A makeupable flexible robot skin material and a method of making the same

Abstract

The application discloses a kind of makeup flexible robot skin materials and preparation method thereof, by using polar grafting monomer to SEBS matrix is polar grafting modification, by covalent bond in SEBS molecular chain is introduced polar functional group, polar functional group further with the polar group in color cosmetic pigment forms hydrogen bond and strong polar interaction, greatly improve the interface bonding strength, realize the long-term stability of bionic skin surface makeup.It is consistent with the original substrate after modification, shore hardness, tensile elongation, resilience, bending fatigue resistance can be kept, the skin material prepared can still realize the effect of no cracking, no makeup layer shedding when covering robot face executes blinking, mouth opening and other complex dynamic expressions for ten thousand times, inhibit white oil precipitation, avoid the problem of oil floating off makeup by adding control aids in oiling granulation process, prolong the service life of bionic robot face skin, reduce the maintenance cost of robot face.

Description

Technical Field

[0001] This invention belongs to the field of flexible robotic skin preparation technology, and relates to a method for preparing a flexible robotic skin material. Specifically, it relates to a makeup-applying flexible robotic skin material and its preparation method. Background Technology

[0002] With the rapid development of humanoid robots, emotional interaction robots, and bionic robots for film and television special effects, the requirements for flexible skin materials on robot surfaces are becoming increasingly stringent. In particular, the flexible skin on the robot's face, as the core material for simulating the appearance of humanoid robots, not only needs to have flexibility and elasticity close to human skin, the ability to follow facial expressions and deform, resistance to repeated bending, and fatigue resistance, but also needs to achieve long-term stable makeup application, even makeup, colorfastness, wiping resistance, and the ability to repeatedly remove and touch up makeup, so as to highly reproduce the appearance and expression characteristics of real human facial makeup.

[0003] SEBS (styrene-ethylene-butene-styrene hydrogenated block elastomer) is characterized by being non-toxic and environmentally friendly, resistant to low temperatures, highly resilient, ultra-soft, extremely adaptable to deformation, resistant to aging and non-yellowing, and highly biocompatible. After being treated with high-ratio white oil, the hardness of SEBS material can be reduced to below 15HA. Its mechanical feel, tensile deformation, and bending characteristics are highly consistent with human facial skin, making it the optimal substrate for the flexible facial skin of humanoid robots.

[0004] However, SEBS material has inherent molecular structural defects: SEBS is a completely nonpolar polyolefin block structure, lacking polar active groups such as hydroxyl, carboxyl, and ester groups in its molecular chain. This results in extremely low surface free energy and very poor interfacial adhesion. In contrast, common facial makeup products such as water-based foundations, oil-based concealers, powder eyeshadows and blushes, and cream lipsticks are all polar materials. After application, the nonpolar SEBS and polar makeup are only bonded by weak van der Waals forces, resulting in extremely weak adhesion. Under long-term working conditions, the humanoid robot's face frequently performs facial stretching, squeezing, bending, and twisting movements. Furthermore, it is susceptible to damage from daily environmental factors such as wiping, touching, and temperature changes, easily leading to problems such as makeup fading, edge lifting, color smudging, and large-area peeling. Therefore, it cannot maintain a stable, realistic makeup look over a long period.

[0005] In addition, as mentioned earlier, in order to make the robot's facial skin have a soft feel close to that of a real person, SEBS material is usually treated with high-ratio white oil filling. This will cause a large amount of free white oil to continuously migrate and precipitate to the surface of SEBS material. The precipitated white oil forms an oleophobic isolation layer on the surface of SEBS material, which further blocks the bonding between makeup and SEBS substrate, greatly reducing the makeup's firmness and making the problems of makeup smudging and fading more serious.

