Method for preparing skin of robot with high flexibility

A robotic and high-strength technology, applied in instruments, manipulators, manufacturing tools, etc., can solve problems such as limiting the application range of electronic skin, hindering chip performance, and ineffective combination of electronic chips and matrix materials, and achieves benefits such as chip performance, enhanced elasticity, The effect of expanding the scope of application

Active Publication Date: 2019-01-22
JIANGSU SHENYUAN MATERIAL SCI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, some research groups in Japan and the United States have reported electronic skins based on organic field effect transistors, capacitive and piezoresistive, but each has advantages and disadvantages. For example, the use of rigid silicon-based mater

Method used

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  • Method for preparing skin of robot with high flexibility

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Experimental program
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Effect test

Embodiment 1

[0020] 1: Use plasma equipment to etch 0.1-60% of styrene-type TPE, olefin-type TPE, diene-type TPE, vinyl chloride-type TPE or polyurethane-type TPE matrix materials at a pressure of 0.1-100 MPa and a power of 600-2000 watts. Minutes, a flexible elastic matrix is ​​prepared. The repeating unit of the flexible elastic matrix is ​​1-100 microns, and the pitch is 1-100 microns. Dot matrix, strip matrix or strip grating, and then micro The nanofabrication process introduces 1-100nm particles on the surface of the repeating unit, and further performs micro-nano patterning design on the surface of the pre-fabricated flexible substrate.

[0021] Two: Spray 0.001-100 mg / mL graphene or carbon nanotube solution on the surface of the patterned substrate as a conductive layer, and control the thickness of the liquid layer to 30-150 microns.

[0022] Three: Coating a layer of silane coupling agent, titanate coupling agent or zirconium coupling agent on the sensor electronic chip component...

Embodiment 2

[0024] Through the lattice design program, first use plasma equipment to treat vinyl chloride TPE at 1000W power and 10MPa pressure for 20 minutes to prepare a lattice surface patterned TPE matrix with a repeating unit size of 10 microns and a spacing of 10 microns, and then use photolithography The surface is further micro-nano-processed by the etching method to obtain a micro-nano patterned matrix with uniform distribution of 50 nm particles on the matrix points. Apply 10 mg / mL graphene solution on the surface of the patterned substrate, and control the thickness of the liquid layer to be 50 microns. The pressure-sensitive flexible electronic skin can be prepared by treating the pressure sensor electronic chip with a titanate coupling agent, and then implanting it into the TPE matrix by embedding.

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Abstract

The invention discloses a method for preparing skin of a robot with high flexibility. The method comprises the following steps of S1, utilizing plasma equipment for etching a thermosplastic elastomermatrix material to prepare a flexible elastic matrix, wherein the repetitive unit of the flexible elastic matrix is 1-100 microns, through micro/nano processing technologies of photoetching, microfluid control and 3D printing, particles are introduced to the surface of the repetitive unit, and micro/nano patterning of the surface of a prepared flexible substrate is achieved; S2, coating the surface of the micro/nano patterned flexible substrate with a graphene or carbon nano tube solution to serve as a conductive layer; S3, coating a sensor electronic chip element with a layer of coupling agent, and implanting a pressure sensor electronic chip original element which is subjected to surface treatment into the thermosplastic elastomer matrix through an embedding method. According to the method, electronic chips can be effectively combined with the matrix material, the efficiency of the chips is achieved, and the application range of the electronic skin is expanded.

Description

technical field [0001] The invention relates to the field of bionic robot manufacturing, in particular to a method for preparing flexible and high-strength robot skin. Background technique [0002] With the continuous integration of informatization and industrialization, the intelligent industry represented by robot technology is booming. People look forward to the development of humanoid bionic robots that are closer to humans and other organisms in the future. The sense of touch is a necessary medium for robots to directly interact with the environment. The sense of touch itself has a strong sensitivity and can directly measure various properties of objects and environments. Tactile skin is a new type of wearable, flexible and bionic tactile electronic skin, which can endow robots with the same sense of touch as humans and animals, making them more intelligent and humane. In order to cover complex three-dimensional surfaces and moving joints such as robots, tactile skin ...

Claims

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Application Information

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IPC IPC(8): B25J19/00G01L5/00
CPCG01L5/00B25J19/00B25J19/02
Inventor 袁柳淑吴航贺盟唐家烨柏爱华
Owner JIANGSU SHENYUAN MATERIAL SCI CO LTD
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