An antifouling biomimetic flexible skin material and a preparation method and application thereof

Abstract

The application discloses an antifouling biomimetic flexible skin material and a preparation method and application thereof, and relates to the technical field of flexible skin materials.The antifouling biomimetic flexible skin material comprises an oil-extended SEBS base material layer and an SBS photocuring coating layer, and the SBS photocuring coating layer comprises the following components in parts by mass: 8-15 parts of SBS elastomer, 40-60 parts of polyurethane acrylate resin, 15-25 parts of active diluent, 1-3 parts of photoinitiator, 3-8 parts of flexible modification aid, and 0.5-2 parts of defoaming and leveling agent.The oil-extended SEBS material is used as the base material, and the SBS photocuring material is used as the modified coating layer; the SBS and the SEBS have highly homologous molecular structures; the interface compatibility and the bonding strength of the SBS photocuring coating layer and the oil-extended SEBS base material layer are significantly enhanced; the SBS photocuring coating layer forms a dense three-dimensional network structure after being cured by ultraviolet light; the problem of poor antifouling property caused by oil seepage and stickiness of the surface of the oil-extended SEBS base material is effectively solved; meanwhile, the interface bonding strength and the flexibility matching degree of the coating layer and the base material are improved; and the application is suitable for flexible interactive devices such as humanoid robots and biomimetic manipulators.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic flexible materials technology, and relates to a biomimetic flexible skin material, its preparation method and application. Specifically, it relates to a biomimetic flexible skin material with high stain resistance, its preparation method and application. Background Technology

[0002] With the rapid development of biomimetic technologies such as humanoid robots and bionic robotic arms, bionic flexible skin, as a core functional material for achieving human-computer interaction, environmental perception, and flexible fit, directly determines the biomimetic degree and reliability of the entire device. To highly simulate the soft touch and flexible deformation capability of human skin, the industry currently mainly uses SEBS (styrene-ethylene-butene-styrene block copolymer) as the substrate for bionic flexible skin. SEBS is a thermoplastic hydrogenated elastomer with advantages such as non-toxicity, environmental friendliness, super elasticity, super resilience, low-temperature resistance, soft touch, and excellent biocompatibility. Further modification with high-ratio white oil filling can achieve softness and mechanical properties close to human skin.

[0003] However, while the high-ratio oil-filling modification process imparts a soft touch and flexible deformation capability to the substrate, it also brings unavoidable technical defects: excessive free white oil continuously migrates and precipitates onto the surface of the SEBS substrate, causing the bionic flexible skin to remain in a sticky state during its deformation period. This state makes the bionic flexible skin prone to adsorbing pollutants such as dust, oil, water stains, and impurities in the working environment. At the same time, the continuous loss of precipitated white oil will cause the substrate to gradually harden, its resilience performance to decrease, and its surface to crack. This not only seriously damages the appearance and texture of the robot skin, but may also clog the flexible sensors, interfere with the accuracy of human-computer interaction, and significantly shorten the service life of the flexible skin.

[0004] To address the aforementioned technical challenges, various methods have been developed within the industry to improve the stain resistance of biomimetic flexible skin, such as spraying flexible modified coatings, hard protective coatings, or low-solids-content anti-fouling coatings. However, all of these methods have insurmountable technical shortcomings: For flexible modified coatings such as spraying PU coatings, silicone coatings, and acrylic coatings, the compatibility between these flexible modified coatings and the SEBS substrate is extremely poor. The white oil precipitated on the substrate surface directly blocks the interface bonding between the modified coating and the substrate, easily leading to problems such as coating blistering, delamination, and peeling. Hard protective coatings, due to their high hardness and poor flexibility, cannot adapt to the high-frequency bending, stretching, and torsional deformation requirements of robotic flexible skin, and are prone to cracking and failure after repeated deformation. Low-solids-content anti-fouling coatings have weak stain resistance, cannot achieve long-term oil and dust resistance, and have low curing efficiency and cumbersome processes, making it difficult to meet the requirements of industrial mass production.

[0005] Photopolymerization technology boasts advantages such as fast curing speed, low energy consumption, dense and uniform coating, and high molding precision, making it a cutting-edge technology for surface modification of polymer materials. However, conventional photopolymerization resin systems suffer from high molecular chain rigidity and poor elasticity. Directly using them for modification of high-oil-filled SEBS would damage the original flexibility of the substrate. Furthermore, the photopolymerization material has low compatibility with the styrene block structure of SEBS, resulting in poor interfacial adhesion. Currently, there is no photopolymerization modification solution suitable for ultra-high oil-filled SEBS substrates that balances high flexibility and long-term stain resistance, severely hindering the iterative upgrading and industrial application of flexible skin materials for high-end biomimetic robots.

