A strong fatigue-resistant artificial muscle actuator and a method for manufacturing the same

Abstract

The application provides a preparation method of a strong anti-fatigue artificial muscle driver, which comprises the following steps: S1, providing a base film layer, soaking the base film layer in a metal cation solution for adsorption after removing impurities inside and outside the film; S2, performing chemical reduction on the base film layer after adsorption, so that a large specific surface area electrode layer is formed on the upper surface and the lower surface of the base film layer; S3, taking out the clamped base film layer after treatment and soaking it in an ion solution, so that the ion solution fills the inside of the base film layer to form an ion driven liquid layer; and S4, preparing a self-repairing electrode layer composed of a liquid conductive material, coating the self-repairing electrode layer on the large specific surface area electrode layer, and obtaining the strong anti-fatigue artificial muscle driver. The self-repairing electrode layer is prepared by using a liquid conductive material, only a thin layer is needed to meet the required low resistance value, and the generation of cracks on the large specific surface area electrode layer is effectively avoided, so that more stable resistance value and lower water molecule evaporation speed are brought.

Description

Technical Field

[0001] This invention relates to the field of flexible actuator technology, and more specifically, to a fatigue-resistant artificial muscle actuator and its preparation method. Background Technology

[0002] Biomimetic artificial muscle materials are a new type of functional material that developed rapidly in the 1990s. Their design concept is to mimic the unique functions of organisms in nature, creating functional materials with similar biological properties. These materials can achieve reversible deformation responses such as bending and torsion with precise magnitudes depending on the intensity of specific external stimuli (electrical stimulation, acid / alkalinity, light, temperature, etc.). Ionic polymeric metal composites (IPMCs), with their low energy consumption, fast response, and ability to achieve large-angle bending at ultra-low voltage, are considered the most promising artificial muscle material for practical applications.

[0003] However, when these artificial muscle actuators are repeatedly bent too many times or when unilateral bending exceeds the yield strain limit of the metal electrode, irregular fatigue cracks will randomly appear on the electrode surface. The presence of these cracks inevitably increases the electrode resistance, increases the evaporation rate of water molecules in the membrane, and generates an uneven electric field distribution, significantly reducing the stable working time of the artificial muscle actuator and becoming a major factor affecting its application. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for preparing a highly fatigue-resistant artificial muscle actuator, thereby solving the problem of cracks on the electrode surface caused by repeated bending of the artificial muscle actuator in the prior art.

[0005] The technical solution adopted by this invention to solve the above problems is: a method for preparing a highly fatigue-resistant artificial muscle actuator, comprising the following steps:

[0006] S1. Provide a base film layer, remove impurities inside and outside the base film layer, and then immerse it in a solution of metal cations to be reduced for adsorption.

[0007] S2. The basement membrane layer after adsorption treatment is chemically reduced to form a large specific surface area electrode layer on the upper and lower surfaces of the basement membrane layer, thus obtaining an artificial muscle actuator sample.

[0008] S3. After removing the artificial muscle actuator sample, clamp it flat and immerse it in the ion solution so that the ion solution fills the interior of the basement membrane layer to form an ion-driven liquid layer.

[0009] S4, preparing a self-repairing electrode layer composed of a liquid conductive material, taking out the artificial muscle driver sample filled with the ion-driven liquid layer, coating the self-repairing electrode layer on the large specific surface electrode layer of the artificial muscle driver sample, and obtaining the strong anti-fatigue artificial muscle driver.

[0010] Compared with the prior art, the application has the advantages that:

[0011] (1) The platinum electrode reduced by traditional chemistry needs to be reduced multiple times to achieve low resistance characteristics, but it will bring thicker electrode size, which is not conducive to the performance bending of the artificial muscle driver. The self-repairing electrode layer is prepared by using a liquid conductive material, has high conductivity, and only needs a thin layer to meet the required low resistance value requirement.

[0012] (2) Under alternating voltage driving, the repeated bending of the specific surface layer will produce obvious fatigue cracks, increase the electrode resistance, and accelerate the evaporation of water molecules in the base film layer, thereby reducing the force-electric coupling performance of the artificial muscle driver. The self-repairing electrode layer uses a liquid conductive material as the electrode of the artificial muscle driver, effectively avoids the generation of electrode cracks, and brings more stable resistance value and lower water evaporation speed.

