A Venus flytrap-like flexible catching robot, and its preparation method and use method

Abstract

The present invention provides a flexible catching robot imitating a Venus flytrap, as well as a preparation method and a use method thereof. By using a CNT-PDMS composite material as the main body of the pressure sensor and a liquid crystal elastomer (LCE) material with the property of longitudinal contraction after being heated as the "muscle tissue" for closing the "petals", the information conversion and processing between receiving the signal and sending it again are completed in a computer. This makes it possible to control the pressure trigger threshold, the closing judgment method, the "petal" closing speed, etc., so as to achieve the goal of adjustable product parameters and optimal adaptation to application scenarios.

Description

Technical Field

[0001] The invention relates to a Venus flytrap-like flexible catching robot, a preparation method and a use method thereof, and belongs to the field of robot intelligent materials. Background Art

[0002] Traditional grasping robots typically use rigid materials like metal alloys and require real-time human control. These inherent drawbacks include slow response, bulk, dependence on manual control, low grasping efficiency, and excessive noise. New grasping robots are trending toward flexible robots with autonomous feedback capabilities, enabling efficient grasping while adapting to diverse environments and scenarios.

[0003] Nature has provided us with a vast, sophisticated, and versatile regulatory mechanism. The Venus flytrap, a remarkable insect hunter, possesses self-sensing capabilities and the ability to actively interact with the outside world. A pair of flycatchers at the tip of its leaves secrete nectar to attract prey. When a flying insect enters the trap, it can be quickly and accurately captured. This makes the Venus flytrap an ideal model for developing capture robots.

[0004] Tampere University of Technology in Finland has developed a light-driven bionic Venus flytrap robot, but it still has drawbacks. First, it is easily affected by light, and second, it cannot filter its prey; any object within the trap's range will cause it to deactivate. Therefore, a flexible capture robot that combines self-sensing, adaptive control, and rapid capture is still lacking. Summary of the Invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention aims to manufacture a flexible Venus flytrap-like catching robot with adjustable product parameters, accurate target judgment and suitable reaction speed. In the present invention, by using CNT-PDMS composite material as the main body of the pressure sensor, and liquid crystal elastomer (LCE) material with longitudinal contraction characteristics after heating as the "muscle tissue" for closing the "petals", the information conversion and processing between receiving the signal and sending it again are completed in the computer, which makes it possible to adjust the pressure trigger threshold, the closing judgment method, the closing speed of the "petals", etc., so as to achieve the goal of adjustable product parameters and optimal adaptation to the application scenario. The technical solution of the present invention is:

[0006] A method for preparing a Venus flytrap-like flexible catching robot comprises the following steps:

[0007] An LCE film was prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2'-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials.

[0008] Prepare CNT-PDMS composite materials as CNT-PDMS piezoresistive signal sensors;

[0009] A two-petal, openable and closable substrate is prepared, resistance wires are respectively set on the two petals of the substrate, the LCE films are respectively pasted on the resistance wires, the elastic modulus of the substrate is smaller than the elastic modulus of the LCE film, and the CNT-PDMS piezoresistive signal sensor is respectively set on the upper surface of the two petals of the LCE film to obtain a flexible catching robot imitating a Venus flytrap.

[0010] Furthermore, the LCE film is prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials, including:

[0011] 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and pentaerythritol tetrakis(3-mercaptopropionate) were weighed, dichloromethane (DCM) was added and mixed evenly, and then di-n-propylamine (DPA) was added to obtain a uniformly mixed mixed solution, which was ultrasonically treated under ice-water mixing conditions. A layer of vaseline was evenly applied to the groove of a polytetrafluoroethylene mold, and the mixed solution was poured into the polytetrafluoroethylene mold. After removing bubbles in the mixed solution with a scraper, the mixed solution was placed in an oven to complete a pre-crosslinking reaction. Thereafter, the pre-crosslinked LCE film was removed from the polytetrafluoroethylene mold and cut, and the pre-crosslinked LCE film was uniaxially stretched, fixed at both ends with tape, and placed in an oven for reaction to obtain an LCE film.