[0006] In view of this, it is necessary to further improve the existing biomimetic flexible skin materials. Summary of the Invention

[0007] Therefore, the technical problem to be solved by this invention is that the modified coating of traditional biomimetic flexible skin materials has poor compatibility with the substrate and insufficient anti-fouling ability. Thus, a biomimetic flexible skin material with high compatibility and excellent anti-fouling ability based on photocuring crosslinking modification is proposed, as well as its preparation method and application.

[0008] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: The first aspect of the present invention provides a stain-resistant biomimetic flexible skin material, comprising an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer, wherein the SBS photocurable coating comprises, by weight, 8-15 parts of SBS elastomer, 40-60 parts of polyurethane acrylate resin, 15-25 parts of reactive diluent, 1-3 parts of photoinitiator, 3-8 parts of flexibility modifier, and 0.5-2 parts of defoaming and leveling agent.

[0009] Preferably, the thickness of the SBS photocurable coating is 5-20 μm.

[0010] Preferably, the oil filling ratio of the oil-filled SEBS substrate layer is 300%-800%.

[0011] Preferably, in the oil-filled SEBS substrate layer, the SEBS substrate has a molecular weight of 100,000-150,000 and a hardness of 0-15HA.

[0012] Preferably, the reactive diluent is at least one of propylene glycol diacrylate and hexanediol diacrylate; the photoinitiator is 1173 photoinitiator or 184 photoinitiator; and the flexible modification agent is at least one of polyether-modified silicone flexible agent, POE, and OBC.

[0013] A second aspect of the present invention provides a method for preparing the aforementioned anti-fouling biomimetic flexible skin material, comprising the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: After cleaning the oil-filled SEBS substrate layer, plasma surface activation treatment is performed to obtain a surface-activated oil-filled SEBS substrate layer. S2. Prepare SBS photocurable coating liquid by mixing SBS elastomer, polyurethane acrylate resin, reactive diluent, photoinitiator, flexible modifier and defoaming leveling agent evenly according to the proportion. S3. Apply SBS photocurable coating liquid: Apply the SBS photocurable coating liquid to the surface of the surface-activated oil-filled SEBS substrate layer to obtain a pre-cured material. S4. UV curing modification: After the pre-cured material is allowed to stand and level, it is cured with ultraviolet light and cooled to obtain the anti-fouling biomimetic flexible skin material.

[0014] Preferably, in step S4, the static leveling time is 2-5 minutes, and the UV curing modification includes a UV pre-curing step and a UV deep curing step. In the UV pre-curing step, the light intensity is 300-500 mW / cm², and the curing time is 5-10 s. In the UV deep curing step, the light intensity is 800-1200 mW / cm², and the curing time is 15-30 s. The wavelength of the UV light is 335-395 nm.

[0015] Preferably, in step S3, a micro-grooved roller is used to apply the SBS photocurable coating liquid at a speed of 3-8 m / min, and the wet film thickness is 30-80 μm.

[0016] Preferably, in step S1, cleaning the oil-filled SEBS substrate layer includes: ultrasonically cleaning the oil-filled SEBS substrate layer sequentially with anhydrous ethanol and deionized water, and drying it at low temperature, wherein the ultrasonic cleaning time is 5-10 min, the drying temperature is 40-60℃, and the drying time is 30-60 min; the plasma surface activation treatment uses air plasma with a processing power of 80-120W and a processing time of 30-90 s.

[0017] The third aspect of this invention provides an application of the aforementioned anti-fouling biomimetic flexible skin material in humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices.

[0018] The technical solution of the present invention has the following advantages compared with the prior art: (1) The anti-fouling biomimetic flexible skin material provided by the present invention includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 8-15 parts of SBS elastomer, 40-60 parts of polyurethane acrylate resin, 15-25 parts of reactive diluent, 1-3 parts of photoinitiator, 3-8 parts of flexible modification agent, and 0.5-2 parts of defoaming and leveling agent. By using oil-filled SEBS material as the substrate layer and SBS photocurable material as the modified coating, the highly homologous molecular structure of SBS and SEBS is fully utilized, significantly enhancing the interfacial compatibility and bonding strength between the SBS photocurable coating and the oil-filled SEBS substrate layer. This completely solves the problem of poor adhesion, easy delamination and bubbling of the modified coating caused by surface oil separation in high-density oil-filled SEBS substrates. The SBS photocurable coating and the oil-filled SEBS substrate layer are integrated and bonded together without interfacial delamination, and do not peel off after long-term use. The SBS photocurable coating possesses high elasticity and flexibility, perfectly adapting to the deformation characteristics of the oil-filled SEBS substrate layer, significantly enhancing the soft touch and mechanical properties of the biomimetic flexible skin. After UV curing, the SBS photocurable coating forms a dense three-dimensional network structure, effectively sealing the molecular chain gaps in the SEBS substrate and inhibiting the migration and precipitation of internal white oil. This fundamentally solves the problem of stickiness on the skin material surface, preventing the substrate from hardening, losing elasticity, and cracking due to long-term use. Furthermore, it endows the material with excellent hydrophobic and oleophobic properties, greatly improving its stain resistance and enhancing the stability and lifespan of the biomimetic flexible skin material.

