TPU material for simulating robot skin and preparation method thereof
By combining hydroxyl-terminated organosilicon-modified TPU material with carbon nanotubes, a simulated robotic skin material with both high mechanical strength and self-healing ability was prepared. This solved the shortcomings of existing TPU materials in terms of skin affinity and self-healing performance, and achieved efficient self-healing and improved skin affinity of the material.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANDONG INOV POLYURETHANE
- Filing Date
- 2026-05-12
- Publication Date
- 2026-06-09
AI Technical Summary
Existing TPU materials have shortcomings in combining excellent skin-friendliness with rapid self-healing performance, and their processing performance is poor. Traditional self-healing materials require high-temperature conditions for repair, which is inefficient and energy-intensive.
By using hydroxyl-terminated organosilicon-modified TPU material, combined with mixed chain extenders and carbon nanotubes, and through the thermal stimulation and recombination of the molecular network of dynamic disulfide bonds, a TPU material with both high mechanical strength and self-healing ability was prepared.
It achieves rapid self-healing ability while retaining the high mechanical strength and wear resistance of TPU material, and improves the skin-friendliness and dirt resistance of the material. The process is simple and easy to scale up.
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Abstract
Description
Technical Field
[0001] This invention belongs to the field of TPU and its preparation technology, specifically relating to a TPU material for the skin of a simulated robot and its preparation method. Background Technology
[0002] With the rapid development of humanoid robots, bionic prosthetics, and smart wearable devices, the demand for research and development of simulated robotic skin is continuously rising. Ideal simulated skin should possess multiple core properties: First, excellent skin-friendliness, a soft and gentle touch, and no foreign body sensation when in contact with the human body, avoiding discomfort or allergic reactions; second, superior mechanical properties, able to withstand high-frequency physical contact and friction, possessing good durability and stability; third, reliable self-healing capabilities, able to autonomously repair itself after minor damage such as scratches and cuts, effectively extending its service life and further enhancing the intelligence and practicality of the device.
[0003] Currently, while conventional silicone materials possess excellent skin-friendly properties, they suffer from drawbacks such as low mechanical strength and susceptibility to tearing and breakage. Traditional thermoplastic polyurethane (TPU) materials are tough and wear-resistant, but lack self-healing capabilities and have an unpleasant skin-friendly feel. Among existing self-healing materials, hydrogel-based materials have extremely poor mechanical strength, making them unsuitable for the practical use of robotic skin. Furthermore, some self-healing TPU materials based on the Diels-Alder reaction typically require high temperatures to achieve repair, resulting in low repair efficiency and high energy consumption.
[0004] Chinese patent CN121006070A discloses a robotic simulated skin and its preparation method. Through cross-scale synergy between an organosilicon polymer matrix and functional components, a conformational entropy buffer network of hyperbranched plasticizers is constructed at the molecular level. At the mesoscopic level, a decoupling mechanism for the light-mechanical energy flow channels of the core-shell modulator is formed. At the macroscopic level, temporal and latitudinal control of gradient crosslinking and photothermal response is achieved. This patent uses an organosilicon polymer as the matrix, adds a small amount of thermoplastic elastomer as a modulator, and simultaneously adds a large amount of plasticizer. This results in low mechanical strength and poor processability of the material. Summary of the Invention
[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a TPU material for simulated robot skin that can combine excellent skin affinity and rapid self-healing performance, while fully retaining the inherent high mechanical strength and wear resistance of TPU material.
[0006] Another objective of this invention is to provide a method for preparing TPU material for the skin of a simulated robot, which is simple in process and easy to operate.
[0007] The technical solution adopted in this invention is as follows: The TPU material for the simulated robot skin comprises the following raw materials in parts by weight: Diisocyanate: 16-32.1 parts; Polyether polyols: 48-74 parts; Organosilicon modifier: 6-12 parts; Mixed chain extenders: 4-11.4 parts; Carbon nanotubes: 0.2-0.5 parts; Coupling agent: 0.1-0.5 parts; Hydrolysis stabilizer: 0.3-1 part; Catalyst: 0.5-1 part.