[0006] To address the aforementioned technical issues, the industry has proposed several improvement solutions: (1) directly spraying a polar primer onto the SEBS substrate surface; (2) performing a simple surface plasma polar activation treatment; (3) using silicone materials to replace SEBS in preparing skin; and (4) physical roughening treatment. However, all of the above solutions have significant technical problems: the primer has high rigidity and low elongation, and is prone to cracking and peeling after repeated bending due to dynamic expressions on the robot's face, resulting in the failure of the overall makeup and damage to the flexible deformation characteristics; the simple surface plasma polar activation treatment can only temporarily change the surface polarity of the substrate, and has poor durability. After long-term use and repeated makeup removal and wiping, the surface polarity decays rapidly, resulting in insufficient makeup durability; although silicone materials are relatively easy to apply makeup to, they have poor resilience, stiff touch, poor expression following, and are prone to aging and yellowing, making it difficult to match the high-precision anthropomorphic facial dynamic requirements; the physical roughening treatment can only enhance adhesion by improving mechanical interlocking, but cannot improve the chemical bonding of the polar interface, and still has problems such as easy fading, poor wiping resistance, and inability to reapply makeup repeatedly.

[0007] In view of this, it is necessary to further improve the flexible robotic skin materials in the existing technology. Summary of the Invention

[0008] Therefore, the technical problem to be solved by this invention is that the makeup on the flexible robotic skin material has poor durability, is easy to fall off, and has poor flexible bionic effect. Therefore, this invention proposes a flexible robotic skin material that can be applied with makeup and its preparation method, which can maintain excellent bionic flexibility and high expression following, and can achieve long-lasting and firm makeup application and repeated makeup removal and touch-up.

[0009] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: The first aspect of this invention provides a method for preparing a flexible robotic skin material suitable for makeup application, comprising the following steps: S1. Polar grafting modification of SEBS matrix: By mass, 85-95 parts of SEBS matrix, 3-8 parts of polar grafting monomer, 0.1-0.5 parts of initiator, and 0.3-1.2 parts of antioxidant are mixed evenly and then melted to obtain polarized modified SEBS matrix. S2. Oil-extended granulation: The polarized modified SEBS base material is mixed with food-grade saturated white oil and regulating agent by intensive mixing, and then granulated to obtain polarized flexible oil-extended SEBS base material particles. S3. Molding process: The polarized flexible oil-filled SEBS base material particles are molded into flexible sheets. After annealing and shaping, a flexible robot skin material suitable for makeup application is obtained.

[0010] Preferably, step S3 further includes a step of micro-roughening the surface of the flexible sheet.

[0011] Preferably, the polar graft monomer includes at least one of maleic anhydride, hydroxyethyl methacrylate, and acrylic acid; the initiator is dicumyl peroxide or di-tert-butyl peroxide; and the antioxidant is antioxidant 1010.

[0012] Preferably, the SEBS matrix has a molecular weight of 100,000-160,000, a hardness of 0-18 HA, and a styrene content of 25-35%.

[0013] Preferably, in step S1, the melt reaction is carried out using a twin-screw extruder, wherein the melt grafting temperature of the twin-screw extruder is 170-230℃, the screw speed is 30-70 r / min, the melt residence time is 2-5 min, and the grafting rate is 0.8-2.5%.

[0014] Preferably, in step S2, the polarized modified SEBS base material is 80-100 parts by weight, the food-grade saturated white oil is 240-800 parts, and the regulating agent is 3-10 parts.

[0015] Preferably, the regulating agent includes at least one of the following: a flexibility toughening agent, a rheology regulating agent, an anti-oil migration agent, a skin feel modifier, and a weathering stabilizer.

[0016] Preferably, in step S2, the temperature of the internal mixing is 140-180℃ and the time is 15-30min.

[0017] Preferably, in step S3, the annealing temperature is 40-70℃, the holding time is 30-60min, and the thickness of the resulting flexible sheet is 0.1-1mm; after the micro-roughening treatment, the surface roughness of the flexible sheet is 0.8-3.2μm.

[0018] A second aspect of the present invention provides a flexible robotic skin material suitable for makeup application, which is prepared by the aforementioned preparation method.

