Color paste for skin of humanoid robot and preparation method of color paste
By using a pigment paste technology that combines polydimethylsiloxane and fumed silica with diatomaceous earth, the problems of environmental protection, biosafety, and scrub resistance in humanoid robot skin coloring technology have been solved, achieving a simulated skin effect with high bonding strength and a soft touch.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- COLORSUN SHANGHAI NEW MATERIAL CO LTD
- Filing Date
- 2026-03-26
- Publication Date
- 2026-05-12
AI Technical Summary
Existing humanoid robot skin coloring technology suffers from insufficient environmental protection and biosafety. The poor adhesion between the color paste and the silicone substrate leads to poor dispersion stability of pigment particles, making the color easy to fall off. Furthermore, the production process is complex and unstable, making it difficult to meet the requirements for scrub fastness.
Polydimethylsiloxane is used as the carrier base, combined with fumed silica and diatomaceous earth as anti-settling and anchoring components to create a three-dimensional anchoring effect. A resin combination agent is added to build a stable reinforcing structure, forming an internal network that combines chemical anchoring and physical reinforcement to ensure a tight bond between the colorant and the silicone substrate.
It significantly improves the interfacial bonding strength and mechanical abrasion resistance of the coloring layer, ensuring that the skin color does not peel off for a long time, maintaining a soft touch, and meeting the comprehensive needs of humanoid robots for aesthetics, safety and durability.
Smart Images
Figure CN122011932A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of pigments, and in particular to a pigment for humanoid robot skin and a method for preparing the same. Background Technology
[0002] With the deep integration of artificial intelligence and materials science, humanoid robots are gradually expanding from industrial applications to areas such as home services, medical care, and public reception. To enhance the robot's friendliness and user experience, making it more lifelike in appearance and feel, the development of simulated human skin has become one of the key technologies in humanoid robot manufacturing. Ideal robot skin not only needs to visually present realistic skin tone and texture, but also must possess safety in contact with the human body, flexibility, and durability under long-term use. Currently, silicone rubber, due to its excellent biocompatibility, elasticity, and processability, has become the mainstream substrate for preparing simulated human skin.
[0003] In existing technologies, there have been some explorations and public disclosures regarding the fabrication of robotic simulated skin. For example, early Chinese patent CN102101339A disclosed a method for fabricating simulated humanoid skin for robots. This method uses high-molecular-weight silicone rubber as the main material, molds it, and attempts to use organic color pastes or commercially available alkyd polyester color pastes to mix colors to achieve skin tones for specific races such as Asians. However, this type of method is relatively rudimentary in its choice of color pastes, mainly focusing on the initial color presentation, without in-depth research on the chemical compatibility of the color paste with the silicone substrate, the compatibility of the curing system, and the color fastness over long-term use. In addition, the academic community has also attempted to explore new materials, such as developing colored hydrogels with self-healing functions for artificial muscles and skin, but these technologies are still in the laboratory stage and face the challenge of balancing coloring effects with material mechanical strength.
[0004] However, overall, existing skin coloring technologies for humanoid robots still have significant technical problems. First, in terms of environmental protection and biosafety, many traditional processes use pigments that contain organic components that may migrate or leach out, or even use non-specialized industrial pigments. These pigments fail to meet the requirements of being non-toxic, non-irritating, and non-allergenic for long-term contact with human skin, posing hygiene and safety risks. Second, in terms of durability, existing pigments have insufficient adhesion to silicone substrates, and the pigment particles have poor dispersion stability in the silicone system. This causes the skin to easily experience color fading, discoloration, or migration after repeated touching, bending, or cleaning, falling far short of the scrub resistance requirements for humanoid robots in daily use. Furthermore, due to the poor compatibility between pigments and silicone, precise control of low-concentration addition during the preparation process not only limits the saturation and expressiveness of the color but also increases the complexity and instability of the production process. Summary of the Invention
[0005] As mentioned above, how to develop a special pigment for humanoid robot silicone skin that combines excellent environmental safety, human-friendly contact, and high scrub fastness, and to establish a stable and reliable preparation method, remains a technical challenge that urgently needs to be solved in this field.