[0019] (2) The anti-fouling biomimetic flexible skin material provided in this application has an SBS photocured coating thickness of only 5-20 μm, which is much lower than that of conventional modified coatings. It can completely conform to the tensile, bending, and torsional deformation characteristics of the high-oil-filled SEBS substrate. The modified flexible skin material has a tensile resilience of ≥98%, and after more than 1000 high-frequency bending tests, it shows no cracking or peeling, and can completely retain the flexibility and mechanical properties of biomimetic skin.

[0020] (3) The method for preparing antifouling biomimetic flexible skin material provided in this application adopts ultraviolet curing technology and is carried out at room temperature throughout the process. The curing speed is fast, the energy consumption is low, and there is no solvent residue. The preparation conditions are mild and environmentally friendly. The preparation method is efficient and controllable and suitable for industrial mass production. It solves the technical problems of low efficiency and poor consistency of traditional biomimetic flexible skin modification process. Attached Figure Description

[0021] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1This is a schematic diagram of the application of SBS photocurable coating liquid in the preparation method of the antifouling biomimetic flexible skin material provided in Embodiment 1 of this application.

[0022] The reference numerals in the figure are: 1-Surface-activated oil-filled SEBS substrate layer; 2-SBS photocurable coating liquid; 3-Micro-grooved roller. Detailed Implementation

[0023] Example 1 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating (styrene-butadiene-styrene block copolymer) attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 10 parts SBS elastomer, 50 parts polyurethane acrylate resin, 20 parts hexanediol diacrylate reactive diluent, 2 parts 1173 photoinitiator, 5 parts polyether-modified silicone flexible additive, and 1 part defoaming and leveling agent.

[0024] The anti-fouling biomimetic flexible skin material provided in this embodiment utilizes oil-filled SEBS as the substrate layer and SBS photocurable material as the modified coating. It fully leverages the highly homologous styrene block structure of SBS and SEBS molecules. During the coating and curing process of the SBS photocurable material, intermolecular chain entanglement and physical cross-linking occur, significantly enhancing the interfacial compatibility and bonding strength between the SBS photocurable coating and the oil-filled SEBS substrate layer. This completely solves the problems of poor adhesion, easy delamination, and blistering of modified coatings such as PU and silicone coatings caused by surface oil separation in traditional high-density oil-filled SEBS substrates. The SBS photocurable coating and the oil-filled SEBS substrate layer are integrally bonded without interfacial delamination, and will not peel off after long-term use. The SBS photocurable coating has high elasticity and high flexibility, perfectly adapting to the deformation characteristics of the oil-filled SEBS substrate layer, significantly improving the soft touch and mechanical properties of the biomimetic flexible skin. The modified flexible skin has a tensile resilience rate of ≥98% and shows no cracking or peeling after more than 1000 high-frequency bending tests. After UV curing, the SBS photocurable coating forms a dense three-dimensional network structure, which not only effectively seals the gaps between the molecular chains of the SEBS substrate and inhibits the migration and precipitation of internal white oil, thus fundamentally solving the problem of stickiness on the surface of skin materials and avoiding hardening, loss of elasticity, and surface aging and cracking of the substrate after long-term use, but also endows the material with excellent hydrophobic and oleophobic properties, with a water contact angle ≥110° and an oil contact angle ≥85°. It can effectively resist the adsorption and penetration of dust, oil, and water stains, completely solving the problem of dirt and dust accumulation in oil-filled SEBS, greatly improving its anti-fouling ability, and thus improving the stability and service life of the biomimetic flexible skin material.

[0025] The oil-filled SEBS substrate layer specifically refers to a flexible substrate layer formed by filling the SEBS (styrene-ethylene-butene-styrene block copolymer) molecular chain network with white oil (hydrogenated cycloalkane oil or paraffinic oil) at a specific ratio. High oil filling ratio imparts to the SEBS substrate a softness and high elasticity similar to human skin. In this embodiment, the oil filling ratio of the oil-filled SEBS substrate layer is 400%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 120,000 and a hardness of 8 HA.

