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CN-122011932-A - Color paste for human-shaped robot skin and preparation method thereof

CN122011932ACN 122011932 ACN122011932 ACN 122011932ACN-122011932-A

Abstract

The application relates to the field of color paste, in particular to color paste for human-shaped robot skin and a preparation method thereof. The raw materials of the color paste for the human-shaped robot skin comprise a carrier base, a colorant, a dispersing agent, an anchoring composition, a skin feel regulator, an ultraviolet resistant agent, a gum resin composition and the like. The color paste for the human-shaped robot skin prepared by the application obviously improves the practical application effect of the coloring layer on the premise of ensuring excellent safety, ensures the harmlessness of the color paste in contact with the human skin, ensures that the colored silica gel skin has excellent interface bonding strength and mechanical scrubbing resistance through strengthening an internal anchoring system on the application effect, maintains the original soft touch and fine texture of the silica gel material, enables the robot skin to be highly simulated in appearance and touch, and perfectly meets the comprehensive requirements of the human-shaped robot on aesthetic property, safety and durability.

Inventors

  • GUO HONGJIANG
  • SUN JIHUI
  • YANG JIANPING

Assignees

  • 加圣（上海）新材料有限公司

Dates

Publication Date
20260512
Application Date
20260326

Claims (10)

  1. 1. The color paste for the human-shaped robot skin is characterized by comprising, by mass, 50-70 parts of a carrier base, 15-27 parts of a colorant, 2-5 parts of a dispersing agent, 3-8 parts of an anchoring composition, 3-6 parts of a skin feel regulator, 0.5-1.5 parts of an ultraviolet resistant agent, 2-4 parts of an adhesion promoter and 3-8 parts of a gum resin composition; the coloring agent is a composition of titanium dioxide, PO64 orange and PY180 yellow, and the mass ratio of the coloring agent is (22-27) (0.3-0.6) (0.1-0.3); The anchoring composition is a composition of fumed silica and diatomite, and the mass ratio of the anchoring composition to the composition is (1-1.5) (0.4-0.8); The specific surface area of the fumed silica is 200-250 m < 2 >/g, and the average particle size of the diatomite is 3-6 mu m; The gum-lipid composition is a composition of gellan gum, curdlan and sophorolipid, and the mass ratio of the gum-lipid composition is (1-3): (2-4) 1-3.
  2. 2. The paste for human-shaped robot skin of claim 1, wherein the carrier base is polydimethylsiloxane, and the viscosity of the polydimethylsiloxane is 100-350 cSt and 25 ℃.
  3. 3. The paste for human-shaped robot skin according to claim 2, wherein the mass ratio of the carrier base to the colorant is (5.5-6.5): 1.9-2.6.
  4. 4. The paste for human-shaped robot skin according to claim 3, wherein the D90 particle size of the colorant is 0.5-1.5 μm.
  5. 5. The paste for human-shaped robot skin according to claim 4, wherein the dispersing agent is at least one of BYK-9077, tego 670 and EFKA 4010.
  6. 6. The paste for human-shaped robot skin according to claim 5, wherein the mass ratio of the carrier base to the anchor composition to the gum resin composition is (5.5-6.5): 0.5-0.8): 0.4-0.6.
  7. 7. The paste for human-shaped robot skin according to claim 6, wherein the skin feel modifier is at least one of phenyl polysiloxane, amino polydimethylsiloxane, long-chain alkyl modified silicone oil and polyether modified polysiloxane.
  8. 8. The paste for human-shaped robot skin according to claim 7, wherein the adhesion promoter is at least one of tetraisopropyl titanate, tetra-n-butyl titanate, 3-aminopropyl triethoxysilane and gamma-methacryloxypropyl trimethoxysilane.
  9. 9. The paste for human-shaped robot skin according to claim 8, wherein the preparation method of the gum-fat composition comprises the following steps of S1, mixing glycerol and deionized water, adding gellan gum and curdlan, stirring and wetting, standing and swelling for 30-35 min, S2, adding sophorolipid after swelling is completed, obtaining a uniform paste-like gum-fat composition, and using within 2-3 h after preparation is completed.
  10. 10. A preparation method of the humanoid robot skin color paste is characterized by comprising the following steps of S1, putting a carrier base and a dispersing agent into a dispersing kettle, stirring, adding a coloring agent, increasing the rotating speed to form pasty premix slurry, S2, adding an anchoring composition agent into the premix slurry, grinding to the fineness of less than or equal to 8 mu m, then discharging into a paint mixing kettle, S3, sequentially adding a skin feel regulator, an ultraviolet resistance agent and an adhesion promoter, adding the prepared gum resin composition agent at the temperature of less than 35 ℃, stirring, homogenizing, defoaming, double-layer filtering a product, and sealing and packaging.