[0006] To address the above problems, this application provides the following technical solution: The first aspect of this application provides a color paste for the skin of a humanoid robot, which, by weight, comprises: 50-70 parts of carrier base, 15-27 parts of colorant, 2-5 parts of dispersant, 3-8 parts of anchoring agent, 3-6 parts of skin feel modifier, 0.5-1.5 parts of UV protectant, 2-4 parts of adhesion promoter, and 3-8 parts of gum agent.
[0007] In a preferred embodiment, the carrier base is polydimethylsiloxane.
[0008] In a preferred embodiment, the viscosity of the polydimethylsiloxane is 100~350 cSt at 25°C.
[0009] In a preferred embodiment, the viscosity of the polydimethylsiloxane is 200~250 cSt at 25°C.
[0010] In a preferred embodiment, the mass ratio of the carrier base to the colorant is (5.5~6.5):(1.9~2.6).
[0011] In a preferred embodiment, the mass ratio of the carrier base to the colorant is (6~6.5):(2.2~2.5).
[0012] In a preferred embodiment, the colorant is a composition of titanium dioxide, PO64 orange, and PY180 yellow.
[0013] In a preferred embodiment, the mass ratio of titanium dioxide, PO64 orange, and PY180 yellow is (22~27):(0.3~0.6):(0.1~0.3).
[0014] In a preferred embodiment, the mass ratio of titanium dioxide, PO64 orange, and PY180 yellow is (24~26):(0.4~0.5):(0.1~0.2).
[0015] In a preferred embodiment, the D90 particle size of the colorant is 0.5~1.5μm.
[0016] In a preferred embodiment, the D90 particle size of the colorant is 0.5~1μm.
[0017] In a preferred embodiment, the dispersant is at least one of BYK-9077, Tego 670, and EFKA 4010.
[0018] In a preferred embodiment, the dispersant is BYK-9077 or Tego 670.
[0019] In a preferred embodiment, the dispersant is BYK-9077.
[0020] In a preferred embodiment, the mass ratio of the carrier base, the anchoring agent, and the adhesive agent is (5.5~6.5):(0.5~0.8):(0.4~0.6).
[0021] In a preferred embodiment, the mass ratio of the carrier base, the anchoring agent, and the adhesive agent is (6~6.5):(0.6~0.7):(0.5~0.6).
[0022] In a preferred embodiment, the anchoring agent is a combination of fumed silica and diatomaceous earth.
[0023] In a preferred embodiment, the mass ratio of fumed silica to diatomaceous earth is (1~1.5):(0.4~0.8).
[0024] In a preferred embodiment, the mass ratio of fumed silica to diatomaceous earth is (1~1.2):(0.6~0.7).
[0025] In a preferred embodiment, the specific surface area of the fumed silica is 200~250 m² / g.
[0026] In a preferred embodiment, the specific surface area of the fumed silica is 220~250 m² / g.
[0027] In a preferred embodiment, the SiO2 content of the diatomaceous earth is ≥85%.
[0028] In a preferred embodiment, the average particle size of the diatomaceous earth is 3~6μm.
[0029] In a preferred embodiment, the average particle size of the diatomaceous earth is 3~4μm.
[0030] By using a blend of fumed silica and diatomaceous earth as anti-settling and anchoring components, a three-dimensional anchoring effect is achieved. During the cross-linking process of silica, it can participate in the reaction to form stable chemical anchoring points. At the same time, the hydrogen bond network formed in the silicone oil constructs a three-dimensional thixotropic framework, effectively preventing pigment sedimentation. Furthermore, relying on the natural microporous structure and high surface area, it exerts physical adsorption and mechanical anchoring effects on pigment particles and silica molecular chains. Under the combined effect of chemical anchoring and physical adsorption, the interfacial bonding strength is significantly enhanced, thereby giving the pigment paste excellent anti-settling stability and scrub fastness, and providing a solid foundation for its comprehensive performance.
[0031] In a preferred embodiment, the skin feel modifier is at least one of phenyl polysiloxane, amino polydimethylsiloxane, long-chain alkyl modified silicone oil, and polyether modified polysiloxane.
[0032] In a preferred embodiment, the skin feel modifier is phenyl polysiloxane or amino polydimethylsiloxane.
