CN114918905B - Thermochromic liquid-gas phase change flexible driver and preparation method thereof - Google Patents
Thermochromic liquid-gas phase change flexible driver and preparation method thereof Download PDFInfo
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- CN114918905B CN114918905B CN202210632648.5A CN202210632648A CN114918905B CN 114918905 B CN114918905 B CN 114918905B CN 202210632648 A CN202210632648 A CN 202210632648A CN 114918905 B CN114918905 B CN 114918905B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B33/00—Layered products characterised by particular properties or particular surface features, e.g. particular surface coatings; Layered products designed for particular purposes not covered by another single class
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B7/00—Layered products characterised by the relation between layers; Layered products characterised by the relative orientation of features between layers, or by the relative values of a measurable parameter between layers, i.e. products comprising layers having different physical, chemical or physicochemical properties; Layered products characterised by the interconnection of layers
- B32B7/04—Interconnection of layers
- B32B7/12—Interconnection of layers using interposed adhesives or interposed materials with bonding properties
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
- C08K3/20—Oxides; Hydroxides
- C08K3/22—Oxides; Hydroxides of metals
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/38—Boron-containing compounds
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K9/00—Use of pretreated ingredients
- C08K9/10—Encapsulated ingredients
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/18—Oxygen-containing compounds, e.g. metal carbonyls
- C08K3/20—Oxides; Hydroxides
- C08K3/22—Oxides; Hydroxides of metals
- C08K2003/2265—Oxides; Hydroxides of metals of iron
- C08K2003/2275—Ferroso-ferric oxide (Fe3O4)
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K2201/00—Specific properties of additives
- C08K2201/01—Magnetic additives
Abstract
The invention discloses a thermochromic liquid-gas phase change flexible driver and a preparation method thereof. The driver comprises a strain limiting layer and an active layer, wherein the strain limiting layer consists of a thermochromic shell and a magnetic response core wrapped by the thermochromic shell, and a resistance wire is embedded in the active layer; when heating, the different volume changes generated by the active layer and the strain limiting layer lead to mismatch deformation between the two layers, so as to realize reversible deformation of the driver; meanwhile, the thermochromic microcapsules added in the active layer and the strain limiting layer generate color change, so that reversible color change of the driver is realized; upon application of the driving magnetic field, movement of the driver is effected. The driver provided by the invention is a stretchable color-changing flexible driver made of a silica gel-based composite material, has the advantages of stretchability, multiple functions, simple structure, convenience in manufacture, difficulty in leakage and low working temperature, and has a wide application prospect in the field of soft robots.
Description
Technical Field
The invention relates to a flexible driver in the technical field of soft robots and flexible materials, in particular to a thermochromic liquid-gas phase change flexible driver and a preparation method thereof.
Background
Compared with the traditional rigid robot, the soft robot with the intrinsic compliance characteristic has remarkable advantages and great application prospect in the aspects of man-machine interaction, adaptation to unstructured environment, natural biological feature simulation and the like. As the core of the soft robot, a high-performance and multifunctional flexible driver has become a focus of attention for researchers at home and abroad. Based on different working principles, existing flexible drivers include flexible pneumatic/hydraulic drivers, shape memory alloy drivers, electroactive polymer drivers, liquid-gas phase change flexible drivers, and the like. The liquid-gas phase change flexible driver has the advantages of large deformation, high loading force and light weight, but still has the problems of complex structure, inconvenient manufacture, easy damage and leakage, higher driving temperature and the like.
Meanwhile, the function of the current flexible driver is single. In order to enrich the functions of the soft robot in terms of bionic, camouflage, visual sensing and the like, besides the basic driving functions, the flexible driver also needs to be added with a color-changing function, but a stretchable color-changing flexible driver using a silica gel-based composite material is still lacking at present.
Disclosure of Invention
In order to solve the problems in the background technology, the invention provides a thermochromic liquid-gas phase change flexible driver and a preparation method thereof, wherein a phase change material and a color change material are integrated in a silica gel matrix to form a composite material, the composite material is deformed and changed in temperature, the material is used for replacing elements, and the functions are integrated at the material level.