[0019] The technical solution of the present invention has the following advantages compared with the prior art: The preparation method of the makeup-applicable flexible robotic skin material provided by the present invention includes the following steps: S1, polar grafting modification of SEBS matrix: by weight, 85-95 parts of SEBS matrix, 3-8 parts of polar graft monomer, 0.1-0.5 parts of initiator, and 0.3-1.2 parts of antioxidant are mixed evenly and then melted to obtain polarized modified SEBS matrix; S2, oil-filled granulation: the polarized modified SEBS matrix is ​​mixed with food-grade saturated white oil and regulating agent by intensive mixing and granulation to obtain polarized flexible oil-filled SEBS matrix particles; S3, molding treatment: the polarized flexible oil-filled SEBS matrix particles are molded into flexible sheets, and after annealing and shaping, the makeup-applicable flexible robotic skin material is obtained. By employing polar grafting monomers to modify the SEBS matrix, polar functional groups are introduced onto the SEBS molecular chain via covalent bonds. These polar functional groups further form hydrogen bonds and strong polar interactions with polar groups in makeup pigments, significantly enhancing the interfacial bonding strength. This fundamentally solves the technical problems of weak makeup adhesion, easy peeling, edge lifting, and color smudging caused by non-polar SEBS relying solely on weak van der Waals forces, achieving long-term stability of biomimetic skin-like makeup. Simultaneously, this polar grafting modification step does not damage the original block elastic structure of the SEBS substrate. After modification, the Shore hardness, tensile elongation, resilience, and flexural fatigue resistance of the substrate remain consistent with the original substrate. The resulting skin material can still achieve crack-free and makeup-free peeling effects when covering a robot's face to perform complex dynamic expressions such as blinking and opening its mouth tens of thousands of times. This achieves a unity of biomimetic flexibility and firm, makeup-applying performance in a single skin material. By adding regulatory agents during the oil-filling granulation process, the problem of white oil precipitation and makeup smudging can be suppressed. This flexible robot skin material that can be applied to the face supports repeated cleaning and multiple touch-ups, which significantly extends the lifespan of the bionic robot's facial skin and reduces the maintenance cost of the robot's face. Detailed Implementation

[0020] To make the content of this invention easier to understand, the invention will be further described in detail below according to specific embodiments.

[0021] Example 1 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS (styrene-ethylene-butene-styrene hydrogenated block elastomer) particles with a number-average molecular weight of 130,000, a styrene content of 30%, and a Shore hardness of 8HA were selected as the matrix and vacuum dried at 60℃ for 10h to obtain the SEBS matrix. By weight, 90 parts of SEBS matrix, 5 parts of maleic anhydride, 0.3 parts of dicumyl peroxide (DCP), and 0.6 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 185-210℃, the screw speed was 50 r / min, and the melt residence time was 3 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.6%.

[0022] S2. Oil-filled granulation: By weight, 90 parts of the polarized modified SEBS base material obtained in step S1, 270 parts of food-grade saturated white oil, 4 parts of anti-oil migration agent, and 2 parts of skin feel modifier are mixed and blended in an intensive mixing process. The oil filling ratio is 300%. The skin feel modifier is specifically a skin-smoothing aid, used to make the surface of the flexible skin material dry and smooth, eliminating the stickiness of highly oil-filled materials and making makeup application easier. The intensive mixing temperature is 160℃, and the intensive mixing time is 22 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-filled SEBS base material granules.

[0023] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 0.5mm using a molding process. After annealing and setting at 55℃ for 45 minutes, a flexible robotic skin material suitable for makeup application is obtained. Annealing and setting eliminates internal stress and improves the dimensional stability of the flexible robotic skin material.

