WO2019010741A1

WO2019010741A1 - Method for preparing robot skin with high flexibility

Info

Publication number: WO2019010741A1
Application number: PCT/CN2017/096554
Authority: WO
Inventors: 袁柳淑; 吴航; 贺盟; 唐家烨; 柏爱华
Original assignee: 江苏申源新材料有限公司
Priority date: 2017-07-14
Filing date: 2017-08-09
Publication date: 2019-01-17
Also published as: CN109249422A; CN109249422B; KR20200034841A

Abstract

A method for preparing a robot skin with high flexibility comprises the following steps: S1: etching a substrate material of a thermoplastic elastomer by using a plasma device, so as to prepare a flexible elastic substrate, the repetitive unit of the flexible elastic substrate ranging from 1 micrometer to 100 micrometers, and introducing particles to the surface of the repetitive unit by means of micro-nano treatment processes related to photoetching, microfluidic control and 3D printing; S2: spraying graphene or a carbon nanotube solution on the surface of the micro-nano-patterned flexible substrate, serving as a conductive layer; and S3: coating a layer of coupling agent on an electronic chip element of a sensor, and implanting the electronic chip element of the pressure sensor on which surface treatment has been performed, into the substrate of thermoplastic elastomer by an embedding method. The electronic chip and the substrate material can be effectively combined, which facilitates the performance of the chip and helps to expand the application scope of the electronic skin.

Description

Flexible and strong robot skin preparation method

Technical field

The invention relates to the field of bionic robot manufacturing, and in particular to a flexible high-strength robot skin preparation method.

Background technique

With the integration of informationization and industrialization, the intelligent industry represented by robotics technology is booming. People look forward to the development of humanoid bionic robots that are closer to people and other organisms in the future. Tactile sensation is a necessary medium for robots to directly interact with the environment. Tactile sensation itself has strong sensitivity and can directly measure various properties of objects and environments. Tactile skin A new wearable, flexible, bionic tactile electronic skin that gives the robot a human, animal-like touch that makes it more intelligent and user-friendly. In order to cover complex three-dimensional surfaces such as robots and moving joint parts, the tactile skin usually must also have properties such as high flexibility and high elasticity.

At present, some research groups in Japan and the United States have reported electronic skin based on organic field effect transistor type, capacitive type and piezoresistive type, but each has its own advantages and disadvantages. For example, the use of rigid silicon-based materials makes the device non-transparent and non-transparent. Flexible, the problem that the electronic chip and the matrix material cannot be effectively combined, which hinders the performance of the chip, and greatly limits the application range of the electronic skin. A tactile skin with flexibility, high strength, high sensitivity and durability is yet to be further developed.

Summary of the invention

In order to solve the above problems, the present invention discloses a flexible high-strength robot skin preparation method.

In order to achieve the above object, the present invention provides the following technical solutions:

A flexible high-strength robot skin preparation method comprising the following steps:

S1: etching a thermoplastic elastomer base material by using a plasma device to prepare a flexible elastic matrix having a repeating unit of 1-100 micrometers, micro-nano processing by photolithography, microfluidic, 3D printing The process, introducing particles on the surface of the repeating unit, realizes pre-preparation of micro-nano patterning of the surface of the flexible substrate.

S2: spraying a graphene or carbon nanotube solution on the surface of the micro-nano patterned flexible substrate as a conductive layer.

S3: The sensor electronic chip component is coated with a coupling agent, and the surface-treated pressure sensor electronic chip original is implanted into the thermoplastic elastomer matrix by embedding.

Preferably, the thermoplastic elastomer base material in S1 is a styrene-based thermoplastic elastomer, an olefin-based thermoplastic elastomer, a diene-based thermoplastic elastomer, a vinyl chloride-based thermoplastic elastomer or a polyurethane-based thermoplastic elastomer.

Preferably, the etching in S1 is performed at a pressure of 0.1-100 MPa and a power of 600-2000 W for 0.1-60 min.

Preferably, the repeating unit in S1 is a lattice, a strip matrix or a strip grating with a pitch of 1-100 micrometers.

Preferably, the concentration of the graphene or carbon nanotube solution in the S2 is from 0.001 to 100 mg/mL.

Preferably, the conductive layer in the S2 has a thickness of 30-150 microns.

Preferably, the coupling agent in the S3 is a silane coupling agent, a titanate coupling agent or a zirconium coupling agent.

The invention has the beneficial effects that the electronic chip and the matrix material of the invention can be effectively combined, which is beneficial to the performance of the chip, and is advantageous for expanding the application range of the electronic skin; the invention uses the thermoplastic elastomer as the outer layer of the skin, which is beneficial to the invention. Enhances skin elasticity, ductility and weatherability.