The technical scheme adopted by the invention is as follows:
1. thermochromic liquid-gas phase change flexible driver
The device comprises a strain limiting layer and an active layer, wherein the strain limiting layer and the active layer are connected through bonding; the strain limiting layer mainly comprises a thermochromic shell and a magnetic response core, wherein the magnetic response core is just embedded in a shell of the thermochromic shell; the active layer mainly comprises a thermochromic liquid-gas phase-change composite material and a resistance wire, and the resistance wire is embedded in the thermochromic liquid-gas phase-change composite material.
When the strain limiting layer is bonded with the active layer, the included angle between the longitudinal central axis of the strain limiting layer and the longitudinal central axis of the active layer is theta, and theta is more than or equal to 0 degree and less than or equal to 180 degrees.
The resistance wire is spiral.
The plane shapes of the strain limiting layer and the active layer are rectangular or elliptical.
The thermochromic liquid-gas phase change composite material comprises the following components: the low-hardness dual-component silicone rubber comprises 24-57% by mass of low-boiling-point fluid, 1-5% by mass of thermochromic microcapsules and 42-75% by mass of low-hardness dual-component silicone rubber, wherein the low-boiling-point fluid is fluid with a boiling point of 20-100 ℃, the low-hardness dual-component silicone rubber is dual-component silicone rubber with a Shore hardness of 0010-0050, and the mixing mass ratio of A, B components in the low-hardness dual-component silicone rubber is 1:1; the magnetic response core mainly comprises a magnetic response silica gel composite material, and the components of the magnetic response silica gel composite material comprise: fe with mass fraction of 0.01% -62% 3 O 4 The powder, ndFeB powder with the mass fraction of 0.01-70% and high-hardness bi-component silicone rubber with the mass fraction of 20-80%, wherein the high-hardness bi-component silicone rubber is bi-component silicone rubber with the Shore hardness of 10A-50A, and the mixing mass ratio of A, B components of the high-hardness bi-component silicone rubber is 1:1; the thermochromic shell mainly comprises a thermochromic silica gel composite material, and the thermochromic silica gel composite material comprises the following components: 1-5% of thermochromic microcapsule and 95-99% of high-hardness bi-component silicone rubber.
2. Preparation method of thermochromic liquid-gas phase change flexible driver
The preparation method specifically comprises the following steps:
step 1): preparing an active layer, firstly, pre-placing a resistance wire wound into a spiral shape in a mould of the active layer, then preparing a precursor solution of a thermochromic liquid-gas phase-change composite material, and then pouring the prepared precursor solution of the thermochromic liquid-gas phase-change composite material in the mould of the active layer, and curing to prepare the active layer;
step 2): preparing a strain limiting layer, firstly preparing a precursor material of a magnetic response silica gel composite material, pouring the prepared precursor material of the magnetic response silica gel composite material into a mold of a magnetic response core, curing to prepare the magnetic response core, placing the prepared magnetic response core into the mold of the strain limiting layer, preparing a precursor solution of a thermochromic silica gel composite material, pouring the prepared precursor solution of the thermochromic silica gel composite material into the mold of the strain limiting layer provided with the magnetic response core, and curing to prepare the strain limiting layer;
step 3): firstly, bonding a strain limiting layer to an active layer which is pre-stretched and then fixed on a clamp according to a preset included angle theta, and bonding the active layer and the strain limiting layer by adopting uncured low-hardness bi-component silicon rubber and fixing the active layer and the strain limiting layer; after the low-hardness bi-component silicon rubber is solidified, releasing the active layer and the strain limiting layer which are fixed on the clamp, and trimming the whole active layer and the strain limiting layer which are bonded together; the following judgment is carried out according to a preset included angle theta: if the included angle is theta=0° or theta=180°, and the active layer and the strain limiting layer are directly bonded without pre-stretching, forming a mode-flexible driver which is initially a plane; if the included angle is theta=0° or theta=180°, bonding the active layer with the strain limiting layer at a preset included angle theta after uniaxial pre-stretching along the longitudinal central axis direction of the active layer, and removing the active layer and the strain limiting layer from the clamp to form a mode two flexible driver which is initially arc-shaped; if the included angle is more than 0 degrees and less than 180 degrees, the active layer is pre-stretched along the longitudinal central axis direction of the active layer and then bonded with the strain limiting layer at a preset included angle theta, and the active layer and the strain limiting layer are taken down from the clamp to form a mode three flexible driver which is initially in a spiral shape;
step 4): heating the flexible driver manufactured in the step 3) to enable the flexible driver to bend or rotationally deform and change color so as to drive the flexible driver; or applying a driving magnetic field to the flexible driver manufactured in the step 3) so that the flexible driver moves to drive the flexible driver, wherein the driving magnetic field is provided by a direct current magnetic field or a magnet.
