CN104985730A - Method for manufacturing face epidermis of expression robot - Google Patents
Method for manufacturing face epidermis of expression robot Download PDFInfo
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- CN104985730A CN104985730A CN201510357020.9A CN201510357020A CN104985730A CN 104985730 A CN104985730 A CN 104985730A CN 201510357020 A CN201510357020 A CN 201510357020A CN 104985730 A CN104985730 A CN 104985730A
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- expression robot
- robot face
- epidermis
- expression
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Abstract
The method discloses a method for manufacturing face epidermis of an expression robot. The method includes the steps that a facial makeup mask fitting the head of the robot in size is used as a mold, a mixed silica gel material stands for 35-40 min and is attached to the inner side of the facial makeup mask, and the thickness of the silica gel skin is adjusted after attachment is finished; lines are installed on portions with a motor function; the facial makeup mask with the silica gel skin is placed in a shade place, without perpendicular incidence of sunlight, in a room for 4-5 h to solidify the silica gel skin, and after solidification, the silica gel skin is stripped to obtain the face epidermis. The material of the manufacturing face epidermis, manufactured through the method, of the expression robot is at the food grade, nontoxic, odourless, resistant to stretch and not prone to deforming and has excellent chemical corrosion resistance and high temperature resistance, and the temperature which the face epidermis can endure can reach 250 DEG C. The manufacturing method is simple and fast, allows room temperature solidification and heating solidification, and is convenient to adjust and implement and high in reproducibility, the face epidermis is high in accuracy, and the thickness can be adjusted in time in the manufacturing process, so that the epidermis fits the robot better.
Description
Technical field
The invention belongs to expression robot technical field, be specifically related to a kind of method making expression robot face epidermis.
Background technology
Robot is the nonlinear system of a complicated multiple-input and multiple-output.Its main application fields is industrial automation, and wherein the industrial robot of Facing to Manufacturing industry accounts for 50% of whole industry.Along with science and technology and rapid development of economy, robot starts progressively to enter into medical treatment, health care, family, physical culture and service trade.People obviously increase rapidly for service type machine Man's Demands, and the requirement of the robot multiple mechanical action of substance of also conforming to the principle of simplicity is promoted to development and has highly intelligent, independence and and the mutual robot of other intelligent bodies.Numerous researchers starts their attention diversion to arrive in the problem of friendly expression robot.
Expression robot can realize natural, harmonious, the friendly man-machine interaction between human and computer, reduces the emotion distance between the mankind and robot, thus has both met the material life demand of the mankind, can meet again the psychotic mental needs of the mankind.According to the research of psychologist, the mankind are when carrying out information interchange, and language content accounts for expresses 45% of total content, expresses one's feelings then up to 55%, the importance in Human communication of expressing one's feelings as can be seen here
[1].And want to have the abundant expression of nature, a good facial skin will be had.The facial skin that robot bionic skin common at present has electronic sensor skin and makes of gypsum mold, although the preparation method of these skins is more existing practical applications at present, but still there is some deficiency following: it is effective that (1) electronic sensor skin utilizes electronic sensor information to pass on, but manufacture craft is loaded down with trivial details, cost is high, especially, in plastotype process, be difficult to construct the structure as facial skin with labyrinth, how protruding multiple hole; (2) adopt gypsum mold to make epidermis, although gypsum mold quick Fabrication can go out epidermis after making, gypsum die sinking is loaded down with trivial details, cost is high, the cycle is long.
Summary of the invention
The object of the invention is to overcome prior art defect, a kind of method making expression robot face epidermis is provided.
Concrete technical scheme of the present invention is as follows:
Make a method for expression robot face epidermis, comprise the steps:
(1) the component A of addition type room temperature vulcanized liquid silicone rubber and the B component containing platinum catalyst are stirred 1 ~ 2min respectively, to the respective aberration of component A and B component and distributed components, the hardness of above-mentioned addition type room temperature vulcanized liquid silicone rubber is 5 ± 2 shore GB hardness, viscosity is 2000 ± 500cp, anti-tear degree is 4 ± 1kg/cm, and tension degree is 20 ± 5kg/cm
2, percentage elongation is 550 ± 50;
(2) after measuring the component A after above-mentioned stirring and each 180 ~ 200g of B component respectively, this component A and B component are mixed, then puts 35 ~ 40min in ambient temperatare, treat that its stickiness can reach and be attached to vertical surface;
(3) be evenly coated on by material obtained for step (2) and be of a size of in the expression robot face mould of 24 ~ 26cm × 16 ~ 18cm, the thickness of coating is 1.2 ~ 1.5mm;
(4) draught line is set up at the position with motion function of the expression robot face mould after above-mentioned coating, makes the corresponding sports parts of expression robot face by above-mentioned draught line to manipulate the motion of expression robot face;
(5) position being equipped with draught line is carried out suitably floating, avoid shaping after epidermis inside uneven;
(6) by the In Shade solidification 4 ~ 5h of expression robot face mould after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtaining described expression robot face epidermis.