[0012] Furthermore, the LCE film is prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials, including:

[0013] Weigh 378.8 mg of 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 107.5 mg of 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and 14.4 mg of pentaerythritol tetrakis(3-mercaptopropionate), add 1-10 mL of dichloromethane (DCM) and mix evenly, then add 2.0-8.0 μL of di-n-propylamine (DPA) to obtain a uniformly mixed solution, perform ultrasonic treatment under ice-water mixing conditions for 1-3 h, and A layer of vaseline is evenly applied to the groove of the fluoroethylene mold, and the mixed solution is poured into the polytetrafluoroethylene mold. After removing bubbles in the mixed solution with a scraper, the mixed solution is placed in a 40-80°C oven for 1-3 hours to complete a pre-crosslinking reaction. Thereafter, the pre-crosslinked LCE film is removed from the polytetrafluoroethylene mold and cut. The pre-crosslinked LCE film is uniaxially stretched to 100-250% of its original length, fixed at both ends with tape, and placed in a 40-80°C oven for reaction for 12-72 hours to obtain an LCE film.

[0014] Furthermore, the preparation of the CNT-PDMS composite material as a CNT-PDMS piezoresistive signal sensor includes:

[0015] Carbon nanotubes (CNTs) are added to polydimethylsiloxane (PDMS) and stirred at low speed to prepare a prepolymer CNT-PDMS composite material; a PDMS curing agent is added to the prepolymer CNT-PDMS composite material; the resulting viscous liquid is poured into a glass culture dish, covered with a PET film, and a weight is placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material is evenly spread in the culture dish; and the mixed CNT-PDMS composite material is placed in an oven to cure.

[0016] Furthermore, the preparation of the CNT-PDMS composite material as a CNT-PDMS piezoresistive signal sensor includes:

[0017] 368.42 mg of carbon nanotubes (CNTs) were added to 7 g of polydimethylsiloxane (PDMS) and stirred at low speed for 24 hours to prepare a 5 wt% prepolymer CNT-PDMS composite material. Then, 0.7 g of PDMS curing agent was added to the prepolymer CNT-PDMS composite material, and the weight ratio of the prepolymer CNT-PDMS composite material to the curing agent was 10:1. The resulting viscous liquid was poured into a glass culture dish with a diameter of 10 cm, covered with a PET film with a diameter of 9 cm, and a 1 kg weight was placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material was evenly spread in the culture dish. Finally, the mixed CNT-PDMS composite material was placed in an oven and cured at a temperature of 80°C for 3 hours.

[0018] Furthermore, the two-petal, openable and closable substrate is prepared, resistance wires are respectively arranged on the two petals of the substrate, the LCE films are respectively adhered to the resistance wires, the elastic modulus of the substrate is smaller than the elastic modulus of the LCE film, and the CNT-PDMS piezoresistive signal sensors are respectively arranged on the upper surfaces of the two petals of the LCE film, thereby obtaining a Venus flytrap-like flexible catching robot, including:

[0019] The base is a cotton tape, which is elastic and cut into two openable and closable petals. A nickel-chromium alloy resistance wire is sewn onto the two petals of the base using embroidery technology. The LCE film is adhered to the upper surface of the base and covers the resistance wire. The CNT-PDMS piezoresistive signal sensor is adhered to the upper surfaces of the two petals of the LCE film using double-sided tape, thereby obtaining a Venus flytrap-like flexible capture robot.

[0020] A Venus flytrap-like flexible capturing robot is manufactured by the above-mentioned method for preparing a Venus flytrap-like flexible capturing robot.