[0013] (3) Since a pure liquid metal electrode cannot provide a large specific capacitance, the application adopts a composite double-layer electrode mode, coats a self-repairing electrode layer after reducing a large specific surface electrode layer, and through the double-layer structure, the low resistance value is ensured, and the large specific surface area of the electrode is also ensured, thereby providing a larger specific capacitance value.

[0014] Preferably, in step S1, the base film layer is a perfluorinated ion polymer proton exchange membrane or a reinforced perfluorinated ion polymer membrane; the perfluorinated ion polymer proton exchange membrane includes at least one of a perfluorosulfonic acid Nafion series membrane, a Dow membrane, an Xus-B204 membrane, a BAM series membrane, a Solvay series membrane, a 3M perfluorocarbon acid membrane, a perfluorocarboxylic acid Alciplex membrane, a Flemion membrane, a DF988 ion membrane, and a DF2801 proton exchange membrane; and the reinforced perfluorinated ion polymer membrane includes at least one of a Gore-select membrane with microporous PTEE film micro-reinforcement, a NASTA composite membrane modified with silicotungstic acid, and a NASTA THI series membrane with thiophene added.

[0015] In this way, the outer surface of the base film layer has hydrophilic properties, the inner surface of the base film layer has hydrophobic properties, and good water storage capacity is exhibited; at the same time, the base film layer has excellent thermal stability, chemical stability, excellent proton conductivity, high water transmission performance, and other advantages, which is convenient for the transmission of hydrated cations under the action of an electric field.

[0016] Preferably, in step S1, the metal cation solution includes at least one metal cation selected from platinum ions, copper ions, aluminum ions, silver ions, gold ions, and iron ions. This allows these metal cations to be easily reduced to metals and coat the upper and lower surfaces of the substrate film, forming a high specific surface area electrode layer.

[0017] Preferably, step S1 specifically includes the following steps: S11, cutting the base film layer to a specific size and polishing it in one direction using sandblasting or sandpaper; S12, removing impurities inside and outside the base film layer by ultrasonic treatment and chemical cleaning; S13, immersing the impurity-treated base film layer in a metal cation solution containing dichlorotetramineplatinum for adsorption, and allowing it to stand for a period of time. In this way, the base film layer is carefully cleaned before adsorption, reducing the impact of impurities.

[0018] Preferably, step S2 specifically includes the following steps: using sodium borohydride as a reducing agent, it is added dropwise to the basement membrane layer for initial chemical reduction, so that a large specific surface area electrode layer with nanoparticle electrodes is formed on the upper and lower surfaces of the basement membrane layer, thus obtaining the artificial muscle actuator sample. In this way, a large specific surface area electrode layer with nanoparticle electrodes is obtained through chemical reduction, which facilitates subsequent connection.

[0019] Preferably, in step S3, the ion-driven liquid layer is composed of one of the following: an aqueous solution of lithium chloride, copper sulfate, sodium chloride, potassium chloride, or silver chloride, or an ionic liquid composed only of anions and cations. This ensures a sufficient number of ions in the liquid through these different types of ionic solutions, facilitating driving and guaranteeing conductivity.

[0020] Preferably, step S3 specifically includes the following steps: S31, take out the artificial muscle actuator sample and cut the artificial muscle actuator sample into strips; S32, clamp the strip-shaped artificial muscle actuator sample with a glass slide; S33, immerse the clamped artificial muscle actuator sample in a lithium chloride solution, so that the lithium chloride solution fills the interior of the basement membrane layer to form an ion-driven liquid layer, and let it stand for a period of time.

[0021] Preferably, in step S4, the liquid conductive material includes at least one of liquid metal, ionic liquid, and conductive polymer; the liquid metal includes at least one of mercury, gallium, gallium-based alloy, and transition metals; and the conductive polymer includes at least one of polyacetylene, polythiophene, polypyrrole, and polyaniline. Thus, using these materials provides excellent self-healing and self-repairing properties, enabling timely repair of cracks on the surface of large specific surface area electrode layers. This results in a self-repairing electrode layer exhibiting stable resistance and good water storage capacity, while maintaining high conductivity in a liquid state.

[0022] Preferably, in step S4, the self-repairing electrode layer is prepared by uniformly coating liquid gallium and solid indium electrode in a ratio of 3:1. In this way, the self-repairing electrode layer composed of gallium-indium liquid metal electrode layer facilitates the later coating of the self-repairing electrode layer on the large specific surface area electrode layer.