[0008] The polyether polyol is one of polypropylene glycol or polytetrahydrofuran glycol, with a number average molecular weight of 2000-3000. The organosilicon modifier is a hydroxyl-terminated polydimethylsiloxane with a number-average molecular weight of 100-500. The aforementioned chain extender is a mixture of 2,2'-dithiodiethanol and 1,6-hexanediol. 1,6-Hexanediol has a longer and more flexible molecular chain than conventional chain extenders. When used in conjunction with 2,2'-dithiodiethanol, it enables the material to possess both rapid self-healing properties and fully retain the inherent high mechanical strength and abrasion resistance of TPU material.
[0009] The diisocyanate is one of 4,4'-diphenylmethane diisocyanate, hexamethylene diisocyanate, and isophorone diisocyanate.
[0010] Preferably, the mass fraction of 1,6-hexanediol in the mixed chain extender is 10-20%.
[0011] The carbon nanotubes have an average diameter of 10-20 nm, a length of 20-300 nm, and a purity of ≥95 wt%.
[0012] The coupling agent is silane coupling agent KH-550.
[0013] The hydrolysis stabilizer is one of monomeric carbodiimide or polycarbodiimide. HyMax is preferred as the monomeric carbodiimide. ® 1010, polycarbodiimide is preferably Stabaxol P200.
[0014] The catalyst is one of dibutyltin dilaurate and stannous octoate.
[0015] The method for preparing TPU material for the skin of a simulated robot according to the present invention includes the following steps: (1) Mix polyether polyol, organosilicon modifier and mixed chain extender, then add coupling agent and hydrolysis stabilizer and stir at 80-110℃ to obtain premix; (2) Add diisocyanate and catalyst to storage tank A, add the premix from step (1) to storage tank B, mix the materials in storage tank A and storage tank B, dehydrate under vacuum under stirring conditions, and pump into a twin-screw extruder. (3) Carbon nanotubes are added to the second zone of the screw, and the material is reacted in a twin-screw extruder at 110-180℃ to obtain TPU material for simulated robot skin.
[0016] In step (2), the stirring rate is 400-800 r / min and the vacuum dehydration temperature is 90-120℃.
[0017] In step (3), the temperature of the feeding section of the twin-screw extruder is 110-120℃, the temperature of the mixing section is 130-150℃, the temperature of the extrusion section is 170-180℃, and the temperature of the die head is 150-160℃.
[0018] Compared with the prior art, the beneficial effects of the present invention are: (1) The TPU material for the skin of the simulated robot of the present invention modifies TPU by adding terminal hydroxyl organosilicon to participate in the reaction, and introduces dynamic disulfide bonds by using a mixed chain extension method. The molecular network is reorganized by the dynamic exchange reaction of disulfide bonds under thermal stimulation. While retaining the inherent excellent mechanical properties (strength, wear resistance) of TPU, it successfully endows TPU with efficient self-repair ability (repair efficiency >90%).
[0019] (2) The TPU material for the simulated robot skin of the present invention modifies TPU by adding terminal hydroxyl organosilicon to participate in the reaction, which effectively improves the elasticity and skin affinity of the material, making the material softer and more skin-friendly, with a rebound of more than 60%, and also has good dirt resistance.
[0020] (3) The preparation method of the present invention takes the modification of terminal hydroxyl organosilicon and the introduction of dynamic disulfide bonds by mixed chain extension as the core process. The overall process is simple, easy to operate, and easy to achieve large-scale production. Detailed Implementation
[0021] The present invention will be further described below with reference to embodiments and comparative examples, but these do not limit the implementation of the present invention.
[0022] Unless otherwise specified, the raw materials used in the examples and comparative examples are all commercially available materials, and the process methods used in the examples and comparative examples are all conventional methods in the art.
[0023] The following is a description of some of the raw materials used in the examples and comparative examples: Carbon nanotubes: average diameter 10-20 nm, length 20-300 nm, purity ≥95 wt%, Chengdu Organic Chemistry Co., Ltd., Chinese Academy of Sciences; Monomer carbodiimide HyMax ® 1010: Shanghai Langyi Functional Materials Co., Ltd.; Polycarbodiimide Stabaxol P 200: Lanxess Chemicals (China) Co., Ltd.
[0024] All weight percentages below are in the same unit of mass.