[0021] A method for using a Venus flytrap-like flexible catching robot comprises the following steps:

[0022] The CNT-PDMS piezoresistive signal sensor is connected via a signal acquisition device, and the resistance wire is connected via a heating circuit. When the CNT-PDMS piezoresistive signal sensor is deformed by being touched, the voltage of the CNT-PDMS piezoresistive signal sensor changes. When the change in the voltage of the CNT-PDMS piezoresistive signal sensor exceeds a preset threshold, the heating circuit turns on the resistance wire to generate heat, and the LCE film shrinks uniaxially due to the heat, closing the two petals of the substrate.

[0023] Furthermore, after the two bases are closed, the following steps are performed:

[0024] After the first delay, the heating circuit stops conducting the resistance wire to generate heat, and the LCE film cools down naturally, causing the two petals of the base to open.

[0025] The flexible Venus flytrap-like grasping robot is connected through a circuit. When the piezoresistive sensor is touched, the resistance changes due to deformation, and the voltage across the sensor changes accordingly. The signal is input from the signal acquisition device to the communication device. A host computer software is written in LabView, using serial communication (USB to serial port chip CH340). When the received signal is below the signal threshold set in advance in the host computer software, the flexible grasping robot does not move. When the received signal exceeds the threshold, the relay activates, connecting the heating circuit and heating the nickel-chromium alloy resistance wire. Since LCE is a thermally responsive material, it will shrink uniaxially. However, due to being fixed on one side by the cotton tape, its degrees of freedom are reduced, causing the flexible grasping robot to bend like a Venus flytrap. The threshold setting can be adjusted to change the robot's grasping sensitivity. The resistance wire is replaceable, and the greater the heat generated, the faster the grasping robot.

[0026] Therefore, the present invention provides the following effects and / or advantages:

[0027] Designed based on bionic principles, this invention features a rational structure, lightweight, and low production cost. It lacks a motor system, resulting in extremely low noise and requiring no additional detection components. Instead, it utilizes piezoresistive signal sensors for feedback, simplifying the control system. The gripping mechanism, composed of liquid crystal elastomers, forms the muscle group of the flexible gripping robot, offering excellent flexibility, reducing impact and improving adaptability to the object being grasped. Adjusting the voltage of the external power supply and the on-time of the relay in the host software allows for convenient adjustment of the gripping mechanism's contraction and expansion frequency. Adjusting the threshold in the host software modifies the gripping sensitivity, increasing grip reliability, efficiency, and ease of capturing a wide range of objects. From a bionic perspective, this invention mimics the Venus flytrap's precise pressure sensing, electrical signal conversion, and morphological differentiation logic to develop an intelligent, flexible gripping robot with integrated sensing, self-feedback, and execution capabilities. This provides a wide range of adjustable parameters with high precision, enabling high environmental adaptability, high target recognition accuracy, and optimized gripping speed and force.

[0028] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 : Overall structural schematic diagram of the present invention.

[0031] Figure 2 : Schematic diagram of the structure of the capture mechanism after deformation of the present invention.

[0032] Figure 3 : Schematic diagram of the internal structure of the present invention.

[0033] Figure 4 : Working circuit principle diagram of the present invention.

[0034] Figure 5 : Experimental data diagram of the Venus flytrap-like flexible capture robot with perception, self-feedback and execution capabilities.

[0035] Figure 6 : Experimental data of the CNT-PDMS composite material's ability to sense tiny strains.

[0036] Figure 7 : This figure shows the bending angle of the Venus flytrap-like flexible grasping robot changing with time under different currents, reflecting its good grasping ability.

[0037] Figure 8 : This figure shows the temperature that the resistance wire of the Venus flytrap-like flexible capture robot can reach as the current changes over time.