[0026] By introducing an SBS photocurable coating onto the surface of an oil-filled SEBS substrate, the styrene segments in the SBS photocurable material are structurally homologous to those in the oil-filled SEBS substrate, enabling molecular-level segmental entanglement and interpenetration, resulting in an integrated bond without interfacial delamination. During UV curing, the polyurethane acrylate resin and reactive diluent rapidly polymerize and crosslink under the action of a photoinitiator, forming a dense three-dimensional network that locks the SBS elastomer onto the substrate interface, thereby constructing an interfacial layer with extremely high bonding strength to the high oil-filled substrate. In this embodiment, the thickness of the SBS photocurable coating 2 is 12 μm. At this thickness, the flexibility of the biomimetic flexible skin material is balanced with its protective effect. If the thickness of the SBS photocurable coating 2 is too thin, it cannot provide sufficient mechanical strength to resist the stress generated by substrate deformation, potentially leading to localized cracking. Conversely, if the thickness of the SBS photocurable coating is too thick, it risks affecting the flexibility of the biomimetic skin. By employing the aforementioned specific thickness parameters, the SBS photocurable coating 2 can perfectly conform to the deformation characteristics of the oil-filled SEBS substrate layer, enabling the biomimetic flexible skin material to possess both a soft touch and mechanical properties. When the substrate undergoes 100% or even higher tensile deformation, the coating can conform to the shape, uniformly dispersing stress and avoiding stress concentration, thus maintaining its integrity even after more than 2000 repeated bending cycles without any coating cracking or peeling.

[0027] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of the oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer was ultrasonically cleaned sequentially with anhydrous ethanol and deionized water for 6 min, and then dried at 50℃ for 40 min. After drying, the oil-filled SEBS substrate layer was activated using air plasma. The plasma surface activation treatment power was 100W, and the treatment time was 60 s, resulting in surface-activated oil-filled SEBS substrate layer 1. This step aims to remove free white oil, adsorbed dust, and other weak boundary layer substances that migrate and precipitate from the substrate surface during storage and molding, and to introduce polar functional groups to increase surface energy. S2. Prepare SBS UV-curable coating liquid 2. Mix SBS elastomer, polyurethane acrylate resin, hexanediol diacrylate reactive diluent, 1173 photoinitiator, polyether-modified silicone flexible additive and defoaming and leveling agent according to the above-mentioned mass parts, and stir at 800 r / min for 25 min at room temperature until uniformly mixed to obtain SBS UV-curable coating liquid. The SBS UV-curable coating liquid is further filtered through a 200-mesh filter to remove impurities. The defoaming and leveling agent can be amino silicone oil or other silicone oils.

[0028] S3. Apply SBS UV-curable coating liquid 2. The SBS UV-curable coating liquid 2 prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer 1 using a micro-grooved roller 3. During application, the application speed is 5 m / min to ensure that the coating is uniform and free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 50 μm, resulting in a pre-cured material.

[0029] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 3 minutes, it is subjected to gradient UV curing treatment: First, it is pre-cured with UV light with an intensity of 400mW / cm² for 8 seconds, and then it is deeply cured with UV light with an intensity of 1000mW / cm² for 20 seconds. In this embodiment, the UV wavelength is 365nm. A 12μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0030] The above-mentioned preparation process adopts ultraviolet light rapid curing technology, which is highly efficient and controllable. The preparation process is carried out at room temperature, with fast curing speed, low energy consumption, no solvent residue, and is green and environmentally friendly. The concave roller precision coating can achieve large-area uniform coating with controllable thickness and high consistency. It solves the problems of low efficiency and low yield of traditional bionic skin material preparation processes and can meet the needs of industrial mass production.

[0031] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0032] Example 2 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 12 parts SBS elastomer, 55 parts polyurethane acrylate resin, 22 parts propylene glycol diacrylate reactive diluent, 2.5 parts 184 photoinitiator, 6 parts polyether modified silicone flexible additive, and 1.5 parts defoaming and leveling agent.

[0033] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 500%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 140,000 and a hardness of 3HA. The thickness of the SBS photocurable coating is 15μm.

[0034] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 8 min in sequence, and then dried at 55℃ for 50 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 110W and the treatment time is 80s to obtain the surface-activated oil-filled SEBS substrate layer.

[0035] S2. Prepare the SBS photocurable coating solution by mixing the SBS elastomer, polyurethane acrylate resin, propylene glycol diacrylate reactive diluent, 184 photoinitiator, polyether modified silicone flexible additive and defoaming leveling agent according to the above-mentioned mass proportions, and stirring at 900 r / min for 30 min at room temperature until the mixture is uniform. The SBS photocurable coating solution is further filtered through a 200-mesh filter to remove impurities.

[0036] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 6 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 60 μm, resulting in a pre-cured material.

[0037] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 4 minutes, it is subjected to gradient UV curing treatment: First, it is pre-cured with UV light with an intensity of 450mW / cm² for 9 seconds, and then it is deeply cured with UV light with an intensity of 1100mW / cm² for 25 seconds. In this embodiment, the UV wavelength is 335nm. A 15μm thick SBS photocured coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0038] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0039] Example 3 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 13 parts SBS elastomer, 52 parts polyurethane acrylate resin, 21 parts reactive diluent, the reactive diluent being a mixture of propylene glycol diacrylate and hexanediol diacrylate in a mass ratio of 1:1, and also includes 2 parts 1173 photoinitiator, 6 parts POE flexible modifier, and 1 part defoaming and leveling agent.