[0023] The application also provides another technical solution to solve the above problems, which is a strong anti-fatigue artificial muscle driver, comprising a basement membrane layer for transporting hydrated cations under the action of an electric field, two large specific surface area electrode layers, two self-repairing electrode layers for repairing cracks on the surface of the solid electrode, and an ion-driven liquid layer for unilateral aggregation under the action of an electric field, wherein the ion-driven liquid layer is arranged inside the basement membrane layer, the two large specific surface area electrode layers are arranged on the upper surface and the lower surface of the basement membrane layer, respectively, and the two self-repairing electrode layers are arranged on the side of the two large specific surface area electrode layers away from the basement membrane layer, and the self-repairing electrode layer is composed of a liquid conductive material.

[0024] Compared with the prior art, the application has the advantages that the self-repairing electrode layer is made of a liquid conductive material, only a thin layer is needed to meet the required low resistance value, and the generation of cracks on the large specific surface area electrode layer is effectively avoided, resulting in more stable resistance value and lower water evaporation speed. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 FIG. 1 is a structural schematic diagram of a strong anti-fatigue ionic artificial muscle driver according to an embodiment of the application;

[0026] Figure 2 FIG. 2 is a displacement change relationship curve of the strong anti-fatigue ionic artificial muscle driver according to the embodiment of the application with respect to the frequency of the alternating driving voltage;

[0027] Figure 3 FIG. 3 is a displacement change relationship curve of the strong anti-fatigue ionic artificial muscle driver according to the embodiment of the application with respect to the amplitude of the alternating driving voltage;

[0028] Figure 4 FIG. 4 is a curve diagram of the driving force change with respect to the driving voltage duration of the strong anti-fatigue ionic artificial muscle driver according to the embodiment of the application under the driving of a direct current voltage;

[0029] Figure 5 FIG. 5 is a curve diagram of the stable working displacement change with respect to time of the strong anti-fatigue ionic artificial muscle driver according to the embodiment of the application and the control ionic artificial muscle driver experimental group.

[0030] FIG. 1 is a structural schematic diagram of a strong anti-fatigue ionic artificial muscle driver according to an embodiment of the application; 2, large specific surface area electrode layer, 3, self-repairing electrode layer, 4, ion-driven liquid layer. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Example 1

[0033] like Figure 1 As shown, this embodiment relates to a method for preparing a highly fatigue-resistant artificial muscle actuator, comprising the following steps:

[0034] S1. Provide a base film layer 1. After removing impurities inside and outside the base film layer 1, immerse it in a solution of metal cations to be reduced for adsorption.

[0035] The base membrane layer 1 is a perfluorinated ion-polymer proton exchange membrane or a reinforced perfluorinated ion-polymer membrane. Perfluorinated ion-polymer proton exchange membranes include at least one of the following: Nafion perfluorosulfonic acid series membranes, Dow membranes, Xus-B204 membranes, BAM series membranes, Solvay series membranes, 3M perfluorocarbonate membranes, perfluorocarboxylic acid Alciplex membranes, Flemion membranes, DF988 ion-exchange membranes, and DF2801 proton exchange membranes. Reinforced perfluorinated ion-polymer membranes include at least one of the following: Gore-select membranes with microporous PTEE membrane micro-reinforcement, NASTA composite membranes modified with silicotungstic acid, and NASTATHI series membranes with added thiophene.

[0036] The outer surface of the basement membrane layer 1 is hydrophilic, while the inner surface of the basement membrane layer 1 is hydrophobic, exhibiting good water storage capacity. At the same time, the basement membrane layer 1 has advantages such as excellent thermal stability, chemical stability, excellent proton conductivity and high water transport performance, which facilitates the transport of hydrated cations under the action of an electric field.

[0037] The metal cation solution includes at least one metal cation selected from platinum ions, copper ions, aluminum ions, silver ions, gold ions, and iron ions. These metal cations are easily reduced to metals and coat the upper and lower surfaces of the substrate film 1, forming a high specific surface area electrode layer 2.

[0038] In this embodiment, step S1 specifically includes the following steps:

[0039] S11. Cut the base film layer 1 to a specific size and polish it in one direction using sandblasting or sandpaper. For example, cut the base film layer 1 to a size of 50×50mm and polish it in one direction using 1000-grit sandpaper. Of course, other sizes and sandpaper sizes can also be used.