[0038] In the figure: 1 - CNT-PDMS piezoresistive signal sensor, 2 - LCE film, 3 - nickel-chromium alloy resistance wire, 4 - cotton tape. DETAILED DESCRIPTION

[0039] In order to facilitate understanding by those skilled in the art, the technical solution of the present invention will now be described in further detail with reference to the embodiments and accompanying drawings: It should be understood that the steps mentioned in this embodiment, unless otherwise specified, can be adjusted in order according to actual needs, and can even be executed simultaneously or partially simultaneously. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] In this embodiment, as used herein, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise specifically defined.

[0041] The specific implementation of the present invention is as follows:

[0042] A method for preparing a Venus flytrap-like flexible catching robot comprises the following steps:

[0043] (1) Preparation of liquid crystal elastomer (LCE): 378.8 mg of 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 107.5 mg of 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and 14.4 mg of pentaerythritol tetrakis(3-mercaptopropionate) were weighed and placed in a 10-50 mL beaker. 1-10 mL of dichloromethane (DCM) was added and mixed evenly. 2.0-8.0 μL of di-n-propylamine (DPA) was then added to the mixed solution. The mixture was ultrasonically stirred for 1 min under ice-water mixing conditions. -3h, evenly apply a layer of vaseline in the groove of a polytetrafluoroethylene (PTFE) mold (groove size: 63×45×1mm), pour the evenly mixed solution into the PTFE mold, use a scraper to remove a small amount of bubbles in the mixed solution, and then place it in a 40-80℃ oven for 1-3h to complete the pre-crosslinking reaction. Then take it out from the PTFE mold, cut the pre-crosslinked LCE film, uniaxially stretch it to 100-250% of its original length, fix the two ends with tape, and place it in a 40-80℃ oven to react for 12-72h to obtain an LCE film.

[0044] (2) Preparation of piezoresistive signal sensor: 368.42 mg of carbon nanotubes (CNTs) were added to 7 g of polydimethylsiloxane (PDMS) (without PDMS curing agent) and stirred at a low speed (500 r / min) for 24 hours to prepare a 5 wt% CNT-PDMS composite material (without PDMS curing agent). Then, 0.7 g of PDMS curing agent was added to the prepolymer CNT-PDMS composite material. The weight ratio of the prepolymer CNT-PDMS composite material to the curing agent was 10:1. The resulting viscous liquid was poured into a glass Petri dish with a diameter of 10 cm, covered with a PET film with a diameter of 9 cm, and a 1 kg weight was placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material was evenly spread in the Petri dish. Finally, the mixed CNT-PDMS composite material was placed in an oven and cured at 80°C for 3 hours.

[0045] (3) Preparation of a flexible catching robot imitating a Venus flytrap: The base is a cotton tape, and the elastic cotton tape is cut into two pieces that can be opened and closed. A nickel-chromium alloy resistance wire is sewn on the two pieces of the base by embroidery technology. The LCE film is attached to the upper surface of the base so that the LCE film covers the resistance wire. The CNT-PDMS piezoresistive signal sensor is attached to the upper surface of the two pieces of the LCE film by double-sided tape to obtain a flexible catching robot imitating a Venus flytrap.

[0046] A Venus flytrap-like flexible capturing robot is prepared by the above-mentioned preparation method.

[0047] A method for using a Venus flytrap-like flexible catching robot comprises the following steps:

[0048] The CNT-PDMS piezoresistive signal sensor is connected via a signal acquisition device, and the resistance wire is connected via a heating circuit. When the CNT-PDMS piezoresistive signal sensor is deformed by being touched, the voltage of the CNT-PDMS piezoresistive signal sensor changes. When the change in the voltage of the CNT-PDMS piezoresistive signal sensor exceeds a preset threshold, the heating circuit turns on the resistance wire to generate heat, and the LCE film shrinks uniaxially due to the heat, closing the two petals of the substrate.

[0049] Furthermore, after the two bases are closed, the following steps are performed:

[0050] After the first delay, the heating circuit stops conducting the resistance wire to generate heat, and the LCE film cools down naturally, causing the two petals of the base to open.

