Preparation device and process of modified solid-phase silica gel for robot skin

Abstract

The invention relates to the technical field of solid-phase silica gel preparation, in particular to a preparation device and process of modified solid-phase silica gel for robot skin. The preparation device of the modified solid-phase silica gel for the robot skin comprises a supporting frame, a reaction kettle and a temperature control tube, wherein the reaction kettle and the temperature control tube are erected on the supporting frame; the guide pipe is mounted at the bottom end of the reaction kettle, one end of the guide pipe is inserted into the temperature control pipe and is provided with two groups of liquid guide plates, the liquid guide plates are symmetrically distributed based on the guide pipe, glue outlet holes are formed in the middle parts of the two groups of liquid guide plates, and the glue outlet holes are communicated with a first gel pump; the liquid outlet end of the first gel pump is connected with a centrifugal liquid guide mechanism used for shaking up and exhausting silica gel, and a gate plate piece used for sealing the guide pipe and the reaction kettle is installed in the guide pipe; the sealing cover is mounted on the reaction kettle, and a stirring mechanism for stirring silica gel preparation raw materials is mounted on the sealing cover. The device and the process for preparing the modified solid-phase silica gel for the robot skin, provided by the invention, have the advantages of uniform stirring and high extrusion molding quality.

Description

Technical Field

[0001] The invention relates to the technical field of solid phase silica gel preparation, and in particular to a device and process for preparing modified solid phase silica gel for robot skin. Background Art

[0002] Solid phase silica gel is a synthetic compound composed of silicon oxide, water and metal oxide. It has the special property of changing phase with temperature. When the temperature is between 108 and 550 degrees Celsius, it changes from solid phase to liquid phase and then to solid phase. Due to the wide critical range, it lays the foundation for the special physical and chemical properties and processability of the material. As a low-cost and widely used raw material, solid phase silica gel can be widely used in construction, energy saving, thermal insulation, fire prevention and other fields.

[0003] Among them, the use of modified solid-phase silicone gel for robot skin is a common choice, because silicone gel has good flexibility, durability and biocompatibility. Modified solid-phase silicone gel can be optimized through chemical or physical methods to meet the needs of robot skin in terms of perception, tactile feedback and environmental adaptability. However, in the process of preparing modified solid-phase silicone gel, bubbles are prone to appear inside the liquid silicone gel during extrusion, resulting in bubble holes when the liquid phase is converted into solid-phase silicone gel, causing defects in the production of robot limbs and affecting the robot's touch and wear resistance.

[0004] Therefore, it is necessary to provide a new modified solid-phase silicone gel preparation device and process for robot skin to solve the above technical problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a device and process for preparing modified solid phase silicone gel for robot skin.

[0006] The modified solid-phase silicone gel preparation device for robot skin provided by the present invention comprises: a support frame, and a reaction kettle and a temperature control tube mounted on the support frame, wherein the temperature control tube is located below the reaction kettle;

[0007] A conduit is installed at the bottom end of the reactor, and one end of the conduit away from the reactor is inserted into the temperature control tube and installed with a liquid guide plate, the liquid guide plates are provided in two groups and are symmetrically distributed based on the conduit, and a glue outlet hole is opened in the middle of the two groups of liquid guide plates, the glue outlet hole is connected to a gel pump 1, and the liquid outlet end of the gel pump 1 is connected to a centrifugal liquid guide mechanism for shaking and exhausting the silicone gel, and a gate piece for sealing the conduit and the reactor is installed in the conduit;

[0008] The sealing cover is installed on the reaction kettle, and the sealing cover is equipped with a stirring mechanism for stirring the raw materials for preparing the silica gel.

[0009] Preferably, a feed pipe is installed at the top of the reactor, and two feed pipes are provided. The two feed pipes are symmetrically distributed based on the reactor and both are fixedly installed with a control valve.

