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CN-121991486-A - Self-sensing flexible actuator with color-changing capability, preparation method and application

CN121991486ACN 121991486 ACN121991486 ACN 121991486ACN-121991486-A

Abstract

The invention discloses a preparation method of a self-sensing flexible actuator with color-changing capability, which comprises the following steps: firstly, preparing an induction structure layer composed of hydrophobic polyurea, ionic liquid and graphene, then preparing a color-changing actuation layer composed of polyvinyl alcohol, carboxyl cellulose nano fibers and thermochromic particles, and finally compounding the color-changing actuation layer and the induction structure layer to form the self-sensing flexible actuator. The invention also provides the self-sensing actuator prepared by the method and application thereof, and the self-sensing actuator and the preparation method and application thereof solve the contradiction problem of the existing material in multi-stimulus responsiveness, visual temperature feedback and object geometric self-sensing.

Inventors

  • YAN KAI
  • TANG YUHAO
  • CAO XIAOLONG

Assignees

  • 陕西科技大学

Dates

Publication Date
20260508
Application Date
20260210

Claims (10)

  1. 1. The preparation method of the self-sensing flexible actuator with the color-changing capability is characterized by comprising the following steps of firstly preparing an induction structure layer composed of hydrophobic polyurea, ionic liquid and graphene, then preparing a color-changing actuation layer composed of polyvinyl alcohol, carboxyl cellulose nanofibers and thermochromic particles, and finally compositing the color-changing actuation layer and the induction structure layer to form the self-sensing flexible actuator.
  2. 2. The preparation method according to claim 1, characterized in that it comprises the following steps: Step 1, preparation of an induction structure layer Step 1.1, adding NH 2 -PDMS-NH 2 polydimethylsiloxane-diamino end-capped and diisocyanate into an organic solvent for reaction to obtain a polyurea prepolymer, adding a fluorine-containing chain extender with a certain proportion for chain extension, adding a certain amount of the organic solvent, and then stirring for heat preservation reaction to obtain a polyurea emulsion; step 1.2, adding a certain amount of ionic liquid into the polyurea emulsion prepared in the step 1.1, and uniformly dispersing to obtain conductive elastomer liquid; step 1.3, uniformly dispersing a certain amount of graphene in the conductive elastomer prepared in step 1.2, performing ultrasonic treatment, pouring the graphene into a forming plate, sealing the forming plate to prevent the graphene from forming a film, standing the forming plate, and heating the forming plate to form a film to obtain an induction structure layer with a gradient structure; step 2, preparation of color-changing actuation layer Step 2.1, gradually adding polyvinyl alcohol particles into deionized water, stirring and swelling, heating and stirring, and dissolving to obtain a polyvinyl alcohol solution; Step 2.2, adding carboxylated modified cellulose nano-fibers into the polyvinyl alcohol solution prepared in the step 2.1, uniformly stirring, adding two kinds of thermochromic particles, and stirring to finally obtain a dispersion liquid; Step 3, preparation of a self-sensing flexible actuator: And (3) pouring the dispersion liquid obtained in the step (2) on the induction structure layer obtained in the step (1), evaporating the dispersion liquid at room temperature to form a film, and cutting to obtain the self-sensing flexible actuator with a proper shape.
  3. 3. The method according to claim 2, wherein the fluorine-containing chain extender in step 1 is 2, 2-bis [4- (4-aminophenoxy) phenyl ] hexafluoropropane.
  4. 4. The preparation method according to claim 2, wherein the organic solvent in step 1.1 is selected from any one or more of acetone, butanone, diethyl ether, toluene, xylene, tetrahydrofuran, ethylene glycol, N-dimethylformamide and N, N-dimethylacetamide.
  5. 5. The preparation method according to claim 2, wherein the mass ratio of the ionic liquid to the graphene added in the steps 1.2 and 1.3 is 10% -30% of the mass fraction of the self-sensing flexible actuator.
  6. 6. The preparation method according to claim 2, wherein the step 1.1 is specifically as follows: Adding a certain amount of NH 2 -PDMS-NH 2 polydimethylsiloxane-diamino end-capped and diisocyanate into a certain amount of organic solvent under the condition of inert gas, stirring, heating in water bath to 65-85 ℃, then carrying out heat preservation reaction for 4-8 hours, adding a fluorine-containing chain extender into the solution, adding 10-15mL of organic solvent, then stirring, carrying out heat preservation reaction for 4-8 hours, and obtaining polyurea emulsion; The molar ratio of diisocyanate to polydimethylsiloxane-diamino end capping is 1.5-1.8, the amount of the organic solvent is 150% -200% of the mass of the polydimethylsiloxane-diamino end capping, and the molar ratio of the fluorine-containing chain extender to the polydimethylsiloxane-diamino end capping is 0.8-1.5; The step 1.2 and the step 1.3 are specifically that an ionic liquid and graphene are doped into polyurea emulsion and thoroughly homogenized to obtain an induction structure layer dispersion liquid; and immediately casting the generated induction structure layer dispersion liquid onto a mould, sealing and keeping the mould still for 2-6 hours, and then quickly evaporating the solvent to form a film at the temperature of 50-70 ℃ to obtain the induction structure layer with the gradient structure.
  7. 7. The preparation method according to claim 2, wherein the step 2.1 is specifically as follows: gradually adding polyvinyl alcohol particles into deionized water, stirring the mixture at room temperature for 3-7 hours, and then heating to 90-100 ℃ under 300-500 rpm continuous stirring for 2-8 hours to ensure complete dissolution, thus obtaining polyvinyl alcohol solution; Cooling a polyvinyl alcohol solution to normal temperature, adding carboxylated nano cellulose and two thermochromic particle components in different proportions, and respectively stirring for 2-8 hours to finally obtain a dispersion; The polyvinyl alcohol accounts for 5-10% of the mass ratio of deionized water, the cellulose nanofiber accounts for 15-25% of the mass ratio of the polyvinyl alcohol solution, the two types of thermochromic particles respectively account for 2-5% of the mass ratio of the polyvinyl alcohol solution, and the two types of thermochromic particles are respectively thermochromic particles with the color changing behavior from blue to yellow at 35 ℃ and thermochromic particles with the color changing behavior from colorless to red at 65 ℃.
  8. 8. A self-sensing flexible actuator with color change capability prepared according to the method of any one of claims 1-7.
  9. 9. Use of a self-sensing flexible actuator with color shifting capability according to claim 8 in a flexible sensor.
  10. 10. Use of a self-sensing flexible actuator with color changing capability according to claim 8 in a flexible robot.