Detailed ways

The technical solutions provided by the present invention are described in detail below with reference to the specific embodiments, and the following detailed description is only to illustrate the invention and not to limit the scope of the invention.

The following thermoplastic elastomers are abbreviated as TPE.

Example 1

A: Using plasmonic equipment to etch 0.1-60 of styrene TPE, olefinic TPE, diene TPE, vinyl chloride TPE or polyurethane TPE matrix material at a pressure of 0.1-100 MPa and 600-2000 watts. Minutes, a flexible elastic matrix is prepared. The flexible elastic matrix has a repeating unit of 1-100 μm, a 1-100 μm dot matrix, a strip matrix or a strip grating, and then passes through photolithography, microfluidics, and 3D printing. The nano-machining process introduces 1-100 nm particles on the surface of the repeating unit, and further micro-nano patterning is designed on the surface of the pre-prepared flexible substrate.

Second, a 0.001-100 mg/mL graphene or carbon nanotube solution is sprayed on the surface of the patterned substrate as a conductive layer, and the thickness of the control liquid layer is 30-150 μm.

Third: the sensor electronic chip component is coated with a silane coupling agent, a titanate coupling agent or a zirconium coupling agent to improve the compatibility with the substrate, and the surface-treated pressure sensor is embedded by the embedding method. The electronic chip original is implanted into the TPE matrix.

Example 2

Through the dot matrix design process, firstly, a plasma-based surface patterned TPE substrate with a repeating unit size of 10 μm and a pitch of 10 μm was prepared by treating the vinyl chloride-based TPE with a plasma device at 1000 W power and 10 MPa for 20 minutes, and then using light. The surface is further micro-nano-processed by an etching method to obtain a micro-nano patterned substrate having uniformly distributed 50 nm particles at the lattice point. A 10 mg/mL graphene solution was applied to the surface of the patterned substrate to control the thickness of the liquid layer to 50 microns. The pressure sensitive electronic skin is prepared by treating the pressure sensor electronic chip with a titanate coupling agent and then implanting it into the TPE matrix by embedding.

Test 1

The comprehensive performance test of the conventional skin products of the sample skin machine prepared in Example 2 was carried out, and the results are shown in Table 1.

Table 1

It can be seen from the test results of Table 1 that the pressure sensitivity, pressure detection limit, toughness, strength and weather resistance of the product prepared in Example 2 are superior to conventional products at home and abroad, and have high market value.

The technical means disclosed in the solution of the present invention is not limited to the technical means disclosed in the above embodiments, and includes a technical solution composed of any combination of the above technical features. It should be noted that a number of modifications and refinements may be made by those skilled in the art without departing from the principles of the invention, and such modifications and refinements are also considered to be within the scope of the invention.

Claims

A flexible high-strength robot skin preparation method, comprising: the following steps:

S1: etching a thermoplastic elastomer base material by using a plasma device to prepare a flexible elastic matrix having a repeating unit of 1-100 micrometers, micro-nano processing by photolithography, microfluidic, 3D printing Process, introducing particles on the surface of the repeating unit to realize pre-preparation of micro-nano patterning of the surface of the flexible substrate;

S2: spraying a graphene or carbon nanotube solution on the surface of the micro-nano patterned flexible substrate as a conductive layer;

S3: The sensor electronic chip component is coated with a coupling agent, and the surface-treated pressure sensor electronic chip original is implanted into the thermoplastic elastomer matrix by embedding.
The method for preparing a skin of a flexible high-strength robot according to claim 1, wherein the thermoplastic elastomer base material in the S1 is a styrene-based thermoplastic elastomer, an olefin-based thermoplastic elastomer, or a diene-based thermoplastic elastomer. , a vinyl chloride-based thermoplastic elastomer or a polyurethane-based thermoplastic elastomer.
The method for preparing a skin of a flexible high-strength robot according to claim 1, wherein the etching in the S1 is performed at a pressure of 0.1-100 MPa and a power of 600-2000 W for 0.1-60 min.
The method for preparing a flexible high-strength robot skin according to claim 1, wherein the repeating unit in the S1 is a dot matrix, a strip matrix or a strip grating with a pitch of 1-100 μm.
The method for preparing a flexible high-strength robot skin according to claim 1, wherein the concentration of the graphene or carbon nanotube solution in the S2 is 0.001-100 mg/mL.
The method for preparing a flexible high-strength robot skin according to claim 1, wherein the conductive layer in the S2 has a thickness of 30 to 150 μm.
The method for preparing a skin of a flexible high-strength robot according to claim 1, wherein the coupling agent in the S3 is a silane coupling agent, a titanate coupling agent or a zirconium coupling agent.