[0010] Preferably, a temperature controller is fixedly installed on the outer wall of the reactor, the temperature controller is electrically connected to an electromagnetic coil, the electromagnetic coil is fixedly sleeved in a trough opened in the reactor, the temperature controller is also electrically connected to a plurality of constant temperature electric heating rods, and the plurality of constant temperature electric heating rods are evenly inserted in the temperature control tube.

[0011] Preferably, sealing baffles are installed at both ends of the temperature control tube, and the sealed space formed by the sealing baffles and the temperature control tube is filled with heat transfer oil.

[0012] Preferably, the centrifugal liquid conduction mechanism includes a mounting bracket fixedly installed in the temperature control tube, liquid conduction tube covers are fixedly installed at both ends of the mounting bracket, a hollow tube is rotatably installed between the two liquid conduction tube covers, the outer wall of the hollow tube is fixedly sleeved with a large gear, a waterproof motor is embedded on the mounting bracket, the output end of the waterproof motor is fixedly sleeved with a small gear, the small gear is meshed with the large gear, and of the two liquid conduction tube covers, the liquid conduction tube cover close to the end of gel pump one is connected to the output end of gel pump one, and the liquid conduction tube cover away from the end of gel pump one is connected to gel pump two.

[0013] Preferably, the gate member includes a hydraulic rod, and the hydraulic rod is provided with two groups. The two groups of hydraulic rods are fixedly mounted on the temperature control tube, and a sealing gate for sealing the conduit is fixedly mounted on the output ends of the two groups of hydraulic rods. The outer wall of the sealing gate is slidably matched with the inner wall of the conduit, and the outer wall of the sealing gate is provided with a groove, and a sealing ring is embedded in the groove.

[0014] Preferably, a liquid collecting tank is installed at the bottom end of the sealing cover, a distillation hood is installed on the liquid collecting tank, the distillation hood is provided with a through hole for a stirring mechanism to pass through, and an exhaust pipe column is installed at the top end of the sealing cover.

[0015] Preferably, the stirring mechanism comprises a transmission tube rotatably mounted on the sealing cover, a stirring motor for driving the transmission tube to rotate is mounted on the sealing cover, and a plurality of stirring rods are evenly mounted on one end of the transmission tube extending into the reaction kettle.

[0016] Preferably, several of the stirring rods are rotatably connected to the transmission tube, and one end of the several stirring rods extending into the transmission tube is fixedly sleeved with a bevel gear 1, and the other ends of the several stirring rods are evenly installed with several short rods, a fixed rod is inserted into the transmission tube, the fixed rod passes through a sealing gate plate and is fixedly connected to the temperature control tube, and several bevel gears 2 are evenly installed on the fixed rod, and the bevel gears 2 are meshed with the corresponding bevel gear 1.

[0017] A process for preparing a modified solid-phase silicone gel for a robot skin, comprising the following steps:

[0018] S1. Raw material introduction: Before introduction, first seal the connection between the conduit and the reaction kettle by means of a gate member, and then introduce the raw materials for preparing the solid-phase silicone gel, namely sodium silicate, silicate ester, hydrochloric acid, solvent, surfactant, crosslinking agent and catalyst, into the reaction kettle one by one in sequence through the feed pipe according to the ratio. When introducing, the solid and liquid are separated according to the properties of the raw materials and introduced from two feed pipes;

[0019] S2. Stirring and mixing: Simultaneously start the temperature controller and the stirring motor. The temperature controller controls the electromagnetic coil to heat up the reaction kettle to the set reaction temperature, heating the raw materials from the solid phase to the liquid phase. The stirring motor drives the transmission pipe to rotate. When the transmission pipe rotates, it drives the stirring rod to rotate following the transmission pipe and at the same time drives the stirring rod to rotate self - rotatably, thereby driving the short rod to rotate synchronously, and then fully stirring the raw materials in the reaction kettle to prepare a liquid silicone gel. During stirring, the sealing cover uses the distillation cover, liquid collection tank and exhaust pipe column to exhaust and evaporate water vapor, reducing the liquid impurities of the silicone gel;