[0025] Example 1 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 2,2'-Dithiodiethanol: 3.6 parts; 1,6-Hexanediol: 0.4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number-average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number-average molecular weight of 100. The method for preparing TPU for the simulated robot skin includes the following steps: (1) Mix polytetrahydrofurandiol, hydroxyl-terminated polydimethylsiloxane with 2,2'-dithiodiethanol and 1,6-hexanediol, then add silane coupling agent KH-550 and monomer carbodiimide, and stir thoroughly at 80°C to obtain a premix. (2) Add 4,4'-diphenylmethane diisocyanate and stannous octoate to storage tank A, add the premix from step (1) to storage tank B, stir at a rate of 400 r / min, dehydrate under vacuum at 100°C, and pump into a twin-screw extruder; (3) Carbon nanotube powder is added to the second zone of the screw through an external device and reacted in a twin-screw extruder. The temperature of the feeding section of the twin-screw extruder is 120°C, the temperature of the mixing section is 150°C, the temperature of the extrusion section is 180°C, and the temperature of the die head is 160°C. The TPU material for the skin of the simulated robot is obtained by granulation.
[0026] Example 2 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: Hexamethylene diisocyanate: 22.1 parts; Polypropylene glycol: 59.5 parts; Hydroxyl-terminated polydimethylsiloxane: 10.5 parts; 2,2'-Dithiodiethanol: 6.4 parts; 1,6-Hexanediol: 1.5 parts; Carbon nanotubes: 0.2 parts; Silane coupling agent KH-550: 0.5 parts; Polycarbodiimide: 1 part; Stannous caprylate: 1 part; The polypropylene glycol has a number-average molecular weight of 2000; the hydroxyl-terminated polydimethylsiloxane has a number-average molecular weight of 500.
[0027] The method for preparing TPU for the simulated robot skin includes the following steps: (1) Mix polypropylene glycol, hydroxyl-terminated polydimethylsiloxane with 2,2'-dithiodiethanol and 1,6-hexanediol, then add silane coupling agent KH-550 and polycarbodiimide, and stir thoroughly at 100°C to obtain a premix; (2) Add hexamethylene diisocyanate and stannous octoate to storage tank A, add the premix from step (1) to storage tank B, stir at a rate of 600 r / min, dehydrate under vacuum at 90°C, and pump into a twin-screw extruder. (3) Carbon nanotube powder is added to the second zone of the screw through an external device and reacted in a twin-screw extruder. The temperature of the feeding section of the twin-screw extruder is 110°C, the temperature of the mixing section is 130°C, the temperature of the extrusion section is 170°C, and the temperature of the die head is 150°C. The TPU material for the skin of the simulated robot is obtained by granulation.
[0028] Example 3 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: Isophorone diisocyanate: 32.1 parts; Polypropylene glycol: 48 parts; Hydroxyl-terminated polydimethylsiloxane: 12 parts; 2,2'-Dithiodiethanol: 10.1 parts; 1,6-Hexanediol: 1.3 parts; Carbon nanotubes: 0.5 parts; Silane coupling agent KH-550: 0.5 parts; Polycarbodiimide: 0.3 parts; Dibutyltin dilaurate: 0.5 parts; The polypropylene glycol has a number-average molecular weight of 2500; the hydroxyl-terminated polydimethylsiloxane has a number-average molecular weight of 300.
[0029] The method for preparing TPU for the simulated robot skin includes the following steps: (1) Polypropylene glycol, hydroxyl-terminated polydimethylsiloxane, 2,2'-dithiodiethanol, and 1,6-hexanediol are mixed, and then silane coupling agent KH-550 and polycarbodiimide are added. The mixture is stirred thoroughly at 110°C to obtain a premix. (2) Add isophorone diisocyanate and dibutyltin dilaurate to storage tank A, add the premix of step (1) to storage tank B, stir at a rate of 800 r / min, dehydrate under vacuum at 120°C, and pump into a twin-screw extruder. (3) Carbon nanotube powder is added to the second zone of the screw through an external device and reacted in a twin-screw extruder. The temperature of the feeding section of the twin-screw extruder is 120°C, the temperature of the mixing section is 150°C, the temperature of the extrusion section is 180°C, and the temperature of the die head is 160°C. The TPU material for the skin of the simulated robot is obtained by granulation.
