2 by using stitch types with different structures, and guiding the expansion deformation direction of the expansion element 1 by combining the tensile strength of the seam edges on both sides of the elastic element 2.

[0021] As an alternative embodiment, the stretch rate of the position on the elastic fabric using the first stitch pattern 21 is lower than the stretch rate using the second stitch pattern 22; Preferably, the strength of the stitch is generally 85% of the breaking strength of the fabric. Experimental results show that, in this embodiment, after using two stitch patterns to sew a fabric with a breaking elongation of 116.99% in the warp and 258.82% in the weft, the elongation of the first stitch pattern 21 is approximately 120%, and the elongation of the second stitch pattern 22 is approximately 240%. The straight direction of the stitch is the weft direction of the fabric. Since the elongation of the elastic fabric differs after using the first stitch pattern 21 and the second stitch pattern 22, different codes can be used for stitching the elastic element 2 with the first stitch pattern 21 and the second stitch pattern 22. Furthermore, materials capable of achieving similar functions can be classified as usable materials in this invention.

[0022] As an optional embodiment, the first stitch pattern 21 is used for the position where the expansion member 1 needs to remain flat, and the second stitch pattern 22 is used for the position where the expansion member 1 needs to be bent into an arc shape. By using different stitch patterns to constrain the fabric, the fabric's stretching varies. Where a curved deformation is required, a second stitch pattern 22 with high tensile strength is used, which can elongate as the fabric stretches. Where a straight position is required, a first stitch pattern 21 with low tensile strength is used, which limits the fabric's elongation during stretching. The stitching positions of the first stitch pattern 21 and the second stitch pattern 22 on the elastic member 2 are arranged according to the coding of the required deformation shape of the expansion member 1.

[0023] As an optional embodiment, the elastic fabric is any fabric material with anisotropic tensile properties, and the elongation of the elastic fabric is above 5%.

[0024] As an optional embodiment, when the elongation of the elastic element 2 under expansion is less than 5%, it is defined as 0 in the code; when the code is defined as 0, the elastic element 2 uses the first line trace form 21; When the elastic element 2 has an elongation rate greater than 5% under expansion, it is defined as 1 in the code. When the code is defined as 1, the elastic element 2 uses the second line trace form 22. In this embodiment, there are three different encoding schemes with different line patterns; Encoding scheme 1: One side of the elastic element 2 uses the first stitch form 21 and the other side uses the second stitch form 22, which enables the elastic element 2 to bend towards the side closer to the first stitch form 21. At this time, the stitch on the elastic element 2 is encoded as 01 or 10.

[0025] Encoding scheme 2: When the first line pattern 21 is used on both sides of the elastic element 2, the expansion element 1 can achieve expansion deformation with no change in length. At this time, the line pattern on the elastic element 2 is coded as 00.

[0026] Encoding scheme 3: When the second stitch form 22 is used on both sides of the elastic element 2, the expansion element 1 can achieve elongation expansion deformation. At this time, the stitch on the elastic element 2 is coded as 11.

[0027] As an optional embodiment, the width of the internal space of the elastic member 2 does not exceed 50% of the width of the expansion member 1 in its undeformed state.

[0028] The width of the airbag position reserved in the elastic element 2 is determined by the width of the airbag when it is not inflated. It is usually no more than 50% of the width of the airbag when it is not inflated, so as to avoid the fabric not being able to be fully stretched when the airbag is inflated to its maximum due to the excessive width of this position.

[0029] Using an air pump as the driving source, the airbag is inflated. Taking advantage of the airbag's softness, the expansion is restricted by the outer elastic element 2, causing the expansion element 1 to deform unevenly. By utilizing the difference in tensile strength at the seam of the stitch pattern, different stitch patterns are used at different positions of the elastic element 2, resulting in differences in tensile strength. These differences in tensile strength cause the elastic element 2 to bend and deform after expansion. The arrangement of the stitch patterns can achieve different shapes of deformation.

