A rigid-flexible coupling electrothermal bionic energy storage and ejection driver and a preparation method thereof

Abstract

This invention discloses a rigid-flexible coupled electrothermal biomimetic energy storage ejector actuator and its fabrication method, belonging to the field of flexible actuator technology. The actuator comprises a liquid crystal elastomer adhesion layer containing dynamic disulfide bonds, a flexible driving layer, a nickel-titanium alloy rigid layer, and an electrothermal film heating layer. Upon energization, the rigid layer undergoes a thermally induced phase transition, generating high restoring force, while the flexible driving layer undergoes thermally induced contraction, generating large deformation. These two elements work together to achieve rapid deployment and ejection. The fabrication method involves preparing a liquid crystal prepolymer solution containing dynamic disulfide bonds, followed by static setting, stretching and orientation, and UV curing to obtain a single-domain thin film. This film is then bonded and cured with the rigid layer and heating layer using homologous prepolymers to form an integrated structure. This invention, through its rigid-flexible coupling structure design and the introduction of dynamic disulfide bonds, achieves rapid response, high load output, and stable operation of the actuator under low voltage. The fabrication process is simple, and it has broad application prospects in fields such as flexible grasping and microrobots.

Description

Technical Field

[0001] This invention belongs to the field of flexible actuator technology, specifically relating to a method for preparing a rigid-flexible coupled electrothermal biomimetic energy storage ejection actuator. Background Technology

[0002] Electrothermal-driven smart materials have become an important research direction in the field of flexible actuators due to their controllable response and stable actuation. Liquid crystal elastomers (LCEs), as typical thermodeformable polymers, can generate reversible and significant shape responses through temperature changes, and are widely used in the construction of various soft actuators. To improve their performance, existing technologies mainly focus on optimization in two directions: material modification and structural design. In terms of materials, the introduction of a single dynamic bond is often used to enhance mechanical properties or control the response temperature. However, such methods often struggle to simultaneously achieve a synergistic improvement in high fracture strength, large actuation strain, and low phase transition temperature. In terms of structure, flexible laminated designs are often used, utilizing differences in thermal expansion to achieve bending deformation. However, this structure generally suffers from limited output force, slow response speed, and a single motion mode, making it difficult to meet the actuation requirements of high performance and multiple scenarios.

[0003] Shape memory alloys (MMEs), as another typical electrothermal drive material, have the advantages of rapid response and high output force. However, their inherent rigidity and discontinuous phase transition recovery behavior make them difficult to apply alone in applications requiring continuous, smooth, and controllable deformation. Therefore, how to combine the large deformation characteristics of modified LCEs with the high-performance output advantages of shape memory alloys, and achieve rapid response, high load output, and multifunctional integration under low-voltage drive through rigid-flexible coupling structural design, has become a key technical challenge that urgently needs to be overcome in this field. Summary of the Invention

[0004] This invention addresses the problems of limited output force, slow response speed, and single motion mode of existing flexible elastomer actuators by providing a method for fabricating a rigid-flexible coupled electrothermal biomimetic energy storage ejector actuator. By utilizing the adhesiveness and phase transition temperature characteristics of the prepared liquid crystal elastomer containing dynamic disulfide bonds, the effective interfaces between the layers of the rigid-flexible coupled electrothermal actuator are bonded through intermolecular forces, and under the action of electrothermal action, the driving phase transition and adhesive grasping are realized.

[0005] To solve the above technical problems, the present invention provides the following technical solution: a rigid-flexible coupled electrothermal biomimetic energy storage ejection actuator, comprising:

[0006] An adhesion layer, wherein the adhesion layer is a liquid crystal elastomer film containing dynamic disulfide bonds;

[0007] A flexible driving layer, wherein the flexible driving layer is a liquid crystal elastomer film containing dynamic disulfide bonds; a rigid layer, wherein the rigid layer is a nickel-titanium alloy layer;

[0008] A heating layer, which is an electrothermal film, is disposed between the rigid layer and the flexible driving layer;

[0009] The heat generated when the heating layer is energized can be transferred to both the rigid layer and the flexible driving layer, causing the rigid layer to undergo a thermally induced phase change and generate a restoring force, while simultaneously causing the flexible driving layer to undergo thermally induced contraction strain. The restoring force of the rigid layer and the contraction strain of the flexible driving layer are coupled together to achieve rapid deployment and ejection drive of the actuator.

[0010] Furthermore, the aforementioned liquid crystal elastomer film of the adhesion layer and flexible driving layer is a single-domain liquid crystal elastomer film prepared by the same liquid crystal prepolymer solution;

[0011] The liquid crystal prepolymer solution contains RM257, EDDET, DPA, tetrahydrofuran, PETMP, and DADS as a source of dynamic disulfide bonds.