In a preferred embodiment of the invention, described step (1) is: the component A of addition type room temperature vulcanized liquid silicone rubber and B component are stirred 1min respectively, to the respective aberration of component A and B component and distributed components.
In a preferred embodiment of the invention, described step (2) is: measure respectively the component A after above-mentioned stirring and containing platinum catalyst each 180g of B component after, this component A and B component are mixed, put 35min in ambient temperatare again, treat that its stickiness can reach and be attached to vertical surface.
In a preferred embodiment of the invention, described step (3) is: the material that step (2) is obtained is evenly coated in expression robot face mould, and the thickness of coating is 1.2mm.
In a preferred embodiment of the invention, described step (6) is: by the expression robot face mould In Shade solidification 4h after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtain described expression robot face epidermis.
Preferred further, the material of described draught line is cotton.
Preferred further, the material of described expression robot face mould is PVC, and size is 24cm × 17cm.
The invention has the beneficial effects as follows:
1, the material of expression robot face epidermis that method of the present invention makes is not food-grade, nonpoisonous and tasteless, stretch-proof, yielding, has excellent chemical resistance, heat-resisting quantity, can reach 250 DEG C.
2, preparation method simple and fast of the present invention, both ambient temperature curable also can heating cure, and adjust easy to operate, Product Precision is high, favorable reproducibility, can adjust thickness in time in manufacturing process, better fits to make epidermis and robot.
Detailed description of the invention
Below by way of detailed description of the invention, technical scheme of the present invention is further detailed and is described.
Embodiment 1
(1) the component A of addition type room temperature vulcanized liquid silicone rubber G805 and the B component containing platinum catalyst are stirred 1min respectively, to the respective aberration of component A and B component and distributed components, the hardness of above-mentioned addition type room temperature vulcanized liquid silicone rubber is 5 ± 2 shore GB hardness, viscosity is 2000 ± 500cp, anti-tear degree is 4 ± 1kg/cm, and tension degree is 20 ± 5kg/cm
2, percentage elongation is 550 ± 50;
(2) after measuring the component A after above-mentioned stirring and each 180g of B component respectively, this component A and B component are mixed, then puts 35min in ambient temperatare, treat that its stickiness can reach and be attached to vertical surface;
(3) be evenly coated on by material obtained for step (2) and be of a size of in the expression robot face mould of 24cm × 17cm, the thickness of coating is 1.2mm, and the material of above-mentioned mould is PVC;
(4) cotton draught line is set up at the position with motion function of the expression robot face mould after above-mentioned coating, makes the corresponding sports parts of expression robot face by above-mentioned draught line to manipulate the motion of expression robot face;
(5) position being equipped with draught line is carried out suitably floating, avoid shaping after epidermis inside uneven;
(6) by the expression robot face mould In Shade solidification 4h after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtaining described expression robot face epidermis.
The material of expression robot face epidermis prepared by this embodiment is not food-grade, nonpoisonous and tasteless, stretch-proof, yielding, has excellent chemical resistance, heat-resisting quantity, can reach 250 DEG C
Those skilled in the art are known, when technical scheme of the present invention changes in following technical parameter, can obtain same as the previously described embodiments or close technique effect:
(1) the component A of addition type room temperature vulcanized liquid silicone rubber and the B component containing platinum catalyst are stirred 1 ~ 2min respectively, to the respective aberration of component A and B component and distributed components, the hardness of above-mentioned addition type room temperature vulcanized liquid silicone rubber is 5 ± 2 shore GB hardness, viscosity is 2000 ± 500cp, anti-tear degree is 4 ± 1kg/cm, and tension degree is 20 ± 5kg/cm
2, percentage elongation is 550 ± 50;
(2) after measuring the component A after above-mentioned stirring and each 180 ~ 200g of B component respectively, this component A and B component are mixed, then puts 35 ~ 40min in ambient temperatare, treat that its stickiness can reach and be attached to vertical surface;
(3) be evenly coated on by material obtained for step (2) and be of a size of in the expression robot face mould of 24 ~ 26cm × 16 ~ 18cm, the thickness of coating is 1.2 ~ 1.5mm;
(4) draught line is set up at the position with motion function of the expression robot face mould after above-mentioned coating, makes the corresponding sports parts of expression robot face by above-mentioned draught line to manipulate the motion of expression robot face;
(5) position being equipped with draught line is carried out suitably floating, avoid shaping after epidermis inside uneven;
(6) by the In Shade solidification 4 ~ 5h of expression robot face mould after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtaining described expression robot face epidermis.
The above, be only preferred embodiment of the present invention, therefore can not limit scope of the invention process according to this, the equivalence change namely done according to the scope of the claims of the present invention and description with modify, all should still belong in scope that the present invention contains.