[0030] In the study of anisotropic mechanical properties of soft actuators based on textiles and stitch stitching, by distinguishing the strength of tensile properties after stitching two types of stitches and performing binarization, corresponding them to logical codes "1" and "0", and utilizing the tensile properties of stitches and fabrics and their combination, by adjusting the combination relationship between the tensile properties of stitches and fabrics and combining the application of basic coding schemes, a coding scheme for the mechanical control of complex textile anisotropy can be realized. This allows the coding to carry rich deformation information, and through standardized coding logic, a unified annotation and control framework is provided for stitch design in different scenarios, which facilitates the reverse deduction of the bending deformation law of the soft actuator. Ultimately, a coding customization method for soft actuators is realized. This coding scheme can achieve highly efficient shape customization in scenarios such as the grasping of unpredictable shaped objects (shape-following grasping), exploration of unstructured environments, and wearable medical assistive rehabilitation devices, thereby better adapting to various application scenarios. By interacting with textiles and stitches, simple and efficient anisotropic deformation control guidance can be achieved. Different stitch patterns can be used to control the local tensile properties of textiles. The direction of deformation of the expansion component can be guided by the combination of the tensile strength of the seams on both sides of the elastic element 2. This enables the anisotropic coding design and control of textile-based pneumatic actuators. The manufacturing process only requires textiles, airbags, and air tubes, and has significant advantages such as high flexibility, convenient combination, rich solution options, and low overall cost.

[0031] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A coding method for controlling the anisotropic mechanics of textile fabrics using stitch control, characterized in that: include, An expansion member (1) has an elastic member (2) sleeved on its outer side; The inflator (1) expands and deforms after being filled with gas, and the elastic element (2) has a deformation function and can guide the expansion and deformation of the airbag. The elastic element (2) has multiple deformation states, each of which corresponds to a different code. The deformation states on the elastic element (2) are distributed according to the code of the required deformation form of the expansion element (1).

2. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 1, characterized in that: The elastic element (2) is a tubular object made of elastic fabric with stitches for sewing, and the deformation of the elastic element (2) is limited by the stitches.

3. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 2, characterized in that: The elastic element (2) has a first line pattern (21) and a second line pattern (22); the first line pattern (21) and the second line pattern (22) correspond to two deformation states of the elastic element (2); The stretch rate of the elastic fabric using the first stitch pattern (21) is lower than that using the second stitch pattern (22).

4. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 3, characterized in that: The first stitch pattern (21) is used for the expansion part (1) in a position where it needs to remain flat, and the second stitch pattern (22) is used for the expansion part (1) in a position where it needs to be bent into an arc shape.

5. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 4, characterized in that: The elastic fabric is any fabric material with anisotropic tensile properties, and the elongation of the elastic fabric is above 5%.

6. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 5, characterized in that: When the elongation of the elastic element (2) under expansion is less than 5%, it is defined as 0 in the code; when the code is defined as 0, the elastic element (2) uses the first line trace form (21). When the elastic element (2) has an elongation rate greater than 5% under expansion, it is defined as 1 in the code. When the code is defined as 1, the elastic element (2) uses the second line trace form (22).

7. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 6, characterized in that: The elastic element (2) uses a first stitch form (21) on one side and a second stitch form (22) on the other side, which enables the elastic element (2) to bend towards the side closer to the first stitch form (21). At this time, the stitch on the elastic element (2) is coded as 01 or 10.

8. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 7, characterized in that: When the elastic element (2) uses the first line pattern (21) on both sides, the expansion element (1) can achieve expansion deformation with no change in length. At this time, the line pattern on the elastic element (2) is coded as 00.

9. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 8, characterized in that: When the second stitch form (22) is used on both sides of the elastic member (2), the expansion member (1) can achieve elongation expansion deformation. At this time, the stitch on the elastic member (2) is coded as 11.

10. The coding method for controlling the anisotropic mechanics of textile fabrics according to claim 9, characterized in that: The width of the internal space of the elastic member (2) does not exceed 50% of the width of the expansion member (1) in its undeformed state.

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