The step 1) is to uniformly mix the low boiling point fluid, the thermochromic microcapsule and the A component of the low-hardness bi-component silicon rubber when the thermochromic liquid-gas phase change composite material is configured, and then to add the B component of the low-hardness bi-component silicon rubber to be uniformly mixed.
In step 3), the preset included angle θ is an included angle θ between the longitudinal central axis of the strain limiting layer and the longitudinal central axis of the active layer.
In the step 4), the heating is external heating, namely heating by electrifying a resistance wire embedded in the active layer to generate heat, or joule heating, namely heating by using a heating plate or a hot air gun, or magnetic induction heating, namely placing the strain limiting layer in a high-frequency alternating magnetic field to enable Fe in the strain limiting layer 3 O 4 The powder is heated by generating heat in a high frequency alternating magnetic field.
In the step 4), the following judgment is performed according to the driving mode: if the flexible driver is heated, the low-boiling point fluid in the active layer is subjected to reversible liquid-gas phase change, then the volume of the active layer begins to expand, the volume of the strain limiting layer is unchanged, mismatch deformation is generated between the active layer and the strain limiting layer, and finally the flexible driver is subjected to deformation towards one side of the strain limiting layer, so that the flexible driver is driven, meanwhile, the thermochromic microcapsules in the flexible driver are subjected to color change, and the color change of the flexible driver is realized; after the temperature of the flexible driver is reduced, the flexible driver is deformed in the opposite direction so as to restore the original shape, and meanwhile, the color change process of the flexible driver is also carried out in the opposite direction; if a driving magnetic field is applied to the flexible driver, the NdFeB powder in the strain limiting layer is acted by magnetic force under the action of the driving magnetic field, so that the whole flexible driver is driven to move.
Compared with the prior art, the invention has the beneficial effects that:
1. the driver of the invention is a stretchable color-changing flexible driver using a silica gel based composite material, combines the advantages of a liquid-gas phase-changing flexible driver and a color-changing driver, and improves the main defects of the liquid-gas phase-changing flexible driver and the color-changing driver. The multifunctional liquid crystal display device has the advantages of being stretchable, multifunctional, simple in structure, convenient to manufacture, difficult to leak and low in working temperature. Has a wide application prospect in the field of soft robots.
2. The actuator of the present invention can achieve a variety of adjustable initial shapes and deformation patterns by varying the relevant parameters during pre-stretching and bonding.
3. The driver of the invention has a plurality of optional driving modes according to application requirements, including external heating driving, joule heating driving, magnetic induction heating driving and magnetic driving.
4. The size and the shape of the driver can be customized according to actual requirements.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is an exploded view of a strain limiting layer of the present invention;
FIG. 4 is a schematic view of an active layer of the present invention in partial cross-section;
FIG. 5 is an exploded view of an active layer of the present invention;
FIG. 6 is a schematic diagram illustrating the fabrication and operation of a flexible driver according to a mode of the present invention;
FIG. 7 is a schematic diagram of the fabrication process and operation of a mode two flexible driver according to the present invention;
FIG. 8 is a schematic diagram of the fabrication process and operation of a three-mode flexible drive of the present invention;
FIG. 9 is a schematic diagram of the rolling of the flexible driver of mode two of the present invention under a driving magnetic field.
In the figure: 1. a strain limiting layer; 2. an active layer; 3. a thermochromic housing; 4. a magnetically responsive core; 5. thermochromic liquid-gas phase change composite material; 6. a resistance wire.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments.