Description

Color paste for human-shaped robot skin and preparation method thereof Technical Field The application relates to the field of color paste, in particular to color paste for human-shaped robot skin and a preparation method thereof. Background Along with the deep fusion of artificial intelligence and material science, humanoid robots are gradually expanding from industrial application scenes to domestic fields such as home services, medical care, public reception and the like. In order to improve the affinity and user experience of the robot, the robot is closer to a real person in appearance and touch sense, and the development of the simulated human skin becomes one of key technologies in the field of humanoid robot manufacturing. The ideal robot skin not only needs to visually present a true skin color and texture, but also must have safety, flexibility, and durability for long-term use in contact with the human body. At present, silicone rubber has become a mainstream substrate for preparing simulated human skin due to its excellent biocompatibility, elasticity and processability. In the prior art, there have been some studies and disclosures about the fabrication of robotic simulated skin. For example, an early chinese patent CN102101339a discloses a method for manufacturing a simulated human skin for a robot, which uses a polymer organic silicone rubber as a main material, and uses a mold for molding, and attempts to use an organic color paste or an alkyd polyester color paste available in the decorative market to blend colors, so as to achieve the skin color effect of specific human species such as yellow race. However, the color paste is selected primarily by the method, the primary appearance of color is mainly focused, and the chemical compatibility of the color paste and a silica gel substrate, the matching of a curing system and the color fastness of long-term use are not studied intensively. In addition, academia has also tried to explore new materials, such as developing colored hydrogels with self-healing function for artificial muscles and skin, but such techniques are still in laboratory phase and face challenges on how to compromise the coloring effect and the mechanical strength of the materials. In view of the above, the skin coloring technology of the existing humanoid robot still has obvious technical problems, firstly, in terms of environmental protection and biosafety, color paste used by a plurality of traditional processes contains organic components which can migrate or precipitate, even non-special industrial color paste is adopted, so that the requirements of non-toxicity, non-irritation and non-sensitization required by long-term contact with human skin are difficult to meet, and the health safety hidden trouble exists, secondly, in terms of durability, the binding force between the existing color paste and a silica gel substrate is insufficient, pigment particles have poor dispersion stability in a silica gel system, so that the manufactured skin is extremely easy to generate color falling, fading or migration phenomena after repeated touching, bending or cleaning scrubbing, and further, the requirement of the humanoid robot on scrubbing fastness in daily use can not be met, and because the suitability of the color paste and the silica gel is poor, the low-concentration addition is required to be accurately controlled in the preparation process, so that the saturation and the expression of the color is limited, and the complexity and the instability of the production process are increased. Disclosure of Invention As described above, how to develop a special color paste which is specially used for the silica gel skin of a humanoid robot, has excellent environmental protection safety, human body contact friendliness and high scrubbing fastness, and forms a stable and reliable preparation method is still a technical problem to be solved in the field. In order to solve the problems, the application provides the following technical scheme: the application provides color paste for human-shaped robot skin, which comprises, by mass, 50-70 parts of a carrier base, 15-27 parts of a colorant, 2-5 parts of a dispersing agent, 3-8 parts of an anchoring composition agent, 3-6 parts of a skin feel regulator, 0.5-1.5 parts of an ultraviolet resistant agent, 2-4 parts of an adhesion promoter and 3-8 parts of a gum resin composition agent. Preferably, the carrier base is polydimethylsiloxane. Preferably, the viscosity of the polydimethylsiloxane is 100-350 cSt and 25 ℃. Preferably, the viscosity of the polydimethylsiloxane is 200-250 cSt and 25 ℃. In the preferred scheme, the mass ratio of the carrier base to the colorant is (5.5-6.5) (1.9-2.6). In the preferred scheme, the mass ratio of the carrier base to the colorant is (6-6.5) (2.2-2.5). Preferably, the colorant is a composition of titanium dioxide, PO64 orange and PY180 yellow. According to the preferred scheme, the mass ratio of the titaniu