A robotic shell and robot that covers a flexible fiber sensing skin

Abstract

The application provides a robot shell and robot coated with flexible fiber sensing skin, the robot shell comprises: a base layer made of hard injection material, the base layer is used to provide structural support; a flexible fiber sensing skin layer covering the outside of the base layer, the flexible fiber sensing skin layer is used to perceive the touch of the external environment, and comprises a resistance measuring element, and the temperature and pressure changes of the external environment are perceived in real time through the resistance change of the resistance measuring element. The application combines the rigid base layer with the flexible fiber sensing skin layer, uses the base layer to provide structural support, and uses the flexible fiber sensing skin layer to perceive the touch and temperature / pressure changes of the external environment, solves the defects of the existing robot shell in flexibility and tactile perception ability, and improves the safety, flexibility and human-computer interaction ability of the robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a robot shell and robot covered with flexible fiber sensory skin. Background Technology

[0002] In recent years, robotics technology has developed rapidly, and robots have been widely used in many fields such as industrial manufacturing, medical services, home assistance for the elderly, and emergency rescue. As the external protective structure of a robot, the robot shell not only needs to have sufficient mechanical strength to withstand external impacts and prevent damage to internal components, but also needs to meet the functional requirements of different application scenarios, such as the ability to sense external touch.

[0003] However, most robot shells on the market are made of hard shells, such as metal alloys or engineering plastics. While this traditional hard shell design can provide effective structural support and protection for internal precision components, its inherent rigidity also brings some obvious limitations.

[0004] On the one hand, due to the poor flexibility of the hard shell, it is easy to cause injury when in contact with humans, lacking flexibility and cushioning capabilities. Therefore, the hard shell is insufficient in terms of flexibility and safety. On the other hand, the hard shell has poor tactile perception capabilities and cannot detect external touch and pressure changes. This results in the robot lacking accurate feedback during interaction with humans or the environment, which can easily lead to stiff interaction, operational errors, and even safety hazards, thus limiting the robot's ability to interact with humans.

[0005] To address the aforementioned insufficient sensing capabilities, existing technologies have introduced solutions that integrate sensors onto the surface of the robot's outer shell. For example, a search revealed that Chinese patent application CN103624803A discloses an artificial skin for a robot. This robot's shell has directly generated electronic circuitry and sensor layers, but it remains essentially a rigid shell with limited safety and sensing capabilities. Furthermore, the direct generation method makes its fabrication difficult. Another Chinese patent application CN116352763A discloses a large-area electronic skin sensing system and method for robot collision detection. This system includes a flexible tactile sensor array that can be fitted to the robot and a data acquisition and processing device. The flexible tactile sensor array includes a pair of flexible substrates, a pressure-sensitive layer encapsulated between the two flexible substrates, and a device protective layer outside the flexible substrates. Several equally spaced parallel electrodes are arranged on the flexible substrates, and the electrodes on the two flexible substrates are orthogonally arranged to form an array. The pressure-sensitive layer is connected to the data acquisition and processing device. While this system achieves sensing functionality, it still suffers from serious deficiencies in support and safety functions.

[0006] Therefore, it is necessary to provide a robot shell that combines flexibility, safety, and tactile sensing capabilities to solve the aforementioned technical problems. Summary of the Invention

[0007] In view of one of the deficiencies in the prior art, the purpose of this application is to provide a robot shell and robot covered with flexible fiber sensory skin.

[0008] A first aspect of this application provides a robot shell covered with flexible fiber-sensing skin, comprising: The matrix layer, made of rigid injection-molded material, is used to provide structural support; A flexible fiber sensing skin layer covers the outside of the substrate layer. The flexible fiber sensing skin layer is used to sense the touch of the external environment. It includes a resistance measuring element, and the temperature and pressure changes of the external environment are sensed in real time by the resistance change of the resistance measuring element.

[0009] Optionally, the flexible fiber sensing skin layer comprises, from bottom to top: a base fabric layer, an intermediate layer, and an outer elastic fabric layer, wherein the intermediate layer includes a sensor unit and circuitry.