[0033] In a preferred embodiment, the skin feel modifier is aminopolydimethylsiloxane.
[0034] In a preferred embodiment, the UV protectant is at least one of Tinuvin 328, Tinuvin 928, Tinuvin 1577, and Tinuvin 770.
[0035] In a preferred embodiment, the UV protectant is Tinuvin 328 or Tinuvin 928.
[0036] In a preferred embodiment, the UV stabilizer is Tinuvin 328.
[0037] In a preferred embodiment, the adhesion promoter is at least one selected from tetraisopropyl titanate, tetrabutyl titanate, 3-aminopropyltriethoxysilane, and γ-methacryloyloxypropyltrimethoxysilane.
[0038] In a preferred embodiment, the adhesion promoter is tetraisopropyl titanate, tetrabutyl titanate, or 3-aminopropyltriethoxysilane.
[0039] In a preferred embodiment, the adhesion promoter is tetraisopropyl titanate or 3-aminopropyltriethoxysilane.
[0040] In a preferred embodiment, the adhesion promoter is 3-aminopropyltriethoxysilane.
[0041] In a preferred embodiment, the gum combination agent is a composition of gellan gum, guar gum, and sophorolipid.
[0042] In a preferred embodiment, the mass ratio of gellan gum, guar gum and sophoryl ester is (1~3):(2~4):(1~3).
[0043] In a preferred embodiment, the mass ratio of gellan gum, guar gum and sophoryl ester is (1.5~2):(3.3~3.8):(2~2.4).
[0044] In a preferred embodiment, the preparation method of the gelatin combination agent specifically includes the following steps: S1: Glycerin and deionized water are mixed and then gellan gum and guar gum are added. After stirring and wetting, the mixture is allowed to stand and swell for 30-35 minutes; S2: After swelling is completed, sophorolipid is added to obtain a uniform paste-like gelatin combination agent, which is used within 2-3 hours after preparation.
[0045] In a preferred embodiment, the preparation method of the gelatin combination agent specifically includes the following steps: S1: In a clean container, glycerin and deionized water are mixed and stirred at 200-300 rpm for 3-5 minutes until homogeneous. Then, gellan gum and guar gum are added, and stirring is continued for 15-20 minutes. After being fully wetted, the mixture is allowed to stand and swell for 30-35 minutes; S2: After swelling is complete, sophorolipids are added, and stirring is continued for 10-15 minutes to obtain a uniform paste-like gelatin combination agent, which is used within 2-3 hours after preparation.
[0046] The addition of a resin compound creates a stable reinforcing structure that tightly connects the molecular network to the hydrophobic silicone substrate. This ensures the stable dispersion of the reinforcing phase in the system. Meanwhile, the prepared premix forms a three-dimensional gel skeleton with rigid support capabilities in a hydrated environment, providing structural strength for the coloring layer at room temperature. Furthermore, it forms a reinforcing structure in subsequent preparation stages. The combined effect of these elements organically combines rigid support with flexible reinforcement, superimposing a physical reinforcement effect on top of chemical anchoring, thereby improving the scrub resistance and safety of the color paste.
[0047] The second aspect of this application provides a method for preparing a pigment paste for humanoid robot skin, specifically including the following steps: S1: Add a carrier base and a dispersant into a dispersion vessel, add a colorant while stirring, and increase the rotation speed to form a paste-like premixed slurry; S2: Add an anchoring agent to the premixed slurry, grind it to a fineness ≤8μm, and then discharge it into a paint mixing vessel; S3: Add a skin feel modifier, an anti-UV agent, and an adhesion promoter in sequence, add the prepared gel-like combination agent at <35℃, stir and homogenize, degas, filter the product through a double layer, seal and package it to obtain the final product.