[0024] The method provided in this embodiment modifies the SEBS matrix by using the polar graft monomer maleic anhydride. Polar functional groups are introduced onto the SEBS molecular chain via covalent bonds. These polar functional groups further form hydrogen bonds and strong polar interactions with polar groups in the makeup pigments, significantly improving the interfacial bonding strength. This fundamentally solves the technical problems of weak makeup adhesion, easy peeling, edge lifting, and color smudging caused by non-polar SEBS relying solely on weak van der Waals forces, achieving long-term stability of biomimetic skin-like makeup. Simultaneously, this polar graft modification step does not damage the original block elastic structure of the SEBS substrate. After modification, the Shore hardness, tensile elongation, resilience, and flexural fatigue resistance of the substrate remain consistent with the original substrate. The resulting skin material can still achieve crack-free and makeup-free peeling effects when covering a robot's face to perform complex dynamic expressions such as blinking and opening its mouth tens of thousands of times. This achieves a unity of biomimetic flexibility and firm, makeup-applying performance in a single skin material. During the oil-filling granulation process, the addition of regulating agents such as anti-oil migration agents can synergistically work with the polarization modification step. On the one hand, the grafted polar groups enhance the interaction between molecular chains and the binding ability of oil molecules; on the other hand, anti-oil migration agents can physically inhibit the precipitation of white oil to the surface, solving the problem of the formation of an oleophobic isolation layer and the obstruction of makeup adhesion after the precipitation of white oil in traditional flexible skin. This significantly improves the long-term binding stability of makeup under dynamic deformation and prevents smudging and makeup removal caused by oil. This makeup-applying flexible robotic skin material supports repeated cleaning and multiple touch-ups. Makeup can be effectively removed with gentle makeup removal. The makeup removal process does not corrode or damage the polarized modified SEBS matrix, significantly improving the lifespan of the bionic robot's facial skin and reducing the maintenance cost of the robot's face.

[0025] To further enhance the makeup's resistance to peeling under extreme facial expressions and improve its adhesion, step S3, after annealing and setting, includes a micro-roughening treatment of the flexible sheet surface, reducing its surface roughness Ra to 2.0 μm. Specifically, micro-roughening involves physically creating micron-level rough textures to increase the effective contact area and mechanical interlocking sites between the substrate and makeup pigments, powders, or creams. During makeup application, makeup components can not only chemically bond to the substrate surface through hydrogen bonds and polar interactions but also embed themselves in these fine pits and textures, resulting in stronger adhesion.

[0026] This embodiment also provides a flexible robotic skin material that can be applied with makeup. It is prepared by the above-described method. This flexible robotic skin material has a biomimetic soft touch, strong adhesion to various types of makeup, resistance to high-frequency facial expression bending without makeup smudging, and unique properties that allow for repeated makeup removal and touch-up. The water contact angle of this skin material can be reduced from 95-105° of the original SEBS substrate to 55-75°. The makeup adhesion is ≥4 level. It can withstand 5000 facial expression bending cycles without makeup smudging, fading, or peeling. The stretching elasticity is ≥97%. It can be repeatedly used for makeup removal and touch-up.

[0027] Example 2 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 150,000, a styrene content of 25%, and a Shore hardness of 4HA were selected as the matrix and vacuum dried at 55℃ for 11 hours to obtain the SEBS matrix. By weight, 92 parts of the SEBS matrix, 4 parts of hydroxyethyl methacrylate, 0.25 parts of di-tert-butyl peroxide (BIPB), and 0.8 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 175-220℃, the screw speed was 40 r / min, and the melt residence time was 2 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.1%.

[0028] S2. Oil-extended granulation: By weight, 80 parts of the polarized modified SEBS base material obtained in step S1, 304 parts of food-grade saturated white oil, and 3 parts of anti-oil migration agent are mixed and kneaded together, with an oil extrusion ratio of 380%. The kneading temperature is 150℃ and the kneading time is 28 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0029] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.3mm. After annealing and setting at 60℃ for 50 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0030] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 0.8μm.

[0031] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0032] Example 3 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 140,000, a styrene content of 26%, and a Shore hardness of 6HA were selected as the matrix and vacuum dried at 65℃ for 9 hours to obtain the SEBS matrix. By weight, 88 parts of SEBS matrix, 6 parts of polar grafting monomer, 0.4 parts of DCP, and 0.7 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. The polar grafting monomer was a mixture of maleic anhydride and acrylic acid in a mass ratio of 1:1. During the reaction, the temperature of the melt grafting section was 200-225℃, the screw speed was 60 r / min, and the melt residence time was 5 min, resulting in a polarized modified SEBS matrix with a grafting rate of 2.2%.