[0030] Comparative Example 1 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 80 parts; 2,2'-Dithiodiethanol: 3.6 parts; 1,6-Hexanediol: 0.4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number-average molecular weight of 3000, and its preparation method is the same as in Example 1.
[0031] Comparative Example 2 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 2,2'-Dithiodiethanol: 4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0032] Comparative Example 3 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 1,6-Hexanediol: 4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0033] Comparative Example 4 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 2,2'-Dithiodiethanol: 3.6 parts; 1,6-Hexanediol: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100; the preparation method is the same as in Example 1.
[0034] Comparative Example 5 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 77 parts; Hydroxyl-terminated polydimethylsiloxane: 3 parts; 2,2'-Dithiodiethanol: 3.6 parts; 1,6-Hexanediol: 0.4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0035] Comparative Example 6 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 64 parts; Hydroxyl-terminated polydimethylsiloxane: 16 parts; 2,2'-Dithiodiethanol: 3.6 parts; 1,6-Hexanediol: 0.4 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0036] Comparative Example 7 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 2,2'-Dithiodiethanol: 3.8 parts; 1,6-Hexanediol: 0.2 parts; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0037] Comparative Example 8 The TPU material for the simulated robot skin comprises the following raw material components in parts by weight: 4,4'-Diphenylmethane diisocyanate: 16 parts; Polytetrahydrofuran diol: 74 parts; Hydroxyl-terminated polydimethylsiloxane: 6 parts; 2,2'-Dithiodiethanol: 3 parts; 1,6-Hexanediol: 1 part; Carbon nanotubes: 0.4 parts; Silane coupling agent KH-550: 0.1 parts; Monomer carbodiimide: 0.5 parts; Stannous octoate: 0.8 parts; The polytetrahydrofuran diol has a number average molecular weight of 3000, and the hydroxyl-terminated polydimethylsiloxane has a number average molecular weight of 100. The preparation method is the same as in Example 1.
[0038] The TPU material for the simulated robot skin obtained from the above embodiments and comparative examples was processed into test samples by injection molding. The mechanical properties and DIN abrasion test results are shown in Table 1, and the self-healing efficiency, water contact angle, and rebound test results are shown in Table 2.
[0039] The testing methods or standards are as follows: Shore hardness was tested according to GB / T531-1992; Tensile strength was tested according to GB / T529-2009; Tear strength was tested according to GB / T529-2009; DIN abrasion test shall be conducted in accordance with DIN ISO 4649; Self-healing efficiency: can be characterized by the retention rate of tensile strength after the damaged specimen is placed in a 70℃ oven for 30 minutes; The water contact angle reflects the resistance to dirt and grime. The test uses the standard test method for measuring the surface tension of solid coatings, substrates and pigments using the water contact angle, ASTM D7490-2013. The rebound was tested in accordance with GB / T1681-2009.
[0040] Table 1 Mechanical properties and DIN wear test results
[0041] Table 2 Self-healing efficiency, water contact angle, and rebound test results
[0042] As can be seen from the comparison between Example 1 and Comparative Example 1, Comparative Example 1 did not add hydroxyl-terminated polydimethylsiloxane. While maintaining similar Shore hardness, tensile strength, tear strength, self-healing efficiency, and resilience as Comparative Example 1, Example 1 reduced the DIN wear from 50 mm³ to 35 mm³ and increased the water contact angle from 67.4° to 85.1°. This shows that hydroxyl-terminated polydimethylsiloxane can significantly improve the wear resistance and dirt resistance of the material without compromising its mechanical properties, self-healing properties, and resilience, and effectively improve the material's skin-friendliness.
[0043] As can be seen from the comparison between Example 1 and Comparative Examples 2 and 3, Comparative Example 2 uses only 2,2'-dithiodiethanol as a single chain extender, and Comparative Example 3 uses only 1,6-hexanediol as a single chain extender. The remaining components and proportions are basically the same as those in Example 1. Example 1 is significantly better than Comparative Examples 2 and 3 in terms of tensile strength, tear strength, DIN abrasion, self-healing efficiency, water contact angle, and resilience. Among them, the self-healing efficiency of Comparative Example 3 drops to 0 due to the lack of disulfide bond structure, which fully demonstrates that the mixed chain extender system composed of 2,2'-dithiodiethanol and 1,6-hexanediol can effectively maintain the excellent mechanical strength and wear resistance of the material while giving it self-healing properties.