[0048] Preferably, a method for preparing a pigment paste for humanoid robot skin specifically includes the following steps: S1: Adding a carrier base and a dispersant into a dispersion vessel, stirring at 300-400 rpm for 10-15 minutes, during which time a colorant is slowly added, and then increasing the speed to 700-800 rpm for high-speed dispersion for 30-40 minutes to form a paste-like premixed slurry; S2: Adding an anchoring agent to the premixed slurry, stirring at 600-800 rpm for 15-20 minutes, and then feeding the slurry into a horizontal sand mill, filling it with 0.8-1 mm zirconia beads, and grinding at 35-40°C for 40-5 minutes. S3: Add skin feel modifier, UV stabilizer and adhesion promoter sequentially at 300~400rpm, stirring for 10~15min after each addition. Add the prepared resin combination agent at ≤35℃ and stir at 450~550rpm for 20~25min. Then homogenize at 600~800rpm for 15~20min. Degas for 30~40min under vacuum of -0.09~-0.08MPa and ≤35℃. Filter the product through a double-layer 400-mesh filter and seal it in packaging to obtain the final product.
[0049] Compared with the prior art, the advantages and beneficial effects of this application are as follows: 1. The color paste for humanoid robot skin prepared in this application significantly improves the practical application effect of the coloring layer while ensuring excellent safety. The color paste ensures harmlessness when in contact with human skin. In terms of application effect, by strengthening the internal anchoring system, the colored silicone skin has excellent interfacial bonding strength and mechanical scrubbing resistance, which can effectively resist repeated touching and cleaning maintenance in daily use, ensuring that the skin color remains new for a long time and does not peel off. At the same time, the color paste maintains the original soft touch and delicate texture of silicone material, making the robot skin highly realistic in appearance and touch, perfectly meeting the comprehensive requirements of humanoid robots for aesthetics, safety and durability.
[0050] 2. This application uses a compound of fumed silica and diatomaceous earth as an anti-settling and anchoring component to create a three-dimensional anchoring effect. During the cross-linking process of silica, it can participate in the reaction to form stable chemical anchoring points. At the same time, the hydrogen bond network formed in the silicone oil constructs a three-dimensional thixotropic framework, effectively preventing pigment sedimentation. Furthermore, relying on the natural microporous structure and high surface area, it exerts physical adsorption and anchoring effects on pigment particles and silica molecular chains, significantly enhancing the interfacial bonding strength and providing a solid foundation for its comprehensive performance.
[0051] 3. The resin combination agent further added in this application constructs a stable reinforcing structure, which tightly connects the molecular network with the hydrophobic silicone substrate. This ensures the stable dispersion of the reinforcing phase in the system. At the same time, the prepared premix forms a three-dimensional gel skeleton with rigid support in the hydrated environment, providing structural strength for the coloring layer at room temperature. Furthermore, it forms a reinforcing structure in the subsequent preparation stage. Under the combined effect, the rigid support and flexible reinforcement are organically combined. On the basis of chemical anchoring, a physical reinforcement effect is superimposed, which together improves the scrub resistance and safety of the color paste. Attached Figure Description
[0052] Figure 1 This is a physical image of the pigment used for the skin of the humanoid robot prepared according to Embodiment 1 of this application. Detailed Implementation
[0053] The technical solutions in the embodiments of this application will be clearly and completely described below. The described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0054] In the following specific embodiments, unless otherwise specified, the sources / preparation methods of some raw materials are as follows: Polydimethylsiloxane, viscosity 220 cSt, 25℃, Shandong Jiaxu Chemical Co., Ltd., China.
[0055] Titanium dioxide, D90 particle size 0.8μm, Shanghai Yantai, China.
[0056] PO64 orange and PY180 yellow, with an average D90 particle size of 0.8 μm, from Yantai, Shanghai, China.
[0057] Amino polydimethylsiloxane, Lanabai, Wuhan, China.
[0058] Gellan gum, food grade, low acyl type, viscosity 400 mPa·s, 25℃, Zhejiang Tianwei Biotechnology.
[0059] Kederan gel, gel strength ≥600g / cm², 20℃, Hebei Chuangzhiyuan Biotechnology, China.
[0060] Sophorolipids, Jiangsu Jufeng Chemical Co., Ltd., China.
[0061] Example 1 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 62.5 parts carrier base, 24.5 parts colorant, 2.6 parts dispersant, 6.3 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 5.6 parts gum combination agent.
[0062] The carrier is polydimethylsiloxane with a viscosity of 220 cSt at 25°C.
[0063] The colorant is a composition of titanium dioxide, PO64 orange and PY180 yellow in a mass ratio of 25:0.4:0.2; the D90 particle size of the colorant is 0.8 μm.