As shown in fig. 1 and 2, the flexible driver includes a strain limiting layer 1 and an active layer 2, the strain limiting layer 1 and the active layer 2 being connected by bonding; as shown in fig. 3, the strain limiting layer 1 mainly consists of a thermochromic outer shell 3 and a magnetically responsive core 4, wherein the magnetically responsive core 4 is just embedded in the shell of the thermochromic outer shell 3; as shown in fig. 4, the active layer 2 mainly comprises a thermochromic liquid-gas phase-change composite material 5 and a resistance wire 6, and the resistance wire 6 is embedded in the thermochromic liquid-gas phase-change composite material 5.
When the strain limiting layer 1 and the active layer 2 are bonded, the pre-stretching direction of the active layer 2 is along the longitudinal central axis of the active layer 2, the included angle between the longitudinal central axis of the strain limiting layer 1 and the longitudinal central axis of the active layer 2 is theta, and theta is more than or equal to 0 degree and less than or equal to 180 degrees.
As shown in fig. 5, the resistance wire 6 is spiral.
The plane shapes of the strain limiting layer 1 and the active layer 2 are designed and customized according to practical requirements, and can be rectangular or elliptical.
The thermochromic liquid-gas phase change composite 5 comprises the following components: the low-boiling-point fluid with the mass fraction of 24-57%, the thermochromic microcapsule with the mass fraction of 1-5% and the low-hardness bi-component silicone rubber with the mass fraction of 42-75%, wherein the low-boiling-point fluid is a fluid with the boiling point of 20-100 ℃, the low-hardness bi-component silicone rubber is a bi-component silicone rubber with the Shore hardness of 0010-0050, and the mixing mass ratio of A, B components in the low-hardness bi-component silicone rubber is 1:1. The magnetically responsive core 4 is composed mainly of a magnetically responsive silica gel composite material having the components: fe with mass fraction of 0.01% -62% 3 O 4 The powder, ndFeB powder with the mass fraction of 0.01-70% and high-hardness bi-component silicone rubber with the mass fraction of 20-80%, wherein the high-hardness bi-component silicone rubber is bi-component silicone rubber with the Shore hardness of 10A-50A, and the mixing mass ratio of A, B components of the high-hardness bi-component silicone rubber is 1:1; the raw materials are uniformly mixed according to a proportion to prepare the precursor material of the magnetic response silica gel composite material. The thermochromic casing 3 is mainly composed of a thermochromic silica gel composite material, and the components of the thermochromic silica gel composite material comprise: 1-5% of thermochromic microcapsules and 95-99% of high-hardness bi-component silicone rubber; the above raw materials are mixedThe materials are uniformly mixed according to a proportion to prepare the thermochromic silica gel composite material.
The preparation method of the flexible driver specifically comprises the following steps:
step 1): the preparation of the active layer 2, firstly, placing the resistance wire 6 wound into a spiral shape in a mould of the active layer 2 in advance, then, preparing a precursor solution of the thermochromic liquid-gas phase-change composite material 5, and then, pouring the prepared precursor solution of the thermochromic liquid-gas phase-change composite material 5 in the mould of the active layer 2, and curing at normal temperature to prepare the active layer 2.
Step 2): preparing a strain limiting layer 1, firstly preparing a precursor material of a magnetic response silica gel composite material, pouring the prepared precursor material of the magnetic response silica gel composite material into a mold of a magnetic response core 4, heating at 40 ℃ for 6-8h to cure to prepare the magnetic response core 4, putting the prepared magnetic response core 4 into the mold of the strain limiting layer 1, preparing a precursor solution of a thermochromic silica gel composite material, pouring the prepared precursor solution of the thermochromic silica gel composite material into the mold of the strain limiting layer 1 provided with the magnetic response core 4, and heating at 40 ℃ for 6-8h to cure to prepare the strain limiting layer 1.