[0033] S2. Oil-extended granulation: By weight, 100 parts of the polarized modified SEBS base material obtained in step S1, 350 parts of food-grade saturated white oil, and 10 parts of rheology modifier are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 350%. The internal mixing temperature is 165℃ and the internal mixing time is 20 minutes. After the mixing is completed, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0034] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 0.4mm through molding process. After annealing and setting at 44℃ for 40 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0035] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.5μm.

[0036] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0037] Example 4 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 160,000, a styrene content of 29%, and a Shore hardness of 6HA were selected as the matrix and vacuum dried at 65℃ for 9 hours to obtain the SEBS matrix. By weight, 93 parts of SEBS matrix, 3.5 parts of hydroxyethyl methacrylate, 0.2 parts of BIPB, and 1 part of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 180-210℃, the screw speed was 45 r / min, and the melt residence time was 4 min, resulting in a polarized modified SEBS matrix with a grafting rate of 0.9%.

[0038] S2. Oil-extended granulation: By weight, 85 parts of the polarized modified SEBS base material obtained in step S1, 382.5 parts of food-grade saturated white oil, and 5 parts of weather stabilizer are mixed and kneaded together, with an oil extrusion ratio of 450%. The kneading temperature is 145℃ and the kneading time is 30 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0039] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.25mm. After annealing and setting at 60℃ for 55 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0040] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the makeup's adhesion, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 3μm.

[0041] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0042] Example 5 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 120,000, a styrene content of 27%, and a Shore hardness of 10 HA were selected as the matrix and vacuum dried at 60℃ for 8 hours to obtain the SEBS matrix. By weight, 91 parts of SEBS matrix, 4.5 parts of acrylic acid, 0.25 parts of DCP, and 0.5 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 190-215℃, the screw speed was 55 r / min, and the melt residence time was 3 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.4%.

[0043] S2. Oil-extended granulation: By weight, 92 parts of the polarized modified SEBS base material obtained in step S1, 294.4 parts of food-grade saturated white oil, and 3.5 parts of flexible toughening agent are mixed and kneaded together, with an oil extrusion ratio of 320%. The kneading temperature is 155℃ and the kneading time is 25 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0044] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 0.2mm through molding process. After annealing and setting at 50℃ for 35 minutes, a flexible robot skin material suitable for makeup application is obtained.

[0045] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 1.5μm.

[0046] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0047] Example 6 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 130,000, a styrene content of 28%, and a Shore hardness of 7HA were selected as the matrix and vacuum dried at 50℃ for 12 hours to obtain the SEBS matrix. By weight, 90 parts of SEBS matrix, 5 parts of maleic anhydride, 0.35 parts of BIPB, and 0.9 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 195-220℃, the screw speed was 50 r / min, and the melt residence time was 4 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.7%.

[0048] S2. Oil-extended granulation: By weight, 95 parts of the polarized modified SEBS base material obtained in step S1, 313.5 parts of food-grade saturated white oil, 5 parts of anti-oil migration agent, and 4 parts of skin feel modifier are mixed and kneaded together. The oil extrusion ratio is 330%. The kneading temperature is 160℃ and the kneading time is 24 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0049] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.5mm. After annealing and setting at 55℃ for 45 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0050] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.0μm.

[0051] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0052] Example 7 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 140,000, a styrene content of 25%, and a Shore hardness of 5HA were selected as the matrix and vacuum dried at 55℃ for 12 hours to obtain the SEBS matrix. By weight, 89 parts of SEBS matrix, 5.5 parts of hydroxyethyl methacrylate, 0.3 parts of DCP, and 0.7 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 185-210℃, the screw speed was 50 r / min, and the melt residence time was 5 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.8%.

[0053] S2. Oil-extended granulation: By weight, 87 parts of the polarized modified SEBS base material obtained in step S1, 313.2 parts of food-grade saturated white oil, and 5 parts of anti-oil migration agent are mixed and kneaded together, with an oil extrusion ratio of 360%. The kneading temperature is 160℃ and the kneading time is 26 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0054] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.45mm. After annealing and setting at 40℃ for 60 minutes, a flexible robot skin material suitable for makeup application is obtained.

[0055] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.2μm.