[0040] S12, the substrate film layer 1 after polishing treatment is removed from the film impurities inside and outside the substrate film layer 1 by ultrasonic treatment and chemical cleaning.

[0041] S13, the substrate film layer 1 after impurity treatment is immersed in a metal cation solution containing dichlorotetraammine platinum for adsorption, and is left for a period of time. For example, the substrate film layer 1 after impurity treatment is immersed in a 0.5wt% Pt(NH3)4Cl2 solution for adsorption, and is left for 48 hours or more.

[0042] S2, the substrate film layer 1 after adsorption treatment is chemically reduced to form a large specific surface area electrode layer 2 on the upper surface and lower surface of the substrate film layer 1, and an artificial muscle driver sample is obtained.

[0043] Specifically, in this step, the substrate film layer 1 after adsorption treatment is chemically reduced, and 2wt% NaBH4 is added as a reducing agent to form a large specific surface area electrode layer 2 with nanoparticles on the upper surface and lower surface of the substrate film layer 1, and an artificial muscle driver sample is obtained.

[0044] In this embodiment, the material of the large specific surface area electrode layer 2 is a solid metal electrode obtained by reduction. In addition to this method, other methods can also be used to make the material of the large specific surface area electrode layer 2 composed of inorganic carbon-based conductive materials. The inorganic carbon-based conductive materials include at least one of carbon black, graphene, fullerene, carbon nanotube, graphite, etc.

[0045] In this embodiment, the large specific surface area electrode layer 2 is formed in a nanoparticle structure. Further, it can also be formed in one or several of a wrinkle structure, a hole structure, and a layered stacking structure.

[0046] S3, the artificial muscle driver sample is taken out and immersed in an ion solution to fill the ion solution inside the substrate film layer 1 to form an ion-driven liquid layer 4.

[0047] Specifically, in this step, the following steps are included:

[0048] S31, the artificial muscle driver sample is taken out and cut into a strip shape;

[0049] S32, the strip-shaped artificial muscle driver sample is clamped with a glass slide;

[0050] S33, the clamped artificial muscle driver sample is immersed in a lithium chloride solution to fill the lithium chloride solution inside the substrate film layer 1 to form an ion-driven liquid layer 4, and is left for a period of time.

[0051] In the embodiment, the artificial muscle driver sample is first taken out, cut into a 10*50mm strip, clamped and flattened by a glass slide, and then soaked in a 1mol / L LiCl solution to fill the LiCl solution into the inside of the base film layer 1 to form an ion-driven liquid layer 4, and stand for more than 24 hours.

[0052] The ion-driven liquid layer 4 is composed of one of lithium chloride, copper sulfate, sodium chloride, potassium chloride or silver chloride aqueous solution, or an ionic liquid composed of only anions and cations. In this way, through these types of ion solutions, the number of ions in the liquid is ensured, which is convenient for driving and ensures the electrical conductivity.

[0053] S4, preparing a self-repairing electrode layer 3 composed of a liquid conductive material, taking out the artificial muscle driver sample filled with the ion-driven liquid layer 4, coating the self-repairing electrode layer 3 on the large specific surface area electrode layer 2 of the artificial muscle driver sample, and obtaining a strong fatigue-resistant artificial muscle driver.

[0054] The liquid conductive material includes at least one of liquid metal, ionic liquid, and conductive polymer. These materials have good self-healing and self-repairing properties, can repair cracks on the surface of the large specific surface area electrode layer 2 in time, and make the self-repairing electrode layer 3 exhibit stable resistance and good water storage capacity.

[0055] The liquid metal includes at least one of mercury, gallium, gallium-based alloy, and transition group metal, and the conductive polymer includes at least one of polyacetylene, polythiophene, polypyrrole, and polyaniline. Through these types, a high electrical conductivity can be ensured in a liquid state.

[0056] In the embodiment, the specific method for preparing the self-repairing electrode layer 3 composed of a liquid conductive material is: uniformly coating liquid metal gallium and solid electrode indium at a ratio of 3:1 to prepare the self-repairing electrode layer 3. The self-repairing electrode layer 3 composed of the gallium-indium liquid metal electrode layer facilitates the later coating of the self-repairing electrode layer 3 on the large specific surface area electrode layer 2.