[0051] Example 1

[0052] (1) Preparation of liquid crystal elastomer (LCE): 378.8 mg of 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 107.5 mg of 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and 14.4 mg of pentaerythritol tetrakis(3-mercaptopropionate) were weighed and placed in a 10 mL beaker. 2 mL of dichloromethane (DCM) was added and mixed evenly. 6.0 μL of di-n-propylamine (DPA) was added to the mixed solution. The mixture was stirred under ultraviolet light with ice water. After sonication for 1 hour, a layer of vaseline was evenly applied in the groove of a polytetrafluoroethylene (PTFE) mold (groove size: 63×45×1 mm), and the evenly mixed solution was poured into the PTFE mold. A small amount of bubbles in the mixed solution was removed with a scraper and then placed in a 40°C oven for 1.5 hours to complete the pre-crosslinking reaction. The pre-crosslinked LCE film was then taken out from the PTFE mold and cut, uniaxially stretched to 250% of its original length, fixed at both ends with tape, and placed in a 40°C oven for reaction for 12 hours to obtain an LCE film.

[0053] (2) Preparation of piezoresistive signal sensor: 368.42 mg of carbon nanotubes (CNTs) were added to 7 g of polydimethylsiloxane (PDMS) (without PDMS curing agent) and stirred at a low speed (500 r / min) for 24 hours to prepare a 5 wt% CNT-PDMS composite material (without PDMS curing agent). Then, 0.7 g of PDMS curing agent was added to the prepolymer CNT-PDMS composite material. The weight ratio of the prepolymer CNT-PDMS composite material to the curing agent was 10:1. The resulting viscous liquid was poured into a glass Petri dish with a diameter of 10 cm, covered with a PET film with a diameter of 9 cm, and a 1 kg weight was placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material was evenly spread in the Petri dish. Finally, the mixed CNT-PDMS composite material was placed in an oven and cured at 80°C for 3 hours.

[0054] (3) Preparation of a flexible catching robot imitating a Venus flytrap: The base is a cotton tape, and the elastic cotton tape is cut into two pieces that can be opened and closed. A nickel-chromium alloy resistance wire is sewn on the two pieces of the base by embroidery technology. The LCE film is attached to the upper surface of the base so that the LCE film covers the resistance wire. The CNT-PDMS piezoresistive signal sensor is attached to the upper surface of the two pieces of the LCE film by double-sided tape to obtain a flexible catching robot imitating a Venus flytrap.

[0055] Figure 1 It is a schematic diagram of the overall structure of the present invention, Figure 2 This is a schematic diagram of the structure of the capture mechanism after deformation of the present invention. Figure 3 The internal structure of the present invention is shown in FIG. A nickel-chromium alloy resistance wire 3 is sewn onto an elastic cotton tape 4 using embroidery technology, then adhered to an LCE film 2, and finally attached to a CNT-PDMS piezoresistive signal sensor 1.

[0056] Example 2

[0057] The Venus flytrap-like flexible catching robot obtained in Example 1 is connected through a circuit, the CNT-PDMS piezoresistive signal sensor is connected through a signal acquisition device, and the resistance wire is connected through a heating circuit. When the CNT-PDMS piezoresistive signal sensor is deformed by being touched, the voltage of the CNT-PDMS piezoresistive signal sensor changes. When the change in the voltage of the CNT-PDMS piezoresistive signal sensor exceeds a preset threshold, the heating circuit turns on the resistance wire to generate heat, and the LCE film shrinks uniaxially due to the heat, so that the two petals of the substrate are closed.

[0058] When the two bases are closed, execute:

[0059] After the first delay, the heating circuit stops conducting the resistance wire to generate heat, and the LCE film cools down naturally, causing the two petals of the base to open.

[0060] Figure 4 Schematic diagram of the working circuit of the present invention.