[0056] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0057] Example 8 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 120,000, a styrene content of 33%, and a Shore hardness of 5HA were selected as the matrix and vacuum dried at 65℃ for 8 hours to obtain the SEBS matrix. By weight, 92 parts of SEBS matrix, 8 parts of maleic anhydride, 0.25 parts of BIPB, and 0.6 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 190-220℃, the screw speed was 65 r / min, and the melt residence time was 2 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.2%.

[0058] S2. Oil-extended granulation: By weight, 100 parts of the polarized modified SEBS base material obtained in step S1, 300 parts of food-grade saturated white oil, and 5 parts of anti-oil migration agent are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 300%. The internal mixing temperature is 165℃ and the internal mixing time is 16 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0059] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.5mm. After annealing and setting at 55℃ for 30 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0060] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 1.8μm.

[0061] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0062] Example 9 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 130,000, a styrene content of 27%, and a Shore hardness of 8HA were selected as the matrix and vacuum dried at 60℃ for 10 hours to obtain the SEBS matrix. By weight, 85 parts of SEBS matrix, 3 parts of acrylic acid, 0.1 parts of DCP, and 0.3 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 185-210℃, the screw speed was 30 r / min, and the melt residence time was 3 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.5%.

[0063] S2. Oil-extended granulation: By weight, 80 parts of the polarized modified SEBS base material obtained in step S1, 640 parts of food-grade saturated white oil, and 9 parts of rheology modifier are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 800%. The internal mixing temperature is 180℃ and the internal mixing time is 15 minutes. After the mixing is completed, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0064] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.5mm. After annealing and setting at 55℃ for 45 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0065] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 3.2μm.

[0066] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0067] Example 10 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 100,000, a styrene content of 35%, and a Shore hardness of 12HA were selected as the matrix and vacuum dried at 60℃ for 10 hours to obtain the SEBS matrix. By weight, 95 parts of SEBS matrix, 8 parts of hydroxyethyl methacrylate, 0.5 parts of BIPB, and 1.2 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 170-200℃, the screw speed was 35 r / min, and the melt residence time was 4 min, resulting in a polarized modified SEBS matrix with a grafting rate of 0.8%.

[0068] S2. Oil-extended granulation: By weight, 90 parts of the polarized modified SEBS base material obtained in step S1, 405 parts of food-grade saturated white oil, and 9 parts of rheology modifier are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 450%. The internal mixing temperature is 140℃ and the internal mixing time is 20 min. After the mixing is completed, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0069] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.6mm. After annealing and setting at 45℃ for 60 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0070] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 1.2μm.

[0071] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0072] Example 11 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 150,000, a styrene content of 28%, and a Shore hardness of 18HA were selected as the matrix and vacuum dried at 60℃ for 9 hours to obtain the SEBS matrix. By weight, 91 parts of SEBS matrix, 5 parts of polar grafting monomer, 0.3 parts of DCP, and 0.8 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. The polar grafting monomer was a mixture of maleic anhydride and hydroxyethyl methacrylate in a mass ratio of 1:1. During the reaction, the temperature of the melt grafting section was 180-215℃, the screw speed was 45 r / min, and the melt residence time was 2 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.6%.

[0073] S2. Oil-extended granulation: By weight, 92 parts of the polarized modified SEBS base material obtained in step S1, 349.6 parts of food-grade saturated white oil, and 4 parts of weather stabilizer are mixed and kneaded together, with an oil extrusion ratio of 380%. The kneading temperature is 150℃ and the kneading time is 28 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0074] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 0.35mm through molding process. After annealing and setting at 50℃ for 45 minutes, a flexible robot skin material suitable for makeup application is obtained.

[0075] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 1.7μm.

[0076] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0077] Example 12 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 160,000, a styrene content of 32%, and a Shore hardness of 3HA were selected as the matrix and vacuum dried at 55℃ for 11 hours to obtain the SEBS matrix. By weight, 87 parts of SEBS matrix, 7 parts of maleic anhydride, 0.5 parts of DCP, and 1 part of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 200-230℃, the screw speed was 60 r / min, and the melt residence time was 3 min, resulting in a polarized modified SEBS matrix with a grafting rate of 2.5%.