[0040] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 400%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 130,000 and a hardness of 5HA. The thickness of the SBS photocurable coating is 14μm.

[0041] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 7 min in sequence, and then dried at 55℃ for 45 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 100W and the treatment time is 70s to obtain the surface-activated oil-filled SEBS substrate layer.

[0042] S2. Prepare the SBS photocurable coating liquid by mixing the SBS elastomer, polyurethane acrylate resin, mixed reactive diluent, 1173 photoinitiator, POE flexible modifier and defoaming leveling agent according to the above mass proportions, and stirring at 850 r / min for 40 min at room temperature until the mixture is uniform. The SBS photocurable coating liquid is further filtered through a 200 mesh filter to remove impurities.

[0043] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 5 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 55 μm, resulting in a pre-cured material.

[0044] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 3 minutes, it is subjected to gradient UV curing treatment: First, it is pre-cured with UV light with an intensity of 400mW / cm² for 8 seconds, and then it is deeply cured with UV light with an intensity of 1050mW / cm² for 22 seconds. In this embodiment, the UV wavelength is 395nm. A 14μm thick SBS photocured coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0045] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0046] Example 4 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 8 parts SBS elastomer, 48 parts polyurethane acrylate resin, 18 parts hexanediol diacrylate reactive diluent, 1.5 parts 184 photoinitiator, 4 parts polyether modified silicone flexible additive, and 0.8 parts defoaming and leveling agent.

[0047] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 300%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 110,000 and a hardness of 10HA. The thickness of the SBS photocurable coating is 6μm.

[0048] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 5 min in sequence, and then dried at 45℃ for 35 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 90W and the treatment time is 50s to obtain the surface-activated oil-filled SEBS substrate layer.

[0049] S2. Prepare the SBS photocurable coating liquid by mixing the SBS elastomer, polyurethane acrylate resin, hexanediol diacrylate reactive diluent, 184 photoinitiator, polyether-modified silicone flexible additive and defoaming and leveling agent according to the above-mentioned mass proportions, and stirring at 800 r / min for 20 min at room temperature until the mixture is uniform. The SBS photocurable coating liquid is further filtered through a 200-mesh filter to remove impurities.

[0050] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. The application speed is 7 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 35 μm, resulting in a pre-cured material.

[0051] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 2 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 350mW / cm² is used for pre-curing for 6 seconds, and then UV light with an intensity of 900mW / cm² is used for deep curing for 18 seconds. In this embodiment, the UV wavelength is 355nm. A 6μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0052] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0053] Example 5 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 11 parts SBS elastomer, 53 parts polyurethane acrylate resin, 20 parts hexanediol diacrylate reactive diluent, 2 parts 184 photoinitiator, 6 parts OBC flexible modifier, and 1.2 parts defoaming and leveling agent.

[0054] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 400%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 130,000 and a hardness of 6HA. The thickness of the SBS photocurable coating is 12μm.

[0055] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 7 min in sequence, and then dried at 55℃ for 45 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 105W and the treatment time is 75s to obtain a surface-activated oil-filled SEBS substrate layer.

[0056] S2. Prepare the SBS light-curing coating liquid by mixing the SBS elastomer, polyurethane acrylate resin, hexanediol diacrylate reactive diluent, 184 photoinitiator, OBC flexible modifier and defoaming leveling agent according to the above-mentioned mass proportions, and stirring at 750 r / min for 30 min at room temperature until the mixture is uniform, thus obtaining the SBS light-curing coating liquid. The SBS light-curing coating liquid is further filtered through a 200-mesh filter to remove impurities.

[0057] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 5 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 50 μm, resulting in a pre-cured material.

[0058] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 3 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 420mW / cm² is used for pre-curing for 8 seconds, and then UV light with an intensity of 1000mW / cm² is used for deep curing for 20 seconds. In this embodiment, the UV wavelength is 375nm. A 12μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0059] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0060] Example 6 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 15 parts SBS elastomer, 60 parts polyurethane acrylate resin, 25 parts propylene glycol diacrylate reactive diluent, 3 parts 1173 photoinitiator, 8 parts polyether modified silicone flexible additive, and 2 parts defoaming and leveling agent.

[0061] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 500%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 150,000 and a hardness of 2HA. The thickness of the SBS photocurable coating is 20μm.

[0062] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 9 min in sequence, and then dried at 60℃ for 55 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 120W and the treatment time is 90s to obtain the surface-activated oil-filled SEBS substrate layer.

[0063] S2. Prepare the SBS photocurable coating solution by mixing the SBS elastomer, polyurethane acrylate resin, propylene glycol diacrylate reactive diluent, 1173 photoinitiator, polyether-modified silicone flexible additive and defoaming and leveling agent according to the above-mentioned mass proportions, and stirring at 900 r / min for 25 min at room temperature until the mixture is uniform. The SBS photocurable coating solution is further filtered through a 200-mesh filter to remove impurities.