[0020] S3. Glue discharging treatment: After completing S2, control the hydraulic rod of the gate member to drive the sealing gate to move downward along the conduit until the sealing gate moves to the lower part of the glue discharging hole, and then start the first gel pump to introduce the liquid silicone gel flowing into the conduit into the hollow pipe through the liquid guiding pipe cover. When introducing, simultaneously start the waterproof motor. The waterproof motor drives the hollow pipe to rotate at a high speed through the meshing of the small gear and the large gear, performing centrifugal degassing on the liquid silicone gel flowing into the hollow pipe, further reducing the bubbles in the liquid silicone gel. After fully centrifugal exhaust, the preparation of the liquid silicone gel of the modified solid-phase silicone gel is completed, and the liquid silicone gel is discharged into the mold for manufacturing the robot through the second gel pump for cooling.

[0021] Compared with the related technology, the modified solid-phase silicone gel preparation device and process for a robot skin provided by the present invention have the following beneficial effects:

[0022] The present invention provides a modified solid-phase silicone gel preparation device and process for a robot skin. A centrifugal liquid guiding mechanism is arranged on the first gel pump of the conduit. The centrifugal liquid guiding mechanism utilizes the cooperation of the mounting bracket, liquid guiding pipe cover, hollow pipe, large gear, waterproof motor, small gear and the second gel pump, which is convenient for extruding the bubbles in the liquid silicone gel during the preparation and extrusion, improving the forming quality of the solid-phase silicone gel;

[0023] A stirring mechanism is arranged on the sealing cover. The stirring mechanism utilizes the cooperation of the transmission pipe, stirring motor, stirring rod, bevel gear one, short rod, fixed rod and bevel gear two, making the stirring of the liquid silicone gel preparation more sufficient and uniform. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic structural diagram of a preferred embodiment of the modified solid-phase silicone gel preparation device for robot skin provided by the present invention;

[0025] Figure 2 Schematic sectional view of the modified solid-phase silicone gel preparation device for robot skin provided by the present invention;

[0026] Figure 3 Schematic axial sectional view of the modified solid-phase silicone gel preparation device for robot skin provided by the present invention;

[0027] Figure 4 Schematic partial axial sectional view of the temperature control tube provided by the present invention;

[0028] Figure 5 Schematic structural diagram of the centrifugal liquid guiding mechanism connected to the first gel pump provided by the present invention;

[0029] Figure 6 Schematic structural diagram of the gate plate member provided by the present invention;

[0030] Figure 7 is Figure 2 Partial enlarged view of A shown in.

[0031] Reference numerals in the figure: 1, support frame; 2, reaction kettle; 21, feed pipe; 22, control valve; 23, thermostat; 24, electromagnetic coil; 25, constant temperature electric heating rod; 3, temperature control tube; 31, sealing partition board; 4, conduit; 41, liquid guiding plate; 401, glue outlet hole; 5, first gel pump; 6, centrifugal liquid guiding mechanism; 61, mounting bracket; 62, liquid guiding pipe cover; 63, hollow pipe; 64, large gear; 65, waterproof motor; 66, small gear; 67, second gel pump; 7, gate plate member; 71, hydraulic rod; 72, sealing gate plate; 73, sealing ring; 8, sealing cover; 81, liquid collecting tank; 82, distillation cover; 83, exhaust pipe column; 9, stirring mechanism; 91, transmission pipe; 92, stirring motor; 93, stirring rod; 94, first bevel gear; 95, short rod; 96, fixed rod; 97, second bevel gear. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0034] Please refer to Figures 1 to 7The embodiment of the present invention provides a modified solid-phase silicone gel preparation device and process for robot skin. The modified solid-phase silicone gel preparation device for robot skin includes: a support frame 1, and a reaction kettle 2 and a temperature control tube 3 mounted on the support frame 1, and the temperature control tube 3 is located below the reaction kettle 2;