[0010] Optionally, the sensor units are evenly distributed in the area covered by the flexible fiber sensing skin layer, including multiple vertically arranged first lines and multiple horizontally arranged second lines. The first lines serve as signal lines for transmitting signals, and the second lines serve as power supply lines for supplying power. The intersection of the first lines and the second lines forms a sensor potential point, and the resistance value is output in parallel at the end.

[0011] Optionally, both the first and second lines use flexible wires.

[0012] Optionally, the base fabric layer is made of woven fabric.

[0013] Optionally, the outer elastic fabric layer is an elastic and stretchable fabric, and the inner side of the outer elastic fabric layer is provided with sponge.

[0014] Optionally, the middle region of the flexible fiber sensing skin layer is bonded to the substrate layer, and the side edges of the substrate layer are fixedly connected to the flexible fiber sensing skin layer by fasteners.

[0015] Optionally, the fastener is a screw.

[0016] Optionally, the housing is a rear cover and / or a front cover.

[0017] A second aspect of this application provides a robot comprising the aforementioned robot shell covered with flexible fiber sensory skin.

[0018] The robot shell covered with flexible fiber sensory skin provided in this application combines a rigid substrate layer with a flexible fiber sensory skin layer. The substrate layer provides structural support, while the flexible fiber sensory skin layer senses the touch and temperature / pressure changes of the external environment. This solves the shortcomings of existing robot shells in terms of flexibility and tactile perception capabilities, and improves the robot's safety, flexibility, and human-computer interaction capabilities.

[0019] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description

[0020] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of a robot shell (back cover) covered with flexible fiber sensory skin according to an exemplary embodiment; Figure 2 This is a schematic diagram of the structure of a robot shell (front cover) covered with flexible fiber sensory skin according to an exemplary embodiment; Figure 3 This is a schematic diagram of the structure of a flexible fiber-sensing skin layer according to an exemplary embodiment; Figure 4 This is a schematic diagram of the structure of an intermediate layer according to an exemplary embodiment; Figure 5 This is a schematic diagram illustrating the connection between the base layer and the flexible fiber sensory skin layer of the front cover portion according to an exemplary embodiment; Figure 6 This is a schematic diagram illustrating the connection between the substrate layer and the flexible fiber sensory skin layer of the back cover portion according to an exemplary embodiment; In the diagram: 1 is the flexible fiber sensing skin layer, 101 is the base fabric layer, 102 is the intermediate layer, 103 is the outer elastic fabric layer, 1021 is the first circuit, 1022 is the second circuit, 2 is the fastener, and 3 is the substrate layer. Detailed Implementation

[0021] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.

[0022] Most existing robot shells are made of rigid materials, which have limitations in terms of flexibility, safety, and tactile sensing capabilities. To address these issues, this application provides a robot shell covered with flexible fiber-sensing skin to solve these problems.

[0023] Reference Figure 1 and Figure 2 As shown in one embodiment of this application, a robot shell covered with flexible fiber sensing skin is provided, including a base layer 3 and a flexible fiber sensing skin layer 1, wherein: the base layer 3 is made of rigid injection molding material, including but not limited to engineering plastics such as PC and ABS, and the base layer 3 is used to provide structural support; the flexible fiber sensing skin layer 1 covers the outside of the base layer 3, and the flexible fiber sensing skin layer 1 is used to sense the touch of the external environment, and includes a resistance measuring element, which realizes the real-time sensing of temperature and pressure changes in the external environment through the resistance change of the resistance measuring element.

[0024] Specifically, the base layer 3 is made of rigid injection-molded material, which ensures the mechanical strength required for the robot shell, resisting external impacts and protecting internal components. Furthermore, the injection molding process allows for the creation of complex shapes, adapting to the appearance and structural designs of different robots. The flexible fiber sensing skin layer 1, also known as the electronic cloth, covers the outside of the base layer 3. Utilizing the flexibility and sensing properties of the flexible fiber material, it compensates for the lack of sensing capabilities in the rigid base layer, enabling real-time sensing of external touch, temperature, and pressure changes. This improves the accuracy of the robot's interaction with the environment and humans, thus balancing the dual needs of structural support and flexible sensing. This robot shell can be widely used in home service robots, medical care robots, industrial collaborative robots, and other fields, enhancing the robot's environmental perception capabilities and the safety of human-robot interaction.