[0057] The conventional chemical reduction platinum electrode needs to be reduced multiple times to achieve low resistance characteristics, but will bring thicker electrode size, which is not conducive to the performance of the artificial muscle driver. The self-repairing electrode layer 3 is made of liquid conductive material and has high electrical conductivity, and only a thin layer can meet the required low resistance value requirement.

[0058] Because the specific surface area layer surface repeatedly bending under alternating voltage drive will produce obvious fatigue cracks, increase the electrode resistance, and accelerate the evaporation of water molecules in the base film layer 1, reduce the force-electric coupling performance of the artificial muscle driver; and the self-repairing electrode layer 3 uses a liquid conductive material as the electrode of the artificial muscle driver, which effectively avoids the generation of electrode cracks, brings more stable resistance value and lower water evaporation speed.

[0059] Because the pure liquid metal electrode cannot provide a large area specific capacitance, the application adopts a composite double-layer electrode mode, after reducing a layer of large specific surface area electrode, a layer of self-repairing electrode layer 3 is coated, through the double-layer structure, both the low resistance value and the large specific surface area of the electrode are ensured, and a larger specific capacitance value is provided.

[0060] The force-electric coupling performance of the strong fatigue-resistant ionic artificial muscle driver was tested:

[0061] (1) The displacement curve of the artificial muscle driver was tested under square wave AC 3V, 0.1Hz, 0.5Hz and 1Hz frequencies respectively, as shown in Figure 2 It can be seen that under AC 3V 0.1Hz frequency voltage drive, the peak-to-peak value of the displacement curve of the artificial muscle driver is about 32mm, and it shows the typical symmetrical driving of IPMC. The displacement curve of the artificial muscle driver tested under AC 1-5V 0.1Hz step voltage is shown in Figure 3 Within a certain range, the driving displacement increases with the increase of voltage and decreases with the decrease of driving frequency. It shows a large driving displacement performance.

[0062] (2) For the driving performance of IPMC, the driving force maintenance of the artificial muscle driver was observed under DC 3V. It can be seen from Figure 4 The artificial muscle driver can show a maximum tip stress of 120mN, and can still maintain a driving force of more than 90mN when the driving voltage is continuously applied for about 300s, showing a good output force stability performance of the artificial muscle driver.

[0063] Combined with the existing research, the driving displacement fatigue life performance of the artificial muscle driver was observed under AC 3V 0.02Hz. As shown in Figure 5 Compared with the traditional artificial muscle driver, the artificial muscle driver can realize a stable working time of 25000s, showing a strong anti-fatigue performance.

[0064] In this embodiment, the final fabricated highly fatigue-resistant artificial muscle actuator includes a base film layer 1 for hydrated cation transport under an electric field, two large specific surface area electrode layers 2, two self-healing electrode layers 3 for repairing cracks on the surface of solid electrodes, and an ion-driven liquid layer 4 for unilateral aggregation under an electric field. The ion-driven liquid layer 4 is disposed inside the base film layer 1. The two large specific surface area electrode layers 2 are respectively disposed on the upper and lower surfaces of the base film layer 1. The two self-healing electrode layers 3 are respectively disposed on the side of the two large specific surface area electrode layers 2 away from the base film layer 1. The self-healing electrode layers 3 are made of liquid conductive material.

[0065] Example 2

[0066] Similar to Example 1, except that this example uses a secondary reduction plating method, where a second, slower chemical reduction is used to fill the relatively rough, large specific surface area electrode layer 2 formed by the first chemical reduction plating.

[0067] The base film layer 1 can be a Nafion film manufactured by DuPont, Inc., USA. The two large specific surface area electrode layers 2 are composed of platinum electrode layers, which are generated through a secondary chemical reduction method and are made of tightly connected nanoparticles. The lithium chloride aqueous solution is prepared by mixing lithium chloride powder and deionized water in a certain proportion.

[0068] The specific preparation method is as follows:

[0069] S1. Cut the basement membrane layer 1 into a size of 50×50mm and polish it in one direction with 1000-grit sandpaper. Remove impurities inside and outside the basement membrane layer 1 by ultrasonic treatment and chemical cleaning. Immerse the basement membrane layer 1 after impurity treatment in 0.5wt% Pt(NH3)4Cl2 solution for adsorption and let it stand for more than 48 hours.