Step 3): firstly, bonding a strain limiting layer 1 to an active layer 2 which is pre-stretched and then fixed on a fixture according to a preset included angle theta, bonding the active layer 2 and the strain limiting layer 1 by adopting uncured low-hardness bi-component silicon rubber, and fixing the active layer 2 and the strain limiting layer 1; after the low-hardness bi-component silicon rubber is solidified, releasing the active layer 2 and the strain limiting layer 1 which are fixed on the clamp, and trimming the whole body of the bonded active layer 2 and strain limiting layer 1, and cutting redundant parts; the following judgment is carried out according to a preset included angle theta: if the included angle is equal to θ=0° or θ=180°, and the active layer 2 and the strain limiting layer 1 are directly bonded without pre-stretching, forming a mode-flexible driver which is initially planar; if the included angle is theta=0° or theta=180°, the active layer 2 is pre-stretched along the longitudinal central axis direction of the active layer 2 and then bonded with the strain limiting layer 1 at a preset included angle theta, and the active layer 2 and the strain limiting layer 1 are removed from the clamp to form a mode two flexible driver which is initially arc-shaped; if the included angle is more than 0 degrees and less than 180 degrees, the active layer 2 is pre-stretched along the longitudinal central axis direction of the active layer 2 and then bonded with the strain limiting layer 1 at a preset included angle theta, and the active layer 2 and the strain limiting layer 1 are removed from the clamp to form a mode three flexible driver which is initially in a spiral shape;
step 4): heating the flexible driver manufactured in the step 3) to enable the flexible driver to bend or rotationally deform and change color so as to drive the flexible driver; or applying a driving magnetic field to the flexible driver manufactured in the step 3) to enable the flexible driver to move so as to drive the flexible driver; and the driving magnetic field is provided by a direct current magnetic field or a magnet.
When the thermochromic liquid-gas phase change composite material 5 is configured in the step 1), the low-boiling point fluid, the thermochromic microcapsules and the component A of the low-hardness bi-component silicon rubber are uniformly mixed, and then the component B of the low-hardness bi-component silicon rubber is added and uniformly mixed.
In step 3), the preset angle θ is the angle θ between the longitudinal central axis of the strain limiting layer 1 and the longitudinal central axis of the active layer 2.
In step 4), the heating is external heating using a heating plate or a hot air gun, or joule heat heating using a high frequency alternating magnetic field to heat the active layer 2 by energizing the resistance wire 6 embedded therein, or magnetic induction heating in which the strain limiting layer 1 is placed in a high frequency alternating magnetic field to cause Fe in the strain limiting layer 1 3 O 4 The powder is heated by generating heat in a high frequency alternating magnetic field.
In step 4), the following judgment is performed according to the driving mode: if the flexible driver is heated, the low boiling point fluid in the active layer 2 is subjected to reversible liquid-gas phase change, then the volume of the active layer 2 begins to expand, the volume of the strain limiting layer 1 is unchanged, the different volume changes generated by the active layer 2 and the strain limiting layer 1 lead to mismatch deformation between the active layer 2 and the strain limiting layer 1, and finally the flexible driver is subjected to deformation towards one side of the strain limiting layer 1, so that the flexible driver is driven, and meanwhile, the thermochromic microcapsules in the flexible driver are subjected to color change based on oxidation-reduction reaction, so that the color change of the flexible driver is realized; after the temperature of the flexible driver is reduced, the flexible driver is deformed in the opposite direction so as to restore the original shape, and meanwhile, the color change process of the flexible driver is also performed in the opposite direction, so that the deformation and color change process of the flexible driver is a reversible process.
If a driving magnetic field is applied to the flexible driver, the NdFeB powder in the strain limiting layer 1 is driven by magnetic force to drive the whole flexible driver to move correspondingly under the action of the driving magnetic field, and the magnetic response cores 4 in the strain limiting layer 1 have different responses under different types of magnetic fields. As shown in fig. 9, the mode two flexible driver rolls forward under the driving magnetic field.
In this embodiment, as shown in fig. 6, the mode one flexible actuator is initially planar in shape and bends into an arc when heated. Experiments prove that under the heating power of 2.8W, the bending curvature of the mode-one driver can reach 0.148mm -1 . As shown in fig. 7, the mode two flexible driver is initially arcuate in shape and flattens or reverses direction of curvature when heated. Experiments prove that under the prestrain of 70% of the active layer 2, the initial curvature of the mode two driver can reach 0.156mm -1 . As shown in fig. 8, the mode three flexible drive is initially helical, flattened or counter-rotated upon heating.