[0012] Furthermore, the layered structure of the aforementioned actuator, from top to bottom, consists of: an adhesion layer, a rigid layer, a heating layer, and a flexible actuation layer.

[0013] Furthermore, the aforementioned adhesive layer and the rigid layer, the rigid layer and the heating layer, and the heating layer and the flexible driving layer are all bonded together into an integral structure through an interface layer formed by the ultraviolet curing of the liquid crystal prepolymer solution.

[0014] Furthermore, the aforementioned adhesive layer and flexible driving layer have a thickness of 0.1 mm to 1.0 mm; the rigid layer has a thickness of 0.05 mm to 0.15 mm and a phase transition temperature of 50°C to 60°C; and the heating layer has a thickness of 0.05 mm to 0.2 mm and a resistance of 5Ω.

[0015] This invention also provides a method for fabricating a rigid-flexible coupled electrothermal biomimetic energy storage ejection actuator, comprising the following steps:

[0016] S1: Preparation of liquid crystal prepolymer solution containing dynamic disulfide bonds;

[0017] S2: The liquid crystal prepolymer solution obtained in step S1 is injected into the template and allowed to react statically to obtain a multidomain liquid crystal elastomer film containing dynamic disulfide bonds.

[0018] S3: The multi-domain liquid crystal elastomer film obtained in step S2 is subjected to uniaxial stretching and orientation, and then UV curing is performed in the stretched state to obtain a single-domain liquid crystal elastomer film containing dynamic disulfide bonds, which is used as a raw material for the adhesion layer and the flexible driving layer.

[0019] S4: Provide a rigid layer and a heating layer. Use the liquid crystal prepolymer solution obtained in step S1 as an interface adhesive. Stack the adhesion layer, rigid layer, heating layer and flexible driving layer in a preset order. After curing with ultraviolet light, the layers form an integral structure to obtain the rigid-flexible coupled electrothermal bionic energy storage ejector driver.

[0020] Further, the aforementioned step S1 specifically includes: S11: mixing 3.33-6.66 mmol RM257, 2.84-5.68 mmol EDDET, 10-30 μL DPA and 5-10 mL tetrahydrofuran solution, and stirring at room temperature for 8-12 h to obtain a precursor solution; S12: adding 0.19-0.38 mmol PETMP, 10-30 μL DPA and 50-100 μLDADS to the precursor solution, and stirring at room temperature for 3-5 h to obtain the liquid crystal prepolymer solution.

[0021] Furthermore, in the aforementioned step S3, the stretching involves uniaxially stretching the multi-domain liquid crystal elastomer film to 1.0-1.5 times its original length; the UV curing conditions are: vertical irradiation with an 80 W UV lamp for 2-3 hours.

[0022] Furthermore, in the aforementioned step S4, the preset order is from top to bottom: adhesive layer, rigid layer, heating layer, and flexible driving layer.

[0023] Furthermore, in the aforementioned step S4, the thickness of the adhesive layer and the flexible driving layer is controlled to be 0.1 mm to 1.0 mm; the thickness of the rigid layer is 0.05 mm to 0.15 mm; and the thickness of the heating layer is 0.05 mm to 0.2 mm.

[0024] Compared with the prior art, the beneficial technical effects of the present invention using the above technical solution are as follows:

[0025] 1. The adhesive layer and flexible driving layer of this invention achieve a tensile strength of 4.01 MPa, an anisotropic phase transition temperature of only 51.6 °C, and a driving strain of 35.8%, overcoming the difficulty of traditional modification methods in simultaneously achieving high strength, large strain, and low response temperature. Furthermore, it innovatively proposes a four-layer rigid-flexible coupling structure consisting of an adhesive layer, a rigid layer, a heating layer, and a flexible driving layer. Utilizing the adhesive properties and low phase transition temperature of the prepared liquid crystal elastomer containing dynamic disulfide bonds, the effective interfaces between the layers of the rigid-flexible coupled electrothermal actuator are bonded, achieving an interfacial adhesion force of 8.57 N. At 6 V, the actuator can achieve driving deformation and adhesive gripping within 1 second, with an adhesive weight of 20.99 g, and the driving performance remains stable after 1000 cycles.