[0035] In the embodiments of the present invention, please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , also includes:

[0036] The conduit 4 is installed at the bottom end of the reactor 2, and the end of the conduit 4 away from the reactor 2 is inserted into the temperature control tube 3 and installed with a liquid guide plate 41. Two groups of liquid guide plates 41 are provided, and are symmetrically distributed based on the conduit 4. The middle parts of the two groups of liquid guide plates 41 are provided with a glue outlet hole 401, and the glue outlet hole 401 is connected to a gel pump 5. The liquid outlet end of the gel pump 5 is connected to a centrifugal liquid guide mechanism 6 for shaking and exhausting the silicone gel. A gate member 7 for sealing the conduit 4 and the reactor 2 is installed in the conduit 4;

[0037] The sealing cover 8 is installed on the reaction kettle 2, and a stirring mechanism 9 for stirring the raw materials for preparing the silica gel is installed on the sealing cover 8.

[0038] It should be noted that: when in use, the raw materials for preparing the modified silicone gel are introduced into the reactor 2 one by one, and then the stirring mechanism 9 on the sealing cover 8 is started to fully stir the raw materials introduced into the reactor 2 to obtain liquid modified silicone gel. After the stirring is completed, the conduit 4 is opened by the gate member 7, so that the stirred liquid silicone gel is introduced into the conduit 4, and then the gel pump 5 is started to suck the liquid silicone gel in the conduit 4 into the centrifugal liquid guiding mechanism 6 through the gel outlet hole 401, and then the centrifugal liquid guiding mechanism 6 is used to centrifugally discharge the bubbles in the introduced liquid modified silicone gel, so as to improve the quality of its liquid extrusion, so as to improve the quality of the solid modified silicone gel.

[0039] In this embodiment, the gate member 7 includes hydraulic rods 71. There are two groups of hydraulic rods 71, and the two groups of hydraulic rods 71 are fixedly installed on the temperature control pipe 3. The output ends of the two groups of hydraulic rods 71 are jointly fixedly installed with a sealing gate 72 for sealing the conduit 4. The outer side wall of the sealing gate 72 is slidably matched with the inner side wall of the conduit 4, and a groove is formed on the outer side wall of the sealing gate 72. A sealing ring 73 is embedded in the groove. When the gate member 7 is in use, when it is necessary to seal the conduit 4 and the reaction kettle 2, the hydraulic rod 71 is controlled to drive the sealing gate 72 to slide upward to the top of the conduit 4, so as to prevent the raw materials in the reaction kettle 2 from being prematurely introduced into the conduit 4, which affects normal stirring. After the stirring is completed, when it is necessary to open the glue outlet hole 401, the hydraulic rod 71 is started to drive the sealing gate 72 to slide downward until it slides below the glue outlet hole 401, so as to open the glue outlet hole 401, so that the modified silicone gel in the reaction kettle 2 is introduced into the conduit 4 and exported from the glue outlet hole 401. The sealing gate 72 uses the sealing ring 73 to seal the gap between the conduit 4 and the sealing gate 72, to prevent the liquid silicone gel from leaking from the conduit 4.

[0040] Further, in order to facilitate the addition of the solid-phase modified silicone gel raw materials, two feeding pipes 21 are installed at the top of the reaction kettle 2. The two feeding pipes 21 are symmetrically distributed based on the reaction kettle 2 and are both fixedly installed with control valves 22. This can be used to classify and put the solid raw materials and liquid raw materials through the two feeding pipes 21, so as to prevent the raw materials from sticking in the feeding pipes 21 when the solid and liquid raw materials are mixed and added during feeding, resulting in waste of raw materials and affecting the efficiency of raw material addition.