[0064] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 4 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 80 μm, resulting in a pre-cured material.

[0065] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 5 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 500mW / cm² is used for pre-curing for 10 seconds, and then UV light with an intensity of 1200mW / cm² is used for deep curing for 30 seconds. In this embodiment, the UV wavelength is 360nm. A 20μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0066] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0067] Example 7 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 10 parts SBS elastomer, 50 parts polyurethane acrylate resin, 20 parts hexanediol diacrylate reactive diluent, 2.5 parts 1173 photoinitiator, 5 parts polyether-modified silicone flexible additive, and 1 part defoaming and leveling agent.

[0068] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 300%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 120,000 and a hardness of 8HA. The thickness of the SBS photocurable coating is 10μm.

[0069] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 6 min in sequence, and then dried at 50℃ for 40 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 100W and the treatment time is 60s to obtain the surface-activated oil-filled SEBS substrate layer.

[0070] S2. Prepare the SBS photocurable coating liquid by mixing the SBS elastomer, polyurethane acrylate resin, hexanediol diacrylate reactive diluent, 1173 photoinitiator, polyether-modified silicone flexible additive and defoaming leveling agent according to the above-mentioned mass proportions, and stirring at 820 r / min for 20 min at room temperature until the mixture is uniform. The SBS photocurable coating liquid is further filtered through a 200-mesh filter to remove impurities.

[0071] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. The application speed is 8 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 45 μm, resulting in a pre-cured material.

[0072] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 2 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 450mW / cm² is used for pre-curing for 5 seconds, and then UV light with an intensity of 1000mW / cm² is used for deep curing for 15 seconds. In this embodiment, the UV wavelength is 365nm. A 10μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0073] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0074] Example 8 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 12 parts SBS elastomer, 54 parts polyurethane acrylate resin, 22 parts propylene glycol diacrylate reactive diluent, 2.5 parts 184 photoinitiator, 7 parts polyether modified silicone flexible additive, and 1.5 parts defoaming and leveling agent.

[0075] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 450%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 130,000 and a hardness of 5HA. The thickness of the SBS photocurable coating is 14μm.

[0076] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 7 min in sequence, and then dried at 55℃ for 45 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 100W and the treatment time is 70s to obtain the surface-activated oil-filled SEBS substrate layer.

[0077] S2. Prepare the SBS photocurable coating solution by mixing the SBS elastomer, polyurethane acrylate resin, propylene glycol diacrylate reactive diluent, 184 photoinitiator, polyether modified silicone flexible additive and defoaming leveling agent according to the above-mentioned mass proportions, and stirring at 900 r / min for 15 min at room temperature until the mixture is uniform, thus obtaining the SBS photocurable coating solution. The SBS photocurable coating solution is further filtered through a 200-mesh filter to remove impurities.

[0078] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 5 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 55 μm, resulting in a pre-cured material.

[0079] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 3 minutes, it is subjected to gradient UV curing treatment: First, it is pre-cured with UV light with an intensity of 400mW / cm² for 8 seconds, and then it is deeply cured with UV light with an intensity of 1050mW / cm² for 22 seconds. In this embodiment, the UV wavelength is 365nm. A 14μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0080] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0081] Example 9 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 11 parts SBS elastomer, 53 parts polyurethane acrylate resin, 21 parts hexanediol diacrylate reactive diluent, 2 parts 1173 photoinitiator, 6 parts polyether-modified silicone flexible additive, and 1.2 parts defoaming and leveling agent.

[0082] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 450%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 140,000 and a hardness of 4HA. The thickness of the SBS photocurable coating is 13μm.

[0083] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 8 min in sequence, and then dried at 55℃ for 50 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 110W and the treatment time is 80s to obtain the surface-activated oil-filled SEBS substrate layer.

[0084] S2. Prepare the SBS photocurable coating solution by mixing the SBS elastomer, polyurethane acrylate resin, hexanediol diacrylate reactive diluent, 1173 photoinitiator, polyether-modified silicone flexible additive and defoaming and leveling agent according to the above-mentioned mass proportions, and stirring at 800 r / min for 25 min at room temperature until the mixture is uniform. The SBS photocurable coating solution is further filtered through a 200-mesh filter to remove impurities.

[0085] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 5 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 55 μm, resulting in a pre-cured material.

[0086] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 3 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 420mW / cm² is used for pre-curing for 8 seconds, and then UV light with an intensity of 1000mW / cm² is used for deep curing for 20 seconds. In this embodiment, the UV wavelength is 365nm. A 13μm thick SBS photocurable coating is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0087] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0088] Example 10 This embodiment provides a stain-resistant biomimetic flexible skin material, which includes an oil-filled SEBS substrate layer and an SBS photocurable coating attached to the surface of the oil-filled SEBS substrate layer. The SBS photocurable coating, by weight, includes: 9 parts SBS elastomer, 40 parts polyurethane acrylate resin, 15 parts propylene glycol diacrylate reactive diluent, 1 part 184 photoinitiator, 3 parts polyether modified silicone flexible additive, and 0.5 parts defoaming and leveling agent.