[0078] S2. Oil-extended granulation: By weight, 90 parts of the polarized modified SEBS base material obtained in step S1, 450 parts of food-grade saturated white oil, and 6 parts of anti-oil migration agent are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 500%. The internal mixing temperature is 170℃ and the internal mixing time is 25 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0079] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 1mm through molding process. After annealing and setting at 70℃ for 60 minutes, a flexible robot skin material suitable for makeup application is obtained.

[0080] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.8μm.

[0081] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0082] Example 13 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 130,000, a styrene content of 31%, and a Shore hardness of 8HA were selected as the matrix and vacuum dried at 50℃ for 12 hours to obtain the SEBS matrix. By weight, 90 parts of the SEBS matrix, 5 parts of hydroxyethyl methacrylate, 0.3 parts of BIPB, and 0.7 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 185-210℃, the screw speed was 50 r / min, and the melt residence time was 4 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.5%.

[0083] S2. Oil-extended granulation: By weight, 93 parts of the polarized modified SEBS base material obtained in step S1, 279 parts of food-grade saturated white oil, and 4 parts of weather stabilizer are mixed and kneaded in an internal mixing chamber with an oil extrusion ratio of 300%. The internal mixing temperature is 160℃ and the internal mixing time is 22 minutes. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0084] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are molded into flexible sheets with a thickness of 0.5mm through molding process. After annealing and setting at 40℃ for 55 minutes, a flexible robotic skin material suitable for makeup application is obtained.

[0085] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and shaping, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.0μm.

[0086] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0087] Example 14 This embodiment provides a method for preparing a flexible robotic skin material suitable for makeup application, including the following steps: S1. Polar grafting modification of SEBS matrix: SEBS particles with a number-average molecular weight of 140,000, a styrene content of 30%, and a Shore hardness of 6HA were selected as the matrix and vacuum dried at 60℃ for 11 hours to obtain the SEBS matrix. By weight, 89 parts of SEBS matrix, 5 parts of maleic anhydride, 0.35 parts of BIPB, and 0.7 parts of antioxidant 1010 were mixed evenly and fed into a twin-screw extruder for high-temperature melt reaction. During the reaction, the temperature of the melt grafting section was 190-220℃, the screw speed was 55 r / min, and the melt residence time was 3 min, resulting in a polarized modified SEBS matrix with a grafting rate of 1.9%.

[0088] S2. Oil-extended granulation: By weight, 95 parts of the polarized modified SEBS base material obtained in step S1, 323 parts of food-grade saturated white oil, and 4 parts of flexible toughening agent are mixed and kneaded together, with an oil extrusion ratio of 340%. The kneading temperature is 160℃ and the kneading time is 24 min. After completion, the mixture is extruded and granulated to obtain polarized flexible oil-extended SEBS base material granules.

[0089] S3. Molding process: Polarized flexible oil-filled SEBS base material particles are calendered into flexible sheets with a thickness of 0.4mm. After annealing and setting at 50℃ for 50 minutes, a flexible robot skin material suitable for makeup application is obtained.

[0090] To further enhance the makeup's resistance to peeling under extreme facial expressions and to further improve the adhesion of the makeup, step S3, after annealing and setting, also includes a step of micro-roughening the surface of the flexible sheet to make the surface roughness Ra of the flexible sheet 2.0μm.

[0091] This embodiment also provides a flexible robotic skin material that can be applied with makeup, which is prepared by the above-described method.

[0092] Comparative Example 1 This comparative example provides a flexible robotic skin, which is a SEBS substrate with 300% oil filling rate, without polar grafting modification treatment or added additives.

[0093] Comparative Example 2 This comparative example provides a flexible robotic skin comprising a SEBS substrate with a 300% oil filling rate, wherein the oil-filled SEBS substrate is subjected to plasma surface activation treatment but is not subjected to polar grafting modification treatment.

[0094] Comparative Example 3 This comparative example provides a flexible robotic skin comprising a SEBS substrate with a 300% oil filling rate, the surface of which is coated with a water-based polar primer with a thickness of 5 μm and is not subjected to polar grafting modification treatment.