The flexible driver is a stretchable color-changing flexible driver made of a silica gel-based composite material, has the advantages of being stretchable, multifunctional, simple in structure, convenient to manufacture, not easy to leak and low in working temperature, and has a wide application prospect in the field of soft robots.
Claims (8)
1. A thermochromic liquid-gas phase change flexible driver, characterized in that: the active layer comprises a strain limiting layer (1) and an active layer (2), wherein the strain limiting layer (1) and the active layer (2) are connected through bonding; the strain limiting layer (1) mainly comprises a thermochromic shell (3) and a magnetic response core (4), wherein the magnetic response core (4) is just embedded in the shell of the thermochromic shell (3); the active layer (2) mainly comprises a thermochromic liquid-gas phase-change composite material (5) and a resistance wire (6), wherein the resistance wire (6) is embedded in the thermochromic liquid-gas phase-change composite material (5);
the thermochromic liquid-gas phase-change composite material (5) comprises the following components: the low-hardness dual-component silicone rubber comprises 24-57% by mass of low-boiling-point fluid, 1-5% by mass of thermochromic microcapsules and 42-75% by mass of low-hardness dual-component silicone rubber, wherein the low-boiling-point fluid is fluid with a boiling point of 20-100 ℃, the low-hardness dual-component silicone rubber is dual-component silicone rubber with a Shore hardness of 0010-0050, and the mixing mass ratio of A, B components in the low-hardness dual-component silicone rubber is 1:1; the magnetically responsive core (4) consists essentially of a magnetically responsive silica gel composite material comprising the components: fe with mass fraction of 0.01% -62% 3 O 4 The powder, ndFeB powder with the mass fraction of 0.01-70% and high-hardness bi-component silicone rubber with the mass fraction of 20-80%, wherein the high-hardness bi-component silicone rubber is bi-component silicone rubber with the Shore hardness of 10A-50A, and the mixing mass ratio of A, B components of the high-hardness bi-component silicone rubber is 1:1; the thermochromic shell (3) is mainly composed of a thermochromic silica gel composite material, and the thermochromic silica gel composite material comprises the following components: 1-5% of thermochromic microcapsule and 95-99% of high-hardness bi-component silicone rubber.
2. The thermochromic liquid-to-gas phase change flexible drive of claim 1, wherein: when the strain limiting layer (1) is bonded with the active layer (2), an included angle between the longitudinal central axis of the strain limiting layer (1) and the longitudinal central axis of the active layer (2) is theta, and theta is more than or equal to 0 degree and less than or equal to 180 degrees.
3. The thermochromic liquid-to-gas phase change flexible drive of claim 1, wherein: the resistance wire (6) is spiral.
4. The thermochromic liquid-to-gas phase change flexible drive of claim 1, wherein: the plane shapes of the strain limiting layer (1) and the active layer (2) are rectangular or elliptical.