[0070] S21. 2wt% NaBH4 is used as a reducing agent and added dropwise to the basement membrane layer 1 for initial chemical reduction, so that the upper and lower surfaces of the basement membrane layer 1 form a large specific surface area electrode layer 2 with nanoparticle electrodes, and an ion-type artificial muscle actuator is obtained.

[0071] S22. Using 20wt% hydrazine hydrate and 5wt% hydroxylamine hydrochloride as reducing agents, a secondary chemical reduction was performed by gradually adding the ion-type artificial muscle actuator to obtain the artificial muscle actuator sample. First, a large specific surface area electrode layer 2 with nanoparticle electrodes was obtained through a single chemical reduction. Then, a secondary chemical reduction was performed to make the surface of the large specific surface area electrode layer 2 smoother, facilitating subsequent connection.

[0072] S3, first take out the artificial muscle driver sample, cut it into 10*50mm sample, and then clamp and flatten it with a glass carrier, and then immerse it in 1mol / L lithium chloride solution, so that the lithium chloride solution fills the inside of the base film layer 1 to form an ion-driven liquid layer 4, and then stand for more than 24 hours.

[0073] S4, a self-repairing electrode layer 3 is prepared by uniformly coating liquid metal gallium and solid electrode indium at a ratio of 3:1, the artificial muscle driver sample filled with the ion-driven liquid layer 4 is taken out, the self-repairing electrode layer 3 is coated on the large specific surface area electrode layer 2 of the artificial muscle driver sample, and a strong fatigue-resistant artificial muscle driver is obtained.

[0074] Example Three

[0075] The embodiment is basically the same as example one, and the difference between the embodiment and example one is that the self-repairing electrode layer 3 is directly coated on the surface of the base film layer 1 through a mask plate.

[0076] The specific preparation method is as follows:

[0077] S1, the base film layer 1 is cut into a size specification of 50*50mm, and is polished along one direction by using 1000 mesh sandpaper; the base film layer 1 after polishing is treated by ultrasonic treatment and chemical cleaning to remove the impurities in and outside the base film layer 1; the base film layer 1 after clamping and flattening treatment is immersed in 1mol / L lithium chloride solution, so that the lithium chloride solution fills the inside of the base film layer 1 to form an ion-driven liquid layer 4, and then stand for more than 24 hours.

[0078] S2, a self-repairing electrode layer 3 is prepared by uniformly coating liquid metal gallium and solid electrode indium at a ratio of 3:1, the base film layer 1 filled with the ion-driven liquid layer 4 is taken out, and the self-repairing electrode layer 3 is coated on the upper surface and the lower surface of the base film layer 1, so as to obtain a strong fatigue-resistant artificial muscle driver.

[0079] The beneficial effects of the present application are: the self-repairing electrode layer 3 is prepared by using liquid conductive material, only a thin layer is needed to meet the required low resistance value, and the generation of cracks on the large specific surface area electrode layer 2 is effectively avoided, which brings more stable resistance value and lower water evaporation speed.

[0080] The above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the present application is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, and can be used in various other combinations, modifications and environments, and can be modified by the above-mentioned teaching or related technical or knowledge within the scope of the inventive concept described herein. Any modification and change made by those skilled in the art without departing from the spirit and scope of the present application shall be within the protection scope of the appended claims of the present application.

[0081] Although the present disclosure discloses as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present disclosure.

Claims

1. A method for preparing a fatigue-resistant artificial muscle actuator, characterized in that: The method comprises the following steps: S1, providing a base film layer (1), after removing the impurities inside and outside the film of the base film layer (1), soaking in a metal cation solution to be reduced for adsorption; S2, chemically reducing the base film layer (1) after the adsorption treatment, forming a large specific surface area electrode layer (2) on the upper surface and the lower surface of the base film layer (1), and obtaining an artificial muscle driver sample; S3, taking out the artificial muscle driver sample, clamping and flattening, and then soaking in an ion solution, so that the ion solution fills the inside of the base film layer (1) to form an ion-driven liquid layer (4); S4, preparing a self-repairing electrode layer (3) composed of a liquid conductive material, taking out the artificial muscle driver sample filled with the ion-driven liquid layer (4), and coating the self-repairing electrode layer (3) on the large specific surface area electrode layer (2) of the artificial muscle driver sample, to obtain a strong anti-fatigue artificial muscle driver.