[0089] In this embodiment, the oil-filled SEBS substrate layer has an oil filling ratio of 800%, and the SEBS substrate in the oil-filled SEBS substrate layer has a molecular weight of 110,000 and a hardness of 10HA. The thickness of the SBS photocurable coating is 8μm.

[0090] This embodiment also provides a method for preparing the above-mentioned anti-fouling biomimetic flexible skin material, including the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: The oil-filled SEBS substrate layer is ultrasonically cleaned with anhydrous ethanol and deionized water for 10 min in sequence, and then dried at 45℃ for 35 min. After drying, the oil-filled SEBS substrate layer is activated by air plasma. The plasma surface activation treatment power is 90W and the treatment time is 50s to obtain the surface-activated oil-filled SEBS substrate layer.

[0091] S2. Prepare the SBS photocurable coating solution by mixing the SBS elastomer, polyurethane acrylate resin, propylene glycol diacrylate reactive diluent, 184 photoinitiator, polyether modified silicone flexible additive and defoaming leveling agent according to the above-mentioned mass proportions, and stirring at 800 r / min for 30 min at room temperature until the mixture is uniform. The SBS photocurable coating solution is further filtered through a 200-mesh filter to remove impurities.

[0092] S3. Apply SBS UV-curable coating liquid. The SBS UV-curable coating liquid prepared in step S2 is applied to the surface of the surface-activated oil-filled SEBS substrate layer using a micro-grooving roller. During application, the coating speed is 6 m / min to ensure a uniform coating free of pinholes, bubbles, and uneven thickness defects. In this embodiment, the wet film thickness of the applied SBS UV-curable coating liquid is 40 μm, resulting in a pre-cured material.

[0093] S4. UV curing modification: After the pre-cured material is allowed to stand and level at room temperature for 2 minutes, it is subjected to gradient UV curing treatment: First, UV light with an intensity of 350mW / cm² is used for pre-curing for 6 seconds, and then UV light with an intensity of 900mW / cm² is used for deep curing for 18 seconds. In this embodiment, the UV wavelength is 365nm. An SBS photocurable coating with a thickness of 8μm is formed on the surface of the oil-filled SEBS substrate layer. After cooling, the anti-fouling biomimetic flexible skin material is obtained.

[0094] The anti-fouling biomimetic flexible skin material provided in this embodiment has the characteristics of ultra-high flexibility, tactile simulation, and long-lasting anti-fouling, and can be applied to humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices. Specifically, it is suitable for humanoid robot body surface covering, biomimetic mechanical finger skin, deformable shell of flexible interactive terminals, and skin contact layer of intelligent wearable biomimetic devices.

[0095] Comparative Example 1 This comparative example provides a biomimetic flexible skin material, which is an oil-filled SEBS substrate layer with an oil filling ratio of 400%. The oil-filled SEBS substrate layer is the same as the oil-filled SEBS substrate layer provided in Example 1, but it has not been cleaned, surface activated, or modified with SBS photocurable coating.

[0096] Comparative Example 2 This comparative example provides a biomimetic flexible skin material. The preparation process of this biomimetic flexible skin material is basically the same as that of Example 1, except that SBS photocurable coating modification is not used, but conventional polyurethane acrylate photocurable coating modification is used instead.

[0097] Comparative Example 3 This comparative example provides a biomimetic flexible skin material, which is an oil-filled SEBS substrate layer with an oil filling ratio of 500%. The oil-filled SEBS substrate layer is the same as the oil-filled SEBS substrate layer provided in Example 2. The surface of the substrate layer is sprayed with a vulcanized silicone coating. After spraying, it is cured at room temperature for 60 minutes to obtain a dry film coating with a thickness of 30 μm.

[0098] Comparative Example 4 This comparative example provides a biomimetic flexible skin material. The preparation process of this biomimetic flexible skin material is basically the same as that of Example 1. The difference is that in step S4, instead of gradient ultraviolet curing treatment, a one-step ultraviolet curing treatment is used, that is, ultraviolet light with an intensity of 1000mW / cm² is used to cure for 28s to form an SBS photocurable coating on the surface of the oil-filled SEBS substrate layer.

[0099] Experimental Example In accordance with the industry testing standards for robotic flexible skin materials, the performance of the biomimetic flexible skin materials provided in Examples 1-10 and Comparative Examples 1-4 was tested. The test items and test results are shown in Table 1 below.