5. The method for preparing the thermochromic liquid-gas phase change flexible driver according to any one of claims 1 to 4, which is characterized in that: the preparation method specifically comprises the following steps:
step 1): preparing an active layer (2), firstly, pre-placing a resistance wire (6) wound into a spiral shape in a mould of the active layer (2), then, preparing a precursor solution of a thermochromic liquid-gas phase-change composite material (5), and then, pouring the prepared precursor solution of the thermochromic liquid-gas phase-change composite material (5) in the mould of the active layer (2), and curing to prepare the active layer (2);
the step 1) is to uniformly mix the low boiling point fluid, the thermochromic microcapsule and the component A of the low-hardness bi-component silicon rubber when the thermochromic liquid-gas phase change composite material (5) is configured, and then to add the component B of the low-hardness bi-component silicon rubber into the mixture to be uniformly mixed;
step 2): preparing a strain limiting layer (1), firstly preparing a precursor material of a magnetic response silica gel composite material, pouring the prepared precursor material of the magnetic response silica gel composite material into a mold of a magnetic response core (4), then curing to prepare the magnetic response core (4), putting the prepared magnetic response core (4) into the mold of the strain limiting layer (1), then preparing a precursor solution of a thermochromic silica gel composite material, pouring the prepared precursor solution of the thermochromic silica gel composite material into the mold of the strain limiting layer (1) provided with the magnetic response core (4), and then curing to prepare the strain limiting layer (1);
step 3): firstly, bonding a strain limiting layer (1) to an active layer (2) which is pre-stretched and then fixed on a clamp according to a preset included angle theta, bonding the active layer (2) and the strain limiting layer (1) by adopting uncured low-hardness bi-component silicon rubber, and fixing the active layer (2) and the strain limiting layer (1); after the low-hardness bi-component silicon rubber is solidified, releasing the active layer (2) and the strain limiting layer (1) which are fixed on the clamp, and trimming the whole of the bonded active layer (2) and strain limiting layer (1); the following judgment is carried out according to a preset included angle theta: if the included angle is in a range of θ=0° or θ=180°, and the active layer (2) and the strain limiting layer (1) are directly bonded without pre-stretching, forming an initial planar mode-flexible driver; if the included angle is theta=0° or theta=180°, bonding the active layer (2) with the strain limiting layer (1) at a preset included angle theta after uniaxial pre-stretching along the longitudinal central axis direction of the active layer (2), and removing the active layer (2) and the strain limiting layer (1) from the clamp to form a mode two flexible driver which is in an arc shape initially; if the included angle is 0 degrees < theta <180 degrees, the active layer (2) is pre-stretched along the longitudinal central axis direction of the active layer and then bonded with the strain limiting layer (1) at a preset included angle theta, and the active layer (2) and the strain limiting layer (1) are taken down from the clamp to form a mode three-flexible driver which is in a spiral shape initially;
step 4): heating the flexible driver manufactured in the step 3) to enable the flexible driver to bend or rotationally deform and change color so as to drive the flexible driver; or applying a driving magnetic field to the flexible driver manufactured in the step 3) so that the flexible driver moves to drive the flexible driver, wherein the driving magnetic field is provided by a direct current magnetic field or a magnet.
6. The method for manufacturing a thermochromic liquid-vapor phase-change flexible driver according to claim 5, wherein the method comprises the following steps: in the step 3), the preset included angle θ is an included angle θ between the longitudinal central axis of the strain limiting layer (1) and the longitudinal central axis of the active layer (2).
7. The method for manufacturing a thermochromic liquid-vapor phase-change flexible driver according to claim 5, wherein the method comprises the following steps: in the step 4), the heating is external heating, namely heating by energizing a resistance wire (6) embedded in the active layer (2) to generate heat, or joule heating, namely heating by using a heating plate or a hot air gun, or magnetic induction heating, namely heating by placing the strain limiting layer (1) in a high-frequency alternating magnetic field so that Fe in the strain limiting layer (1) 3 O 4 Powder is subjected to high frequency cross-overHeat generation is performed in the variable magnetic field to heat.
8. The method for manufacturing a thermochromic liquid-vapor phase-change flexible driver according to claim 7, wherein: in the step 4), the following judgment is performed according to the driving mode: if the flexible driver is heated, the low-boiling point fluid in the active layer (2) is subjected to reversible liquid-gas phase change, then the volume of the active layer (2) begins to expand, the volume of the strain limiting layer (1) is unchanged, mismatch deformation is generated between the active layer (2) and the strain limiting layer (1), and finally the flexible driver is subjected to deformation towards one side of the strain limiting layer (1), so that the flexible driver is driven, meanwhile, the thermochromic microcapsules in the flexible driver are subjected to color change, and the color change of the flexible driver is realized; after the temperature of the flexible driver is reduced, the flexible driver is deformed in the opposite direction so as to restore the original shape, and meanwhile, the color change process of the flexible driver is also carried out in the opposite direction; if a driving magnetic field is applied to the flexible driver, the NdFeB powder in the strain limiting layer (1) is subjected to magnetic force under the action of the driving magnetic field, so that the whole flexible driver is driven to move.
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