2. The method for preparing a highly fatigue-resistant artificial muscle actuator according to claim 1, characterized in that: In step S1, the base film layer (1) is a perfluoro ionic polymer proton exchange membrane or an enhanced perfluoro ionic polymer membrane; The perfluoro ionic polymer proton exchange membrane includes at least one of a perfluoro sulfonic acid Nafion series membrane, a Dow membrane, an Xus-B204 membrane, a BAM series membrane, a Solvay series membrane, a 3M perfluoro carbonate membrane, a perfluoro carboxylic acid Alciplex membrane, a Flemion membrane, a DF988 ion membrane, and a DF2801 proton exchange membrane; The enhanced perfluoro ionic polymer membrane includes at least one of a Gore-select membrane with micro-porous PTEE film micro-enhancement, a NASTA composite membrane modified with silicotungstic acid, and a NASTA THI series membrane with thiophene added.

3. The method of claim 2, wherein the method further comprises the step of: 3-1) coating the surface of the artificial muscle with a coating material. In step S1, the metal cation solution includes at least one of platinum ions, copper ions, aluminum ions, silver ions, gold ions, and iron ions.

4. The method for preparing a highly fatigue-resistant artificial muscle actuator according to claim 3, characterized in that: Step S1 specifically includes the following steps: S11, cutting the base film layer (1) into a specific size, and polishing along one direction by sandblasting or sandpaper; S12, removing the impurities inside and outside the base film layer (1) by ultrasonic treatment and chemical cleaning; S13, soaking the base film layer (1) after impurity treatment in a metal cation solution containing dichlorotetraammine platinum for adsorption, and standing for a period of time.

5. The method for preparing a highly fatigue-resistant artificial muscle actuator according to claim 4, characterized in that: Step S2 specifically includes the following steps: using sodium borohydride as a reducing agent, and adding it to the base film layer (1) in a certain amount to perform primary chemical reduction, so that the upper surface and the lower surface of the base film layer (1) form a large specific surface area electrode layer (2) with nano-particle electrodes, and an artificial muscle driver is obtained.

6. The method of claim 1 or 2, wherein the method is characterized by: In step S3, the ion-driven liquid layer (4) is composed of one of lithium chloride, copper sulfate, sodium chloride, potassium chloride, or silver chloride aqueous solution, or an ionic liquid composed of only anions and cations.

7. The method for preparing a highly fatigue-resistant artificial muscle actuator according to claim 6, characterized in that: Step S3 specifically includes the following steps: S31, taking out the artificial muscle driver sample, and cutting the artificial muscle driver sample into a strip shape; S32, clamping the strip-shaped artificial muscle driver sample with a glass slide; S33, the clamped artificial muscle driver sample is immersed in a lithium chloride solution to fill the substrate membrane layer (1) with the lithium chloride solution to form an ion-driven liquid layer (4), and is left to stand for a period of time.

8. The method of claim 1 or 2, wherein the method comprises the steps of: In step S4, the liquid conductive material includes at least one of liquid metal, ionic liquid, and conductive polymer; the liquid metal includes at least one of mercury, gallium, gallium-based alloy, and post-transition metal; and the conductive polymer includes at least one of polyacetylene, polythiophene, polypyrrole, and polyaniline. ​ 9. The method for preparing a highly fatigue-resistant artificial muscle actuator according to claim 8, characterized in that: In step S4, the self-repairing electrode layer (3) is prepared by uniformly coating liquid gallium and solid indium in a ratio of 3:

1.

10. A strong fatigue resistant artificial muscle actuator characterized by: The artificial muscle driver is prepared by the method of any one of claims 1-9, and includes a substrate membrane layer (1) for transporting hydrated cations under the action of an electric field, two large specific surface area electrode layers (2), two self-repairing electrode layers (3) for repairing cracks on the surface of the solid electrode, and an ion-driven liquid layer (4) for unilateral aggregation under the action of an electric field. The ion-driven liquid layer (4) is arranged inside the substrate membrane layer (1), the two large specific surface area electrode layers (2) are arranged on the upper surface and the lower surface of the substrate membrane layer (1) respectively, and the two self-repairing electrode layers (3) are arranged on the side of the two large specific surface area electrode layers (2) away from the substrate membrane layer (1) respectively, and the self-repairing electrode layer (3) is composed of a liquid conductive material.

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