[0041] Among them, a temperature controller 23 is fixedly installed on the outer side wall of the reaction kettle 2. The temperature controller 23 is electrically connected to an electromagnetic coil 24. The electromagnetic coil 24 is fixedly sleeved in a sunk groove opened in the reaction kettle 2. The temperature controller 23 is also electrically connected to a plurality of constant-temperature electric heating rods 25. The plurality of constant-temperature electric heating rods 25 are uniformly inserted into the temperature control pipe 3. In this way, the temperature controller 23 controls the electromagnetic coil 24 to heat the reaction kettle 2, so that the inside of the reaction kettle 2 reaches the designed temperature for the modified silicone gel reaction. The temperature can be specifically adjusted according to the type of heating modifier to make the reaction efficiency the fastest, and the temperature of the temperature control pipe 3 is regulated by the constant-temperature electric heating rods 25, which is convenient for keeping the modified silicone gel in the temperature control pipe 3 in a stable liquid state.

[0042] Further, sealing partitions 31 are installed at both ends of the temperature control pipe 3. The sealing space formed by the sealing partitions 31 and the temperature control pipe 3 is filled with heat-conducting oil. This is convenient for the constant-temperature electric heating rods 25 to regulate the temperature of the temperature control pipe 3 by using the heat-conducting oil. It should be noted that the temperature regulated by the constant-temperature electric heating rods 25 is slightly higher than the critical temperature at which the solid phase of the modified silicone gel is transformed into the liquid phase, which is convenient for the later extrusion of the liquid-phase modified silicone gel to be cooled and transformed into the solid phase.

[0043] In the embodiment of the present invention, please refer toFigures 1 to 7 The centrifugal liquid guiding mechanism 6 includes a mounting bracket 61 fixedly installed inside the temperature control tube 3. Liquid guiding tube covers 62 are fixedly installed at both ends of the mounting bracket 61. A hollow tube 63 is rotatably installed between the two liquid guiding tube covers 62. A large gear 64 is fixedly sleeved on the outer side wall of the hollow tube 63. A waterproof motor 65 is embedded in the mounting bracket 61. A small gear 66 is fixedly sleeved on the output end of the waterproof motor 65. The small gear 66 meshes with the large gear 64. Among the two liquid guiding tube covers 62, the liquid guiding tube cover 62 close to one end of the gel pump 5 is communicated with the output end of the gel pump 5, and the liquid guiding tube cover 62 at the end away from the gel pump 5 is communicated with a gel pump 67;

[0044] It should be noted that when the centrifugal liquid guiding mechanism 6 is in use, after the gel pump 5 injects the liquid silicone gel into the hollow tube 63 through the liquid guiding tube cover 62, the waterproof motor 65 is started synchronously. The waterproof motor 65 drives the small gear 66 to rotate. The small gear 66 meshes with the large gear 64, thereby driving the hollow tube 63 to rotate at a high speed, centrifugally rotating the liquid modified silicone gel flowing into the hollow tube 63, centrifugally discharging the bubbles in the liquid silicone gel. After discharging the bubbles, the gel pump 67 is used to inject the liquid modified silicone gel into the robot production template for cooling to obtain high-quality solid-phase modified silicone gel;

[0045] And in this embodiment:

[0046] In an embodiment of the present invention, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , a liquid collecting tank 81 is installed at the bottom end of the sealing cover 8. A distillation cover 82 is installed on the liquid collecting tank 81. The distillation cover 82 is provided with a through hole through which the stirring mechanism 9 passes. An exhaust pipe column 83 is installed at the top end of the sealing cover 8;

[0047] It should be noted that during stirring, the sealing cover 8 uses the distillation cover 82 to collect the steam discharged from the stirred liquid modified silicone gel in the reaction kettle 2, and uses the liquid collecting tank 81 to collect distilled water, improving the stirring quality of the liquid silicone gel, and using the exhaust pipe column 83 for exhaust. It should be noted that when it is necessary to perform pressure stirring on the reaction kettle 2, it can be pressurized by closing the exhaust pipe column 83.