[0025] In this embodiment, the flexible fiber sensing skin layer 1 can cover a large area of ​​the substrate layer 3 surface and closely conform to the curved shape of the substrate layer 3, enabling continuous and comprehensive sensing of the outer shell surface. Due to the continuous coverage and lack of mechanical seams, it effectively reduces the sensing blind spots caused by traditional discrete sensor layouts. Simultaneously, as an integral covering layer, the flexible fiber sensing skin layer 1 increases the contact area with the substrate layer 3, which helps improve bonding stability and reduces the risk of detachment or damage under long-term movement or impact, ensuring the robot's long-term stable operation and thus improving the sensing coverage and stability. Furthermore, compared to directly generating the electronic circuit layer and sensor layer, this embodiment reduces the manufacturing difficulty of the robot shell.

[0026] For example, the substrate layer 3 is made of modified ABS or PC / ABS alloy hard injection molding material, in which glass fiber reinforcement is added to improve bending strength and impact toughness while ensuring lightweight. The thickness of the substrate layer 3 is set according to the stress requirements of different parts of the robot.

[0027] It should be noted that the flexible fiber sensing skin layer 1 has high tensile strength and fatigue resistance. When the robot performs multi-degree-of-freedom joint movements, it can bend and stretch synchronously with the deformation of the base layer 3, unlike rigid sensors or shells that restrict the robot's movement flexibility. This dual-layer structure allows for adjustments to the material parameters of the flexible fiber sensing skin layer 1 or the injection molding hardness of the base layer 3 according to different application scenarios, exhibiting strong adaptability to various scenarios.

[0028] The embodiments described above in this application, through the dual-layer structure design of the substrate layer 3 and the flexible fiber sensing skin layer 1, utilize the substrate layer 3 to provide structural support and the flexible fiber sensing skin layer 1 to sense the touch of the external environment and changes in temperature / pressure. This solves the shortcomings of existing robot shells in terms of flexibility and tactile perception capabilities, and improves the robot's safety, durability, flexibility, and human-computer interaction capabilities.

[0029] To improve the flexibility sensing capability of the robot's shell, in some specific embodiments of this application, reference is made to... Figure 3 As shown, the flexible fiber sensing skin layer 1 includes, from bottom to top, a base fabric layer 101, an intermediate layer 102 and an outer elastic fabric layer 103. The intermediate layer 102 includes a sensor unit and circuitry.

[0030] Specifically, the flexible fiber sensing skin layer 1 includes flexible materials (base fabric layer 101 and outer elastic fabric layer 103) and strain-sensitive fibers (intermediate sensing layer). The base fabric layer 101 serves as an interface bonding and support layer, providing basic support; the material is generally ordinary woven fabric. The intermediate layer 102 is the core sensing and signal transmission layer, internally filled with resistance measuring elements, forming numerous nodes. It converts external pressure changes into electrical signals through the piezoresistive changes of the resistance measuring elements, and converts external temperature changes into electrical signals through the thermistor changes of the resistance measuring elements. The outer elastic fabric layer 103 serves as a protective and flexible reinforcement layer; the material is elastic and stretchable fabric, lined with sponge, and directly contacts the user. All layers are bonded together with adhesive to form a single unit.

[0031] Signal acquisition from flexible fiber-sensing skin requires efficient integration with the robot's control system to achieve real-time data transmission and rapid response. Existing technologies often have low integration levels in signal acquisition circuits, which increases the size and weight of the robot's shell, hindering miniaturization and lightweight design. To achieve miniaturization and lightweight design of the robot shell, in some specific embodiments of this application, reference is made to... Figure 4As shown, the sensor units are evenly distributed in the area covered by the flexible fiber sensing skin layer 1, including multiple vertically arranged first lines and multiple horizontally arranged second lines. The first lines serve as signal lines for transmitting signals, and the second lines serve as power supply lines for supplying power. The intersection of the first and second lines forms a sensor potential point, and the varying resistance value is output in parallel at the end, thereby reflecting changes in external pressure and temperature.