[0064] The dispersant is BYK-9077; the skin feel modifier is aminopolydimethylsiloxane; the UV stabilizer is Tinuvin 328; and the adhesion promoter is 3-aminopropyltriethoxysilane.
[0065] The anchoring agent is a combination of fumed silica and diatomaceous earth in a mass ratio of 1.2:0.6. The specific surface area of the fumed silica is 230 m² / g; the diatomaceous earth has a SiO₂ content of 88.2% and an average particle size of 3.8 μm.
[0066] The gum compound is a combination of gellan gum, guar gum and sophoryl ester in a mass ratio of 1.8:3.5:2.2.
[0067] The preparation method of the gelatin combination agent, by weight, specifically includes the following steps: S1: In a clean container, mix 3.5 parts of glycerin with 1 part of deionized water, stir at 2500 rpm for 3 min to mix evenly, then add 1.8 parts of gellan gum and 3.5 parts of guar gum, continue stirring for 20 min, and allow to swell for 35 min after fully wetting; S2: After swelling, add 2.2 parts of sophorolipid, continue stirring for 15 min to obtain a uniform paste-like gelatin combination agent, and use it within 2 hours after preparation.
[0068] A method for preparing a pigment paste for humanoid robot skin includes the following steps: S1: The carrier base and dispersant are added to a dispersion vessel and stirred at 400 rpm for 15 min. During this period, the colorant is slowly added, and the speed is increased to 800 rpm for high-speed dispersion for 40 min to form a paste-like premixed slurry; S2: An anchoring agent is added to the premixed slurry, and the mixture is stirred at 600 rpm for 20 min. The slurry is then fed into a horizontal sand mill, filled with 0.8 mm zirconia beads, and ground at 35°C for 45 min until the fineness is ≤8 μm. The mixture is then discharged into a paint mixing vessel; S3: A skin feel modifier, UV stabilizer, and adhesion promoter are added sequentially at 400 rpm, and stirred for 12 min after each addition. The prepared gel-like combination is added at ≤35°C, and stirred at 500 rpm for 25 min. Then, the mixture is homogenized at 800 rpm for 15 min, and degassed at a vacuum of -0.09 MPa and ≤35°C for 40 min. The product is filtered through a double-layer 400-mesh filter, sealed, and packaged to obtain the final product.
[0069] The physical sample of the pigment for the skin of the humanoid robot prepared in this embodiment is shown below. Figure 1 As shown.
[0070] Example 2 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 65 parts carrier base, 25.5 parts colorant, 2.6 parts dispersant, 5.5 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 6.2 parts gum combination agent.
[0071] The anchoring agent is a combination of fumed silica and diatomaceous earth in a mass ratio of 1.5:0.5.
[0072] The remaining implementation methods are the same as in Example 1.
[0073] Example 3 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 62.5 parts carrier base, 24.5 parts colorant, 2-5 parts dispersant, 7.2 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 4.8 parts gum combination agent.
[0074] The gum composition is a combination of gellan gum, guar gum and sophoryl ester in a mass ratio of 2:3:1.5.
[0075] The remaining implementation methods are the same as in Example 1.
[0076] Comparative Example 1 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 70 parts carrier base, 28 parts colorant, 2.9 parts dispersant, 2.3 parts anchoring agent, 4.3 parts skin feel modifier, 1.3 parts UV protectant, 3.5 parts adhesion promoter, and 7.5 parts gum combination agent.
[0077] The anchoring agent is fumed silica; the specific surface area of fumed silica is 160 m² / g.
[0078] The remaining implementation methods are the same as in Example 1.
[0079] Comparative Example 2 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 70 parts carrier base, 28 parts colorant, 2.9 parts dispersant, 8.8 parts anchoring agent, 4.3 parts skin feel modifier, 1.3 parts UV protectant, 3.5 parts adhesion promoter, and 2.4 parts gum combination agent.
[0080] The average particle size of diatomaceous earth is 7.5 μm.
[0081] The remaining implementation methods are the same as in Example 1.
[0082] Comparative Example 3 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 62.5 parts carrier base, 24.5 parts colorant, 2.6 parts dispersant, 6.3 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 5.6 parts gum combination agent.