[0095] Comparative Example 4 This comparative example provides a flexible robotic skin made of vulcanized silicone without polar grafting modification.

[0096] Experimental Example The performance of the flexible robotic skins provided in Examples 1-14 and Comparative Examples 1-4 was tested, and the test results are shown in Table 1 below.

[0097] Table 1 The test results above show that the flexible robotic skin material prepared by the method described in this application exhibits significantly superior performance in terms of makeup adhesion, bending durability, cyclic makeup removal stability, oil seepage inhibition, and overall biomimetic flexibility compared to native SEBS, temporarily surface-modified SEBS, coating-modified SEBS, and silicone alternatives. This flexible robotic skin material forms a strong interaction with the polar components of makeup, thereby significantly enhancing makeup adhesion while maintaining the original flexibility, elasticity, and bending resistance of SEBS. This solves the problems of makeup easily detaching and being prone to wiping in existing flexible skin materials.

[0098] 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 method for preparing a flexible robotic skin material suitable for makeup application, characterized in that, Includes the following steps: S1. Polar grafting modification of SEBS matrix: By mass, 85-95 parts of SEBS matrix, 3-8 parts of polar grafting monomer, 0.1-0.5 parts of initiator, and 0.3-1.2 parts of antioxidant are mixed evenly and then melted to obtain polarized modified SEBS matrix. S2. Oil-extended granulation: The polarized modified SEBS base material is mixed with food-grade saturated white oil and regulating agent by intensive mixing, and then granulated to obtain polarized flexible oil-extended SEBS base material particles. S3. Molding process: The polarized flexible oil-filled SEBS base material particles are molded into flexible sheets. After annealing and shaping, a flexible robot skin material suitable for makeup application is obtained.

2. The method for preparing the makeup-applyable flexible robotic skin material according to claim 1, characterized in that, Step S3 further includes a step of micro-roughening the surface of the flexible sheet.

3. The method for preparing the makeup-applyable flexible robotic skin material according to claim 1 or 2, characterized in that, The polar graft monomer includes at least one of maleic anhydride, hydroxyethyl methacrylate, and acrylic acid; the initiator is dicumyl peroxide or di-tert-butyl peroxide; and the antioxidant is antioxidant 1010.

4. The method for preparing the makeup-applyable flexible robotic skin material according to claim 3, characterized in that, The SEBS matrix has a molecular weight of 100,000-160,000 and a hardness of 0-18 HA, and the styrene content in the SEBS matrix is ​​25-35%.

5. The method for preparing the makeup-applyable flexible robotic skin material according to claim 4, characterized in that, In step S1, the melt reaction is carried out by a twin-screw extruder. The melt grafting temperature of the twin-screw extruder is 170-230℃, the screw speed is 30-70 r / min, the melt residence time is 2-5 min, and the grafting rate is 0.8-2.5%.

6. The method for preparing the makeup-applyable flexible robotic skin material according to claim 1, characterized in that, In step S2, by weight, the polarized modified SEBS base material is 80-100 parts, the food-grade saturated white oil is 240-800 parts, and the regulating agent is 3-10 parts.

7. The method for preparing the makeup-applyable flexible robotic skin material according to claim 6, characterized in that, The regulating agent includes at least one of the following: a flexibility toughening agent, a rheology regulating agent, an anti-oil migration agent, a skin feel modifier, and a weathering stabilizer.

8. The method for preparing the makeup-applyable flexible robotic skin material according to claim 7, characterized in that, In step S2, the temperature of the internal mixing is 140-180℃ and the time is 15-30min.

9. The method for preparing the makeup-applyable flexible robotic skin material according to claim 2, characterized in that, In step S3, the annealing temperature is 40-70℃, the holding time is 30-60min, and the thickness of the resulting flexible sheet is 0.1-1mm; after the micro-roughening treatment, the surface roughness of the flexible sheet is 0.8-3.2μm.

10. A flexible robotic skin material suitable for makeup application, characterized in that, It is prepared by any one of the preparation methods described in claims 1-9.

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