[0032] Specifically, the first line is uniformly arranged along the vertical direction of the flexible fiber sensing skin layer 1, and its number is determined according to the width of the area covered by the outer shell; the second line is uniformly arranged along the horizontal direction, with the same spacing as the first line, forming an orthogonal sensing grid structure. The intersection of the first and second lines is the sensor potential point. The ends of all the first lines converge parallel to one edge of the flexible fiber sensing skin layer 1, and the ends of all the second lines converge parallel to the other edge, realizing the parallel output of pressure and temperature signals. The resistance value includes changes in piezoresistive and thermistor resistance. Pressure is sensed through changes in piezoresistive resistance, and temperature is sensed through changes in thermistor resistance. Touch is a change in pressure, thus realizing the robot's sensing function. Piezoresistive change is the conversion of pressure change into resistance change, while thermistor change is the conversion of heat into resistance change. This can be achieved by connecting them in parallel to a point sensor (i.e., the sensor potential point). At the same sensor potential point, the piezoresistive element and the thermistor element are connected to different signal paths. The influence of temperature on pressure measurement can be eliminated by differential operation, or the two types of signals can be acquired separately by time-division excitation and paralleled at the end. This can reduce the output area. A row and column scanning mechanism similar to that of existing resistive touch screens can be used to achieve multi-touch recognition.

[0033] It should be noted that in some other implementations, the piezoresistive variation and thermistor variation can also be set separately according to specific functional requirements.

[0034] In some specific embodiments of this application, both the first line and the second line are made of flexible wires.

[0035] Specifically, the lines used to transmit electrical signals and provide current are all flexible wires, including but not limited to copper wires, flexible printed circuit boards (FPCs), etc. The intermediate layer 102 forms an orthogonal grid structure by weaving flexible conductive cables (such as silver-plated nylon wires and copper-clad steel wires) with piezoresistive fibers (such as carbon black-doped silicone fibers) and thermistor fibers (such as NTC thermistor fibers) in a warp and weft manner, and sets micro-sensing nodes at each intersection to realize pressure and temperature sensing.

[0036] The base fabric layer 101 serves as a connecting carrier between the flexible fiber sensing skin layer 1 and the matrix layer 3. In some specific embodiments of this application, the base fabric layer 101 is used to provide basic support, and the material is generally ordinary woven fabric.

[0037] For example, the material of the base fabric layer 101 is canvas, Oxford cloth, polyester cloth, etc.

[0038] The outer elastic fabric layer 103 serves as the outer protective surface of the flexible fiber sensing skin layer 1. In some specific embodiments of this application, the material of the outer elastic fabric layer 103 is an elastic and stretchable fabric with a sponge lining on the inside. The outer side of the outer elastic fabric layer 103 is in direct contact with the user.

[0039] For example, the material of the outer elastic fabric layer 103 is a four-way elastic knitted fabric, elastic knitted fabric, etc. The sponge used is a low-density open-cell foam material with a thickness controlled within 1~3mm, and it is pre-compressed before leaving the factory to ensure consistent deformation.

[0040] In the technology of applying flexible fiber sensory skin to robot shells, achieving a firm and stable bond between the flexible fiber sensory skin and the robot shell is one of the key issues. Since robot shells are mostly rigid or semi-rigid structures, while flexible fiber sensory skin has considerable flexibility, the interfacial bonding performance between the two is poor, easily leading to peeling, wrinkling, and other phenomena, affecting the sensing performance and lifespan of the sensory skin. To improve the stability and reliability of the bond, in some specific embodiments of this application, reference is made to... Figure 5 and Figure 6 The middle area of ​​the flexible fiber sensing skin layer 1 is bonded to the substrate layer 3, and the side edges of the substrate layer 3 are fixedly connected to the flexible fiber sensing skin layer 1 by fasteners 2.

[0041] The embodiments described above employ a composite connection method combining adhesive bonding and mechanical restraint, which ensures the strong connection between the two-layer structure.