[0048] In an embodiment of the present invention, please refer to Figures 1 to 7 , the stirring mechanism 9 includes a transmission pipe 91 rotatably installed on the sealing cover 8. A stirring motor 92 for driving the transmission pipe 91 to rotate is installed on the sealing cover 8. A plurality of stirring rods 93 are uniformly installed at one end of the transmission pipe 91 extending into the reaction kettle 2;

[0049] It should be noted that when the stirring mechanism 9 is in use, after the raw materials are introduced into the reaction kettle 2, the stirring motor 92 is started to drive the transmission pipe 91 to rotate. The transmission pipe 91 drives a plurality of stirring rods 93 to rotate synchronously, so as to stir the raw materials introduced into the reaction kettle 2.

[0050] Furthermore, a plurality of stirring rods 93 are all rotatably connected to the transmission pipe 91, and a first bevel gear 94 is fixedly sleeved at one end of each of the plurality of stirring rods 93 extending into the transmission pipe 91. A plurality of short rods 95 are uniformly installed at the other ends of the plurality of stirring rods 93. A fixing rod 96 is inserted into the transmission pipe 91. The fixing rod 96 passes through the sealing gate 72 and is fixedly connected to the temperature control pipe 3. A plurality of second bevel gears 97 are uniformly installed on the fixing rod 96. The second bevel gear 97 meshes with the corresponding first bevel gear 94. In this way, when the transmission pipe 91 rotates and the stirring rod 93 follows the transmission pipe 91 to rotate, the first bevel gear 94 meshes with the second bevel gear 97, so as to drive the stirring rod 93 to rotate self - rotatably, thereby driving the short rod 95 to rotate, improving the overall stirring efficiency and making the raw materials in the reaction kettle stirred more efficiently and evenly.

[0051] A process for a preparation device of modified solid - phase silicone gel for robot skin includes the following steps:

[0052] S1. Raw material introduction: Before introduction, first seal the connection between the conduit 4 and the reaction kettle 2 by using the gate member 7. Then, according to the proportion, the raw materials for preparing the solid - phase silicone gel, namely sodium silicate, silicate ester, hydrochloric acid, solvent, surfactant, cross - linker and catalyst, are sequentially introduced into the reaction kettle 2 through the feed pipe 21 one by one. When introducing, the solid and liquid raw materials are separated according to their properties and introduced from two feed pipes 21.

[0053] S2. Stirring and mixing: Start the temperature controller 23 and the stirring motor 92 synchronously. The temperature controller 23 controls the electromagnetic coil 24 to heat up the reaction kettle 2 to the reaction set temperature, heating the raw materials from the solid phase to the liquid phase. The stirring motor 92 drives the transmission pipe 91 to rotate. When the transmission pipe 91 rotates, it drives the stirring rod 93 to rotate following the transmission pipe 91 and at the same time drives the stirring rod 93 to rotate self - rotatably, thereby driving the short rod 95 to rotate synchronously, and then fully stirring the raw materials in the reaction kettle 2 to prepare liquid silicone gel. When stirring, the sealing cover 8 uses the distillation cover 82, the liquid collection tank 81 and the exhaust pipe column 83 to exhaust and evaporate water vapor, reducing the liquid impurities of the silicone gel.

[0054] S3. Debinding treatment: After completing S2, control the hydraulic rod 71 of the gate member 7 to drive the rod-shaped sealing gate 72 to move downward along the conduit 4 until the sealing gate 72 moves below the glue outlet hole 401. Then start the gel pump 1 5 to introduce the liquid silicone gel flowing into the conduit 4 into the hollow tube 63 through the liquid guide tube cover 62. When introducing, synchronously start the waterproof motor 65. The waterproof motor 65 meshes with the large gear 64 through the small gear 66, thereby driving the hollow tube 63 to rotate at a high speed to perform centrifugal degassing on the liquid silicone gel flowing into the hollow tube 63, further reducing the bubbles in the liquid silicone gel. After sufficient centrifugal exhaust, the preparation of the liquid silicone gel of the modified solid-phase silicone gel is completed. The liquid silicone gel is discharged into the mold for manufacturing the robot through the gel pump 2 67 and then cooled.