Description

Self-sensing flexible actuator with color-changing capability, preparation method and application Technical Field The invention belongs to the technical field of materials, and particularly relates to a self-sensing flexible actuator with color-changing capability, and a preparation method and application of the self-sensing flexible actuator. Background Organisms in nature are able to sense changes in light, temperature and humidity in the environment and achieve phototropic and hygroscopic movements through differential expansion of tissues. This provides a heuristic for the design of soft intelligent devices, artificial intelligence and rapid development of robotics by mimicking the motion pattern of biodiversity. The flexible actuator has great application potential in the fields of medical rehabilitation, human-computer interaction and environmental exploration due to flexibility, safety and strong adaptability. Unlike conventional rigid actuators, flexible actuators can accomplish complex exercise tasks by achieving continuous and controlled deformation in response to external stimuli such as temperature, humidity, and light. However, most existing flexible actuators have only a driving function, lack visual feedback of temperature and self-sensing functions, and thus cannot monitor the self-movement state and external environmental changes in real time. This severely limits their application in closed loop control systems and intelligent interaction scenarios. Therefore, it is critical to develop a flexible actuator system that integrates multi-stimulus responsiveness, visual temperature feedback, and geometric self-awareness of the object. Disclosure of Invention A first object of the present invention is to provide a method of manufacturing a self-sensing flexible actuator with color shifting capability. Solves the problem that the existing actuator has contradiction among self-sensing, multi-stimulus response and visual temperature feedback. A second object of the present invention is to provide a self-sensing flexible actuator prepared by the above method. It is a third object of the present invention to provide an application of the above-described self-sensing flexible actuator. The first technical scheme adopted by the invention is that the preparation method of the self-sensing flexible actuator with the color-changing capability comprises the following steps of firstly preparing an induction structure layer composed of hydrophobic polyurea, ionic liquid and graphene, then preparing a color-changing actuation layer composed of polyvinyl alcohol, carboxyl cellulose nanofibers and thermochromic particles, and finally compounding the color-changing actuation layer and the induction structure layer to form the self-sensing flexible actuator. The first technical scheme adopted by the invention is characterized in that: The preparation method of the self-sensing flexible actuator with the color-changing capability comprises the following steps: Step 1, preparation of an induction structure layer Step 1.1, adding NH 2-PDMS-NH2 polydimethylsiloxane-diamino end-capped and diisocyanate into an organic solvent for reaction to obtain a polyurea prepolymer, adding a fluorine-containing chain extender with a certain proportion for chain extension, adding a certain amount of the organic solvent, and then stirring for heat preservation reaction to obtain a polyurea emulsion; step 1.2, adding a certain amount of ionic liquid into the polyurea emulsion prepared in the step 1.1, and uniformly dispersing to obtain conductive elastomer liquid; step 1.3, uniformly dispersing a certain amount of graphene in the conductive elastomer prepared in step 1.2, performing ultrasonic treatment, pouring the graphene into a forming plate, sealing the forming plate to prevent the graphene from forming a film, standing the forming plate, and heating the forming plate to form a film to obtain an induction structure layer with a gradient structure; step 2, preparation of color-changing actuation layer Step 2.1, gradually adding polyvinyl alcohol particles into deionized water, stirring and swelling, heating and stirring, and dissolving to obtain a polyvinyl alcohol solution; Step 2.2, adding carboxylated modified cellulose nano-fibers into the polyvinyl alcohol solution prepared in the step 2.1, uniformly stirring, adding two kinds of thermochromic particles, and stirring to finally obtain a dispersion liquid; Step 3, preparation of a self-sensing flexible actuator: And (3) pouring the dispersion liquid obtained in the step (2) on the induction structure layer obtained in the step (1), evaporating the dispersion liquid at room temperature to form a film, and cutting to obtain the self-sensing flexible actuator with a proper shape. The fluorine-containing chain extender in the step1 is specifically 2, 2-bis [4- (4-aminophenoxy) phenyl ] hexafluoropropane. The organic solvent in step 1.1 is selected from any one or more of acetone,