[0042] In some specific embodiments of this application, the fastener 2 is a screw.

[0043] Specifically, on the back of the robot shell, room temperature curing epoxy resin is used for bonding to ensure that the interface bonding strength is not less than 2MPa; screws are set every 30~50mm along the circumference of the shell to avoid the intersection area of ​​orthogonal lines, and rubber washers are added at the perforations to disperse stress. The substrate layer 3 and the flexible fiber sensing skin layer 1 are combined together by partial bonding and a series of tooling screws around the sides to ensure aesthetics and neat attachment.

[0044] In some specific embodiments of this application, the outer shell is a back cover and / or a front cover. Injection-molded plastic is used as the base layer 3 to provide structural support, and the outer curved surface is covered with a flexible fiber sensing skin layer 1, i.e., electronic cloth. The electronic cloth is the aforementioned fiber fabric with tactile sensing capabilities. The flexible fiber sensing skin layer is a smart textile material that integrates sensing units and conductive circuits, and is composed of a multi-layered fabric base and embedded functional fibers (such as piezoresistive fibers, thermosensitive fibers, and conductive cables).

[0045] In the embodiments described above, the base layer 3 in the robot shell is stably bonded to the flexible fiber sensory skin and has the ability to sense changes in touch, temperature, and pressure, which is of great significance for improving the robot's safety, interactive performance, and operational reliability.

[0046] Based on the same concept, another embodiment of this application provides a robot that includes a robot shell covered with flexible fiber sensory skin as described in any of the above embodiments, enabling the robot to perceive and interact with the external environment.

[0047] The robot in this embodiment has the same technical effect as the robot shell covered with flexible fiber sensory skin in the above embodiments, and will not be repeated here.

[0048] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.

[0049] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application 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 application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0051] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.

[0053] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A robotic shell covered with flexible fiber sensory skin, characterized in that, include: The substrate layer, made of rigid injection-molded material, is used to provide structural support; A flexible fiber sensing skin layer covers the outside of the substrate layer. The flexible fiber sensing skin layer is used to sense the touch of the external environment. It includes a resistance measuring element, and the temperature and pressure changes of the external environment are sensed in real time by the resistance change of the resistance measuring element.

2. The robot shell covered with flexible fiber sensory skin according to claim 1, characterized in that, The flexible fiber sensing skin layer comprises, from bottom to top: a base fabric layer, an intermediate layer, and an outer elastic fabric layer. The intermediate layer includes a sensor unit and circuitry.

3. The robot shell covered with flexible fiber sensory skin according to claim 2, characterized in that, The sensor units are evenly distributed in the area covered by the flexible fiber sensing skin layer, including multiple vertically arranged first lines and multiple horizontally arranged second lines. The first lines serve as signal lines for transmitting signals, and the second lines serve as power supply lines for supplying power. The intersection of the first lines and the second lines forms a sensor potential point, and the resistance value is output in parallel at the end.

4. The robot shell covered with flexible fiber sensory skin according to claim 3, characterized in that, Both the first and second lines use flexible wires.

5. The robot shell covered with flexible fiber sensory skin according to claim 2, characterized in that, The base fabric layer is made of woven fabric.

6. The robot shell covered with flexible fiber sensory skin according to claim 2, characterized in that, The outer elastic fabric layer is an elastic and stretchable fabric, and a sponge is provided on the inner side of the outer elastic fabric layer.

7. The robot shell covered with flexible fiber sensory skin according to claim 1, characterized in that, The middle region of the flexible fiber sensing skin layer is bonded to the substrate layer, and the side edges of the substrate layer are fixedly connected to the flexible fiber sensing skin layer by fasteners.

8. The robot shell covered with flexible fiber sensory skin according to claim 7, characterized in that, The fastener is a screw.

9. The robot shell covered with flexible fiber sensory skin according to claim 1, characterized in that, The outer casing is a rear cover and / or a front cover.

10. A robot, characterized in that, The robotic shell includes the flexible fiber-sensing skin as described in any one of claims 1-9.

Images