[0055] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A device for preparing modified solid-phase silicone gel for robot skin, comprising: A support frame (1), and a reaction kettle (2) and a temperature control tube (3) mounted on the support frame (1), wherein the temperature control tube (3) is located below the reaction kettle (2); It is characterized by further comprising: A conduit (4) is installed at the bottom end of the reactor (2), and one end of the conduit (4) facing away from the reactor (2) is inserted into the temperature control tube (3) and is installed with a liquid guide plate (41), the liquid guide plates (41) are provided with two groups and are symmetrically distributed based on the conduit (4), and the middle parts of the two groups of liquid guide plates (41) are provided with a glue outlet hole (401), the glue outlet hole (401) is connected to a gel pump (5), and the liquid outlet end of the gel pump (5) is connected to a centrifugal liquid guide mechanism (6) for shaking and exhausting the silicone gel, and a gate member (7) for sealing the conduit (4) and the reactor (2) is installed in the conduit (4); A sealing cover (8) is installed on the reaction kettle (2), and a stirring mechanism (9) for stirring the raw materials for preparing the silica gel is installed on the sealing cover (8).

2. The modified solid phase silica gel preparation device for robot skin according to claim 1, characterized in that: A feed pipe (21) is installed at the top of the reaction kettle (2), and two feed pipes (21) are provided. The two feed pipes (21) are symmetrically distributed based on the reaction kettle (2) and are both fixedly installed with a control valve (22).

3. The device for preparing modified solid phase silica gel for robot skin according to claim 1, characterized in that: A temperature controller (23) is fixedly installed on the outer wall of the reaction kettle (2), and the temperature controller (23) is electrically connected to an electromagnetic coil (24). The electromagnetic coil (24) is fixedly sleeved in a trough opened in the reaction kettle (2). The temperature controller (23) is also electrically connected to a plurality of constant temperature electric heating rods (25), and the plurality of constant temperature electric heating rods (25) are evenly inserted in the temperature control tube (3).

4. The device for preparing modified solid phase silica gel for robot skin according to claim 3, characterized in that: Sealing baffles (31) are installed at both ends of the temperature control tube (3), and the sealed space formed by the sealing baffles (31) and the temperature control tube (3) is filled with heat transfer oil.

5. The device for preparing modified solid phase silica gel for robot skin according to claim 1, characterized in that: The centrifugal liquid guiding mechanism (6) comprises a mounting bracket (61) fixedly mounted in the temperature control tube (3), and liquid guiding tube covers (62) are fixedly mounted at both ends of the mounting bracket (61). A hollow tube (63) is rotatably mounted between the two liquid guiding tube covers (62), and a large gear (64) is fixedly sleeved on the outer wall of the hollow tube (63). A waterproof motor (65) is embedded on the mounting bracket (61), and a small gear (66) is fixedly sleeved on the output end of the waterproof motor (65), and the small gear (66) is meshed with the large gear (64). Among the two liquid guiding tube covers (62), the liquid guiding tube cover (62) close to one end of the gel pump one (5) is connected to the output end of the gel pump one (5), and the liquid guiding tube cover (62) away from the end of the gel pump one (5) is connected to the gel pump two (67).

6. The modified solid phase silica gel preparation device for robot skin according to claim 1, characterized in that: The gate member (7) comprises a hydraulic rod (71), wherein the hydraulic rod (71) is provided with two groups, the two groups of hydraulic rods (71) are fixedly mounted on the temperature control tube (3), and a sealing gate (72) for sealing the conduit (4) is fixedly mounted on the output ends of the two groups of hydraulic rods (71), the outer side wall of the sealing gate (72) is slidably matched with the inner side wall of the conduit (4), and the outer side wall of the sealing gate (72) is provided with a groove, and a sealing ring (73) is embedded in the groove.