Claims (7)
1. make a method for expression robot face epidermis, it is characterized in that: comprise the steps:
(1) the component A of addition type room temperature vulcanized liquid silicone rubber and the B component containing platinum catalyst are stirred 1 ~ 2min respectively, to the respective aberration of component A and B component and distributed components, the hardness of above-mentioned addition type room temperature vulcanized liquid silicone rubber is 5 ± 2 shore GB hardness, viscosity is 2000 ± 500cp, anti-tear degree is 4 ± 1kg/cm, and tension degree is 20 ± 5kg/cm
2, percentage elongation is 550 ± 50;
(2) after measuring the component A after above-mentioned stirring and each 180 ~ 200g of B component respectively, this component A and B component are mixed, then puts 35 ~ 40min in ambient temperatare, treat that its stickiness can reach and be attached to vertical surface;
(3) be evenly coated on by material obtained for step (2) and be of a size of in the expression robot face mould of 24 ~ 26cm × 16 ~ 18cm, the thickness of coating is 1.2 ~ 1.5mm;
(4) draught line is set up at the position with motion function of the expression robot face mould after above-mentioned coating, makes the corresponding sports parts of expression robot face by above-mentioned draught line to manipulate the motion of expression robot face;
(5) position being equipped with draught line is carried out suitably floating, avoid shaping after epidermis inside uneven;
(6) by the In Shade solidification 4 ~ 5h of expression robot face mould after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtaining described expression robot face epidermis.
2. a kind of method making expression robot face epidermis as claimed in claim 1, it is characterized in that: described step (1) is: stir 1min respectively by the component A of addition type room temperature vulcanized liquid silicone rubber with containing the B component of platinum catalyst, to the respective aberration of component A and B component and distributed components.
3. a kind of method making expression robot face epidermis as claimed in claim 1, it is characterized in that: described step (2) is: after measuring the component A after above-mentioned stirring and each 180g of B component respectively, this component A and B component are mixed, put 35min in ambient temperatare again, treat that its stickiness can reach and be attached to vertical surface.
4. a kind of method making expression robot face epidermis as claimed in claim 1, it is characterized in that: described step (3) is: the material that step (2) is obtained is evenly coated in expression robot face mould, and the thickness of coating is 1.2mm.
5. a kind of method making expression robot face epidermis as claimed in claim 1, it is characterized in that: described step (6) is: by the expression robot face mould In Shade solidification 4h after the coating of good and sound draught line, or be heating and curing, to not having stickiness, remove expression robot face mould, obtain described expression robot face epidermis.
6. a kind of method making expression robot face epidermis as described in claim arbitrary in claim 1 to 5, is characterized in that: the material of described draught line is cotton.
7. a kind of method making expression robot face epidermis as described in claim arbitrary in claim 1 to 5, is characterized in that: the material of described expression robot face mould is PVC, and size is 24cm × 17cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510357020.9A CN104985730A (en) | 2015-06-25 | 2015-06-25 | Method for manufacturing face epidermis of expression robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510357020.9A CN104985730A (en) | 2015-06-25 | 2015-06-25 | Method for manufacturing face epidermis of expression robot |
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| CN104985730A true CN104985730A (en) | 2015-10-21 |
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| CN201510357020.9A Pending CN104985730A (en) | 2015-06-25 | 2015-06-25 | Method for manufacturing face epidermis of expression robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2813940C1 (en) * | 2022-10-24 | 2024-02-20 | Общество с ограниченной ответственностью "ПРОМОБОТ" | Silicone-based material simulating human skin (versions) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2917987Y (en) * | 2006-04-29 | 2007-07-04 | 杨建良 | Robot mask with simulation effect |
| CN102008175A (en) * | 2010-10-21 | 2011-04-13 | 贵阳护理职业学院 | Method for applying whole piece of beautifying wax mask |
| CN103624985A (en) * | 2013-11-22 | 2014-03-12 | 北京化工大学 | Beijing opera facial mask 3D (three-dimensional) printing and forming method |
| WO2014098026A1 (en) * | 2012-12-19 | 2014-06-26 | 東海ゴム工業株式会社 | Flexible facial expression display device |
-
2015
- 2015-06-25 CN CN201510357020.9A patent/CN104985730A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2917987Y (en) * | 2006-04-29 | 2007-07-04 | 杨建良 | Robot mask with simulation effect |
| CN102008175A (en) * | 2010-10-21 | 2011-04-13 | 贵阳护理职业学院 | Method for applying whole piece of beautifying wax mask |
| WO2014098026A1 (en) * | 2012-12-19 | 2014-06-26 | 東海ゴム工業株式会社 | Flexible facial expression display device |
| CN103624985A (en) * | 2013-11-22 | 2014-03-12 | 北京化工大学 | Beijing opera facial mask 3D (three-dimensional) printing and forming method |
Non-Patent Citations (1)
| Title |
|---|
| 张雪元: "基于人工心理的服务机器人交互平台相关技术研究", 《中国博士学位论文全文数据库信息科技辑》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2813940C1 (en) * | 2022-10-24 | 2024-02-20 | Общество с ограниченной ответственностью "ПРОМОБОТ" | Silicone-based material simulating human skin (versions) |
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