[0044] As can be seen from the comparison between Example 1 and Comparative Example 4, Comparative Example 4 did not add carbon nanotubes. Example 1 has higher tensile strength and tear strength, lower DIN wear, and its self-healing efficiency, water contact angle and resilience are basically the same as those of Comparative Example 4. This shows that carbon nanotubes can significantly improve the mechanical strength and wear resistance of materials without affecting their self-healing performance, skin-friendly and dirt-resistant properties and resilience.
[0045] As can be seen from the comparison between Example 1 and Comparative Example 5, the silicone content of Comparative Example 5 is lower than the limit value, and Example 1 has better elasticity, wear resistance and hydrophobicity than Comparative Example 5. As can be seen from the comparison between Example 1 and Comparative Example 6, the silicone content of Comparative Example 6 is higher than the limit value, and the strength and wear resistance of Comparative Example 6 are significantly reduced compared with Example 1. In summary, when the silicone content is within the limit range, better overall performance can be obtained.
[0046] Data from Example 1, Comparative Examples 7 and 8 show that the overall performance is best when the proportion of 1,6-hexanediol in the mixed chain extender is within the range of 10-20%.
Claims
1. A TPU material for simulated robot skin, characterized in that, The ingredients include the following parts by weight: Diisocyanate: 16-32.1 parts; Polyether polyols: 48-74 parts; Organosilicon modifier: 6-12 parts; Mixed chain extenders: 4-11.4 parts; Carbon nanotubes: 0.2-0.5 parts; Coupling agent: 0.1-0.5 parts; Hydrolysis stabilizer: 0.3-1 part; Catalyst: 0.5-1 part; The polyether polyol is one of polypropylene glycol or polytetrahydrofuran glycol, with a number average molecular weight of 2000-3000; The organosilicon modifier is a hydroxyl-terminated polydimethylsiloxane with a number-average molecular weight of 100-500. The mixed chain extender is a mixture of 2,2'-dithiodiethanol and 1,6-hexanediol, wherein the mass fraction of 1,6-hexanediol in the mixed chain extender is 10-20%.
2. The TPU material for the skin of a simulated robot according to claim 1, characterized in that, The diisocyanate is one of 4,4'-diphenylmethane diisocyanate, hexamethylene diisocyanate, and isophorone diisocyanate.
3. The TPU material for the skin of a simulated robot according to claim 1, characterized in that, The carbon nanotubes have an average diameter of 10-20 nm, a length of 20-300 nm, and a purity of ≥95 wt%.
4. The TPU material for the skin of a simulated robot according to claim 1, characterized in that, The coupling agent is silane coupling agent KH-550.
5. The TPU material for the skin of a simulated robot according to claim 1, characterized in that, The hydrolysis stabilizer is one of monomeric carbodiimide or polycarbodiimide.
6. The TPU material for the skin of a simulated robot according to claim 1, characterized in that, The catalyst is one of dibutyltin dilaurate and stannous octoate.
7. A method for preparing a TPU material for the skin of a simulated robot according to any one of claims 1-6, characterized in that, Includes the following steps: (1) Mix polyether polyol, organosilicon modifier and mixed chain extender, then add coupling agent and hydrolysis stabilizer and stir at 80-110℃ to obtain premix; (2) Add diisocyanate and catalyst to storage tank A, add the premix from step (1) to storage tank B, mix the materials in storage tank A and storage tank B, dehydrate under vacuum under stirring conditions, and pump into a twin-screw extruder. (3) Carbon nanotubes are added to the second zone of the screw, and the material is reacted in a twin-screw extruder at 110-180℃ to obtain TPU material for simulated robot skin.
8. The method for preparing TPU material for simulated robot skin according to claim 7, characterized in that, In step (2), the stirring rate is 400-800 r / min and the vacuum dehydration temperature is 90-120℃.
9. The method for preparing TPU material for simulated robot skin according to claim 7, characterized in that, In step (3), the temperature of the feeding section of the twin-screw extruder is 110-120℃, the temperature of the mixing section is 130-150℃, the temperature of the extrusion section is 170-180℃, and the temperature of the die head is 150-160℃.