7. The device for preparing modified solid phase silica gel for robot skin according to claim 1, characterized in that: A liquid collecting trough (81) is installed at the bottom end of the sealing cover (8), a distillation hood (82) is installed on the liquid collecting trough (81), and the distillation hood (82) is provided with a through hole for the stirring mechanism (9) to pass through. An exhaust pipe column (83) is installed at the top end of the sealing cover (8).

8. The device for preparing modified solid phase silica gel for robot skin according to claim 7, characterized in that: The stirring mechanism (9) comprises a transmission tube (91) rotatably mounted on the sealing cover (8); a stirring motor (92) for driving the transmission tube (91) to rotate is mounted on the sealing cover (8); and a plurality of stirring rods (93) are evenly mounted on one end of the transmission tube (91) extending into the reaction kettle (2).

9. The device for preparing modified solid phase silica gel for robot skin according to claim 8, characterized in that: The plurality of stirring rods (93) are rotatably connected to the transmission tube (91), and one end of the plurality of stirring rods (93) extending into the transmission tube (91) is fixedly sleeved with a bevel gear one (94), and the other end of the plurality of stirring rods (93) is evenly installed with a plurality of short rods (95), and a fixed rod (96) is inserted into the transmission tube (91), and the fixed rod (96) passes through the sealing gate plate (72) and is fixedly connected to the temperature control tube (3), and the fixed rod (96) is evenly installed with a plurality of bevel gears two (97), and the bevel gears two (97) are meshed with the corresponding bevel gear one (94).

10. The process for preparing the modified solid phase silica gel for robot skin according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Raw material introduction: before introduction, the connection between the conduit (4) and the reaction kettle (2) is sealed by using a gate member (7), and then the raw materials for preparing the solid phase silica gel, sodium silicate, silicate, hydrochloric acid, solvent, surfactant, crosslinking agent and catalyst are introduced into the reaction kettle (2) in sequence through the feed pipe (21) according to the proportion. During the introduction, the raw materials are introduced into the reaction kettle (2) separately in solid and liquid according to the properties of the raw materials. S2, stirring and mixing: synchronously starting the temperature controller (23) and the stirring motor (92), the temperature controller (23) controls the electromagnetic coil (24) to heat the reactor (2) to the set reaction temperature, heating the raw materials from the solid phase to the liquid phase, the stirring motor (92) drives the transmission tube (91) to rotate, and when the transmission tube (91) rotates, it drives the stirring rod (93) to rotate along with the transmission tube (91), thereby driving the stirring rod (93) to rotate, thereby driving the short rod (95) to rotate synchronously, and then fully stirring the raw materials in the reactor (2) to prepare liquid silica gel. During stirring, the sealing cover (8) uses the distillation cover (82), the liquid collecting tank (81) and the exhaust pipe column (83) to exhaust and evaporate water vapor, thereby reducing liquid impurities in the silica gel; S3, glue discharge treatment: after completing S2, the hydraulic rod (71) of the gate member (7) drives the sealing gate (72) to move downward along the conduit (4) until the sealing gate (72) moves to the bottom of the glue outlet hole (401), and then the gel pump (5) is started to guide the liquid silicone gel flowing into the conduit (4) into the hollow tube (63) through the liquid guide tube cover (62). During the introduction, the waterproof motor (65) is started synchronously. The waterproof motor (65) meshes with the large gear (64) through the small gear (66), thereby driving the hollow tube (63) to rotate at a high speed, and the liquid silicone gel flowing into the hollow tube (63) is centrifugally degassed to further reduce the bubbles in the liquid silicone gel. After sufficient centrifugal exhaust, the preparation of the liquid silicone gel of the modified solid phase silicone gel is completed, and the liquid silicone gel is discharged into the mold for manufacturing the robot through the gel pump (67) for cooling.

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