[0061] Figure 5 It shows that the Venus flytrap-like flexible capture robot has the ability of perception, self-feedback and execution. When the piezoresistive signal sensor senses a small force, the deformation is small, and the received signal is less than the set signal threshold, and the flexible capture robot will not move; when the piezoresistive signal sensor senses a larger force, the received signal is higher than the threshold, the relay will work, the heating circuit will be connected, the nickel-chromium alloy resistance wire will start to heat up, and the thermal response material LCE will undergo uniaxial contraction.

[0062] Figure 6 It is used to characterize the ability of CNT-PDMS composite materials to sense tiny strains, indicating that it can accurately sense external stimuli as a piezoresistive signal sensor.

[0063] Figure 7 The bending angle of the flexible capture robot imitating the Venus flytrap changes with time under different currents, indicating that the capture robot obtained by the present invention has good grasping ability.

[0064] Figure 8 To imitate the temperature of the Venus flytrap flexible capture robot, the resistance wire can change over time under different currents. The greater the temperature change, the faster the LCE response and the greater the contraction amplitude.

[0065] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for preparing a flexible catching robot imitating a Venus flytrap, comprising the following steps: An LCE film was prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2'-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials. Prepare CNT-PDMS composite materials as CNT-PDMS piezoresistive signal sensors; A two-petal, openable and closable substrate is prepared, resistance wires are respectively set on the two petals of the substrate, the LCE films are respectively pasted on the resistance wires, the elastic modulus of the substrate is smaller than the elastic modulus of the LCE film, and the CNT-PDMS piezoresistive signal sensor is respectively set on the upper surface of the two petals of the LCE film to obtain a flexible catching robot imitating a Venus flytrap.

2. The method for preparing a Venus flytrap-like flexible catching robot according to claim 1, characterized in that: The LCE film is prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials, comprising: 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and pentaerythritol tetrakis(3-mercaptopropionate) were weighed, dichloromethane (DCM) was added and mixed evenly, and then di-n-propylamine (DPA) was added to obtain a uniformly mixed mixed solution, which was ultrasonically treated under ice-water mixing conditions. A layer of vaseline was evenly applied to the groove of a polytetrafluoroethylene mold, and the mixed solution was poured into the polytetrafluoroethylene mold. After removing bubbles in the mixed solution with a scraper, the mixed solution was placed in an oven to complete a pre-crosslinking reaction. Thereafter, the pre-crosslinked LCE film was removed from the polytetrafluoroethylene mold and cut, and the pre-crosslinked LCE film was uniaxially stretched, fixed at both ends with tape, and placed in an oven for reaction to obtain an LCE film.

3. The method for preparing a Venus flytrap-like flexible catching robot according to claim 1 or 2, characterized in that: The LCE film is prepared by cross-linking reaction using 1,4-bis-[4-(3-acryloxypropoxy)benzoyloxy]-2-methylbenzene, 2,2′-(1,2-ethylenedioxy)bis(ethyl mercaptan) and pentaerythritol tetrakis(3-mercaptopropionate) as main raw materials, comprising: Weigh 378.8 mg of 1,4-bis-[4-(3-acryloyloxypropoxy)benzoyloxy]-2-methylbenzene, 107.5 mg of 2,2′-(1,2-ethylenedioxy)bis(ethanediol), and 14.4 mg of pentaerythritol tetrakis(3-mercaptopropionate), add 1-10 mL of dichloromethane (DCM) and mix evenly, then add 2.0-8.0 μL of di-n-propylamine (DPA) to obtain a uniformly mixed solution, perform ultrasonic treatment under ice-water mixing conditions for 1-3 h, and A layer of vaseline is evenly applied to the groove of the fluoroethylene mold, and the mixed solution is poured into the polytetrafluoroethylene mold. After removing bubbles in the mixed solution with a scraper, the mixed solution is placed in a 40-80°C oven for 1-3 hours to complete a pre-crosslinking reaction. Thereafter, the pre-crosslinked LCE film is removed from the polytetrafluoroethylene mold and cut. The pre-crosslinked LCE film is uniaxially stretched to 100-250% of its original length, fixed at both ends with tape, and placed in a 40-80°C oven for reaction for 12-72 hours to obtain an LCE film.