[0100] Table 1 The test results above show that the antifouling biomimetic flexible skin material prepared by the method provided in this application has a water contact angle ≥110°, an oil contact angle ≥85°, a bending resistance ≥1000 times with an intact coating, and a tensile resilience ≥98%. This achieves both hydrophobic and oleophobic antifouling capabilities and long-term service stability while maintaining the high elasticity and flexibility of the substrate layer. In Comparative Example 1, the substrate layer was not cleaned or modified. The highly oil-filled SEBS surface is naturally oleophilic and hydrophilic, making it extremely prone to contamination. In Comparative Example 2, a conventional modified coating was used. Its molecular structure lacked interaction with the styrene blocks of the SEBS substrate, resulting in poor compatibility. Under the interference of precipitated white oil, its adhesion was extremely weak. After repeated bending, it rapidly cracked and peeled off over a large area, causing a sharp drop in all performance indicators. In Comparative Example 3, although the silicone coating itself has a certain degree of flexibility and contact angle, it is difficult to form a stable connection structure with the substrate, making it prone to edge peeling. Furthermore, its 30μm thickness also limited the flexibility effect. In Comparative Example 4, direct strong light curing resulted in a large difference in curing speed between the coating surface and the bottom, generating huge internal stress, which led to defects such as microcracks and local delamination. Consequently, the contact angle, white oil inhibition rate, and bending resistance were all significantly lower than the gradient curing treatment method provided in the embodiments of this application.

[0101] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A stain-resistant biomimetic flexible skin material, characterized in that, The invention comprises an oil-extended SEBS substrate layer and an SBS photocurable coating adhered to the surface of the oil-extended SEBS substrate layer, wherein the SBS photocurable coating comprises, by weight, 8-15 parts of SBS elastomer, 40-60 parts of polyurethane acrylate resin, 15-25 parts of reactive diluent, 1-3 parts of photoinitiator, 3-8 parts of flexibility modifier, and 0.5-2 parts of defoaming and leveling agent.

2. The anti-fouling biomimetic flexible skin material according to claim 1, characterized in that, The thickness of the SBS photocurable coating is 5-20 μm.

3. The anti-fouling biomimetic flexible skin material according to claim 1 or 2, characterized in that, The oil-filled SEBS substrate layer has an oil filling ratio of 300%-800%.

4. The anti-fouling biomimetic flexible skin material according to claim 3, characterized in that, In the oil-filled SEBS substrate layer, the molecular weight of the SEBS substrate is 100,000-150,000, and the hardness is 0-15HA.

5. The anti-fouling biomimetic flexible skin material according to claim 1, characterized in that, The reactive diluent is at least one of propylene glycol diacrylate and hexanediol diacrylate; the photoinitiator is 1173 photoinitiator or 184 photoinitiator; the flexible modification agent is at least one of polyether modified silicone flexible agent, POE, and OBC.

6. A method for preparing the anti-fouling biomimetic flexible skin material as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. Pretreatment of oil-filled SEBS substrate layer: After cleaning the oil-filled SEBS substrate layer, plasma surface activation treatment is performed to obtain a surface-activated oil-filled SEBS substrate layer. S2. Prepare SBS photocurable coating liquid by mixing SBS elastomer, polyurethane acrylate resin, reactive diluent, photoinitiator, flexible modifier and defoaming leveling agent evenly according to the proportion. S3. Apply SBS photocurable coating liquid: Apply the SBS photocurable coating liquid to the surface of the surface-activated oil-filled SEBS substrate layer to obtain a pre-cured material. S4. UV curing modification: After the pre-cured material is allowed to stand and level, it is cured with ultraviolet light and cooled to obtain the anti-fouling biomimetic flexible skin material.

7. The preparation method according to claim 6, characterized in that, In step S4, the static leveling time is 2-5 minutes. The UV curing modification includes a UV pre-curing step and a UV deep curing step. In the UV pre-curing step, the light intensity is 300-500 mW / cm², and the curing time is 5-10 seconds. In the UV deep curing step, the light intensity is 800-1200 mW / cm², and the curing time is 15-30 seconds. The wavelength of the UV light is 335-395 nm.

8. The preparation method according to claim 6, characterized in that, In step S3, SBS photocurable coating liquid is applied using a micro-grooved roller at a speed of 3-8 m / min, and the wet film thickness is 30-80 μm.

9. The preparation method according to claim 6, characterized in that, In step S1, cleaning the oil-filled SEBS substrate layer includes: ultrasonically cleaning the oil-filled SEBS substrate layer sequentially with anhydrous ethanol and deionized water, and drying it at low temperature, wherein the ultrasonic cleaning time is 5-10 min, the drying temperature is 40-60℃, and the drying time is 30-60 min; the plasma surface activation treatment uses air plasma with a processing power of 80-120W and a processing time of 30-90 s.

10. The application of a stain-resistant biomimetic flexible skin material as described in any one of claims 1-5 in humanoid robots, biomimetic robotic hands, flexible interactive terminals, and intelligent wearable biomimetic devices.

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