[0083] The anchoring agent is a combination of fumed silica and diatomaceous earth in a mass ratio of 1.6:0.2.
[0084] The remaining implementation methods are the same as in Example 1.
[0085] Comparative Example 4 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 62.5 parts carrier base, 24.5 parts colorant, 2.6 parts dispersant, 6.3 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 5.6 parts gum combination agent.
[0086] The anchoring agent is a combination of fumed silica and diatomaceous earth in a mass ratio of 0.7:1.1.
[0087] The remaining implementation methods are the same as in Example 1.
[0088] Comparative Example 5 A colorant for humanoid robot skin, by weight, comprises: 62.5 parts carrier base, 24.5 parts colorant, 2.6 parts dispersant, 6.3 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 5.6 parts adhesive agent. All other embodiments are the same as in Example 1.
[0089] The gum composition is a combination of gellan gum, guar gum and sophoryl ester in a mass ratio of 0.5:4:3.
[0090] The remaining implementation methods are the same as in Example 1.
[0091] Comparative Example 6 A color paste for humanoid robot skin, by weight, comprises the following raw materials: 62.5 parts carrier base, 24.5 parts colorant, 2.6 parts dispersant, 6.3 parts anchoring agent, 4.1 parts skin feel modifier, 1.2 parts UV protectant, 3.2 parts adhesion promoter, and 5.6 parts gum combination agent.
[0092] The gum compound is a combination of gellan gum, guar gum and sophoryl ester in a mass ratio of 3:4:0.5.
[0093] The remaining implementation methods are the same as in Example 1.
[0094] Performance testing 1. Scrub fastness test: The color paste prepared in the examples and comparative examples was added to Dow Corning MS-1002 at a mass ratio of 5%. After stirring evenly, the mixture was degassed under vacuum. Then, the mixture was poured into a polytetrafluoroethylene mold with dimensions of 150mm×70mm×5mm and cured at 120℃ for 30min to obtain a colored silicone rubber sample. Scrub medium: 5% neutral soap solution, temperature 23±2℃. Scrub device: A scrub fastness tester was used with a bristle brush and a load weight of 1000g. After scrubbing, 3M tape was used to stick to the surface of the sample and then quickly peeled off. The percentage of the coating area that peeled off was recorded as the average of 10 tests in Table 1.
[0095] 2. Adhesion test: The test shall be conducted in accordance with GB / T 9286-2021, and the test results shall be recorded in Table 1.
[0096] 3. Water and moisture resistance: The substrate coated with color paste was cured at 100℃ for 30 minutes. Then the substrate was cut into sample strips with dimensions of 120mm×60mm×3mm. After that, it was placed in a constant temperature and humidity chamber at 50±2℃ and 95±3% relative humidity for 30 days. After 30 days, the coating surface was removed and the structure was observed. If any blistering, stickiness or cracking of the coating was found, it was considered unqualified. Otherwise, it was considered qualified. For the example and comparative examples, 50 groups of tests were conducted in each group, and the pass rate was recorded in Table 1.
[0097] 4. Abrasion resistance: The substrate coated with color paste was cured at 100℃ for 30 minutes to obtain the required abrasion resistance sample. The sample was tested using a Taber CS-10 abrasion tester with a load of 1000g and a rotation speed of 1500 rpm. The average value of 10 tests was recorded in Table 1.
[0098] 5. Flexural strength test: The leather sample coated with color paste was cured at 100℃ for 30 minutes, then cut into strips of 75mm×35mm×1.5mm. The strips were then placed in the MIT flexural strength tester and subjected to 50,000 flexes at an angle of ±135°, a frequency of 100 times / minute, and a temperature of 25℃. The surface of the color paste coating was observed for any cracks, peeling, or powdering. If any of these were found, the sample was considered unqualified; otherwise, it was considered qualified. For the examples and comparative examples, 50 samples were tested in each group, and the pass rate was recorded in Table 1.