4. The method for preparing a Venus flytrap-like flexible capture robot according to claim 1, characterized in that: The preparation of the CNT-PDMS composite material as a CNT-PDMS piezoresistive signal sensor comprises: Add carbon nanotubes (CNT) to polydimethylsiloxane (PDMS) and stir at low speed to prepare a prepolymer CNT-PDMS composite material; Adding PDMS curing agent to the prepolymer CNT-PDMS composite material; The obtained viscous liquid is poured into a glass culture dish, covered with a PET film, and a weight is placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material is evenly spread in the culture dish; The mixed CNT-PDMS composite material is placed in an oven to solidify.

5. The method for preparing a Venus flytrap-like flexible catching robot according to claim 1 or 4, characterized in that: The preparation of the CNT-PDMS composite material as a CNT-PDMS piezoresistive signal sensor comprises: 368.42 mg of carbon nanotubes (CNTs) were added to 7 g of polydimethylsiloxane (PDMS) and stirred at low speed for 24 hours to prepare a 5 wt% prepolymer CNT-PDMS composite material. 0.7 g of PDMS curing agent was then added to the prepolymer CNT-PDMS composite material, with the weight ratio of the prepolymer CNT-PDMS composite material to the curing agent being 10:

1. The resulting viscous liquid was poured into a glass Petri dish with a diameter of 10 cm, covered with a PET film with a diameter of 9 cm, and a 1 kg weight was placed on the PET film. Under the action of the gravity of the weight, the CNT-PDMS composite material was evenly spread in the Petri dish. Finally, the mixed CNT-PDMS composite material was placed in an oven and cured at 80°C for 3 hours.

6. The method for preparing a Venus flytrap-like flexible catching robot according to claim 1, characterized in that: The two-petal and openable substrate is prepared, resistance wires are respectively arranged on the two petals of the substrate, the LCE films are respectively adhered to the resistance wires, the elastic modulus of the substrate is smaller than the elastic modulus of the LCE film, and the CNT-PDMS piezoresistive signal sensors are respectively arranged on the upper surfaces of the two petals of the LCE film to obtain a Venus flytrap-like flexible capture robot, which includes: The base is a cotton tape, which is elastic and cut into two openable and closable petals. A nickel-chromium alloy resistance wire is sewn onto the two petals of the base using embroidery technology. The LCE film is adhered to the upper surface of the base and covers the resistance wire. The CNT-PDMS piezoresistive signal sensor is adhered to the upper surfaces of the two petals of the LCE film using double-sided tape, thereby obtaining a Venus flytrap-like flexible capture robot.

7. A flexible catching robot imitating a Venus flytrap, characterized by: The robot is manufactured by the method for preparing a Venus flytrap-like flexible catching robot according to any one of claims 1 to 6.

8. A method for using the Venus flytrap-like flexible catching robot according to claim 7, characterized in that: The CNT-PDMS piezoresistive signal sensor is connected via a signal acquisition device, and the resistance wire is connected via a heating circuit. When the CNT-PDMS piezoresistive signal sensor is deformed by being touched, the voltage of the CNT-PDMS piezoresistive signal sensor changes. When the change in the voltage of the CNT-PDMS piezoresistive signal sensor exceeds a preset threshold, the heating circuit turns on the resistance wire to generate heat, and the LCE film shrinks uniaxially due to the heat, driving the two petals of the substrate to close.

9. The method for using the Venus flytrap-like flexible catching robot according to claim 8, wherein: When the two bases are closed, execute: After the first delay, the heating circuit stops conducting the resistance wire to generate heat, and the LCE film cools down naturally, driving the two petals of the substrate to open.

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