[0099] Table 1 Performance Test Results Analysis of Test Results: Table 1 shows that Examples 1-3 exhibit more comprehensive and superior overall performance compared to Comparative Examples 1-6. This is mainly due to the technical solutions specified in this application used in Examples 1-3. The appropriate blend of fumed silica and diatomaceous earth as anti-settling and anchoring components creates a three-dimensional anchoring effect. During the silicone crosslinking process, it participates in the reaction to form stable chemical anchoring points. Simultaneously, the hydrogen bond network formed in the silicone oil constructs a three-dimensional thixotropic framework, effectively preventing pigment sedimentation. Furthermore, the appropriate amount of added resin binder constructs a stable reinforcing structure, tightly connecting the molecular network with the hydrophobic silicone substrate. This ensures the stable dispersion of the reinforcing phase in the system. The prepared premix forms a rigid, three-dimensional gel framework in a hydrated environment, providing structural strength for the coloring layer at room temperature. Comparative Examples 1-6, however, adopted different technical solutions than those in this application, resulting in a significant decrease in their respective technical effects, ultimately negatively impacting the overall performance of the color paste.
[0100] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principles described in this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A pigment for the skin of a humanoid robot, characterized in that: By weight, the raw materials include: 50-70 parts carrier base, 15-27 parts colorant, 2-5 parts dispersant, 3-8 parts anchoring agent, 3-6 parts skin feel modifier, 0.5-1.5 parts UV protectant, 2-4 parts adhesion promoter, and 3-8 parts resin combination agent; The colorant is a composition of titanium dioxide, PO64 orange and PY180 yellow, in a mass ratio of (22~27):(0.3~0.6):(0.1~0.3). The anchoring agent is a combination of fumed silica and diatomaceous earth in a mass ratio of (1~1.5):(0.4~0.8). The specific surface area of the fumed silica is 200~250m² / g; the average particle size of the diatomaceous earth is 3~6μm; The gum combination agent is a composition of gellan gum, guar gum and sophoryl ester, with a mass ratio of (1~3):(2~4):(1~3).
2. The pigment for humanoid robot skin as described in claim 1, characterized in that: The carrier base is polydimethylsiloxane; the viscosity of the polydimethylsiloxane is 100~350 cSt at 25°C.
3. The pigment for humanoid robot skin according to claim 2, characterized in that: The mass ratio of the carrier base to the colorant is (5.5~6.5):(1.9~2.6).
4. The pigment for humanoid robot skin according to claim 3, characterized in that: The colorant has a D90 particle size of 0.5~1.5μm.
5. The pigment for humanoid robot skin according to claim 4, characterized in that: The dispersant is at least one of BYK-9077, Tego 670, and EFKA 4010.
6. The pigment for humanoid robot skin according to claim 5, characterized in that: The mass ratio of the carrier base, anchoring agent, and resin agent is (5.5~6.5):(0.5~0.8):(0.4~0.6).
7. The pigment for humanoid robot skin according to claim 6, characterized in that: The skin feel modifier is at least one of phenyl polysiloxane, amino polydimethylsiloxane, long-chain alkyl modified silicone oil, and polyether modified polysiloxane.
8. The pigment for humanoid robot skin according to claim 7, characterized in that: The adhesion promoter is at least one of tetraisopropyl titanate, tetrabutyl titanate, 3-aminopropyltriethoxysilane, and γ-methacryloyloxypropyltrimethoxysilane.
9. The pigment for humanoid robot skin according to claim 8, characterized in that: The preparation method of the gelatin combination agent specifically includes the following steps: S1: After mixing glycerin with deionized water, add gellan gum and guar gum, stir to moisten, and let stand to swell for 30-35 minutes; S2: After swelling, add sophorolipid to obtain a uniform paste-like gelatin combination agent, and use it within 2-3 hours after preparation.
10. A method for preparing a pigment paste for humanoid robot skin according to any one of claims 1 to 9, characterized in that: Specifically, the following steps are included: S1: Add the carrier base and dispersant to the dispersion vessel, add the colorant while stirring, and increase the rotation speed to form a paste-like premixed slurry; S2: Add the anchoring agent to the premixed slurry, grind to a fineness ≤8um, and then discharge it into the paint mixing vessel; S3: Add the skin feel modifier, UV protectant and adhesion promoter in sequence, add the prepared resin combination agent at <35℃, stir and homogenize, degas, filter the product through double layer, seal and package to obtain the final product.