[0026] 2. This invention efficiently integrates a flexible liquid crystal elastomer with high deformation capacity and a high-output, fast-response shape memory alloy through an intermediate heating layer. By utilizing the mismatch in the thermally induced strain behavior of the two, the output force and deformation capacity of the actuator are simultaneously improved. The actuator of this invention integrates the characteristics of synergistic performance, fast response, and reliable operation. The liquid crystal prepolymer casting interface bonding process used is simple and easy to realize the large-scale fabrication of devices, showing broad application prospects in fields such as flexible gripping, dynamic adhesion, and precision actuation. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a rigid-flexible coupled electrothermal actuator;

[0028] Figure 2 This is a diagram showing the orientation change of the flexible drive layer before and after strain in a rigid-flexible coupled electrothermal actuator;

[0029] Figure 3 This is a deformation diagram of a rigid-flexible coupled electrothermal actuator; Detailed Implementation

[0030] To better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0031] In this invention, various aspects of the invention are described with reference to the accompanying drawings, in which numerous illustrative embodiments are shown. Embodiments of the invention are not limited to those depicted in the drawings. It should be understood that the invention is implemented through any of the various concepts and embodiments described above, as well as the concepts and embodiments described in detail below, because the concepts and embodiments disclosed herein are not limited to any particular implementation. Furthermore, some aspects of the invention disclosed may be used alone or in any suitable combination with other aspects of the invention disclosed.

[0032] In embodiments of the present invention, the various materials required are specifically as follows, but are not limited thereto:

[0033] RM257 (97%): 2-Methyl-1,4-phenylenebis(4-(3-(acryloyloxy)propoxy)benzoate),

[0034] EDDET (97%): 3,6-dioxa-1,8-octanedithiol,

[0035] DPA: di-n-propylamine

[0036] THF: Tetrahydrofuran

[0037] DADS (85%): Diallyl disulfide

[0038] PETMP (90%): Pentaerythritol tetra(3-mercaptopropionic acid) ester.

[0039] As shown in the attached diagram of the instruction manual. Figure 1 The structure of a rigid-flexible coupled electrothermal actuator is shown; Figure 2 This demonstrates the orientation change of the flexible drive layer before and after strain in a rigid-flexible coupled electrothermal actuator; Figure 3 This demonstrates the deformation of a rigid-flexible coupled electrothermal actuator. Specifically, the rigid-flexible coupled electrothermal biomimetic energy storage ejection actuator of the present invention includes:

[0040] An adhesion layer, wherein the adhesion layer is a liquid crystal elastomer film containing dynamic disulfide bonds;

[0041] A flexible driving layer, wherein the flexible driving layer is a liquid crystal elastomer film containing dynamic disulfide bonds; a rigid layer, wherein the rigid layer is a nickel-titanium alloy layer;

[0042] A heating layer, which is an electrothermal film, is disposed between the rigid layer and the flexible driving layer;

[0043] The heat generated when the heating layer is energized can be transferred to both the rigid layer and the flexible driving layer, causing the rigid layer to undergo a thermally induced phase change and generate a restoring force, while simultaneously causing the flexible driving layer to undergo thermally induced contraction strain. The restoring force of the rigid layer and the contraction strain of the flexible driving layer are coupled together to achieve rapid deployment and ejection drive of the actuator.

[0044] Example 1:

[0045] This embodiment provides a rigid-flexible coupled electrothermal biomimetic energy storage ejector driver and its fabrication method, as detailed below: (1) Preparation of liquid crystal prepolymer solution: 3.33 mmol RM257, 2.84 mmol EDDET, 20 μL DPA and 5 mL tetrahydrofuran solution were added to a glass bottle in sequence and stirred at room temperature for 12 h to obtain the precursor solution; 0.19 mmol PETMP, 10 μL DPA and 50 μL DADS were added to the precursor solution and the mixture was stirred magnetically at room temperature for 3 h to ensure that the components were fully mixed to obtain the prepolymer solution;

[0046] (2) Place the prepolymer solution in the polytetrafluoroethylene template in step (1) on a glass plate and let it stand for 12 h to allow the reaction to proceed fully, and obtain a multi-domain LCE film containing disulfide bonds.

[0047] (3) The film is oriented by mechanical stretching combined with ultraviolet curing. The multi-domain LCE film is slowly stretched uniaxially to 1.5 times its original length. The film in the stretched state is vertically irradiated with an 80 W ultraviolet lamp for 2 h to fix the oriented liquid crystal units by photopolymerization, thus obtaining a single-domain LCE film containing disulfide bonds.

[0048] (4) The rigid layer and the heating layer, as well as the flexible driving layer and the heating layer, are all bonded together by injecting the prepolymer solution in step (1) and curing with ultraviolet light to form an integral structure. The flexible driving layer has a thickness of 0.2 mm, the rigid layer has a thickness of 0.05 mm, the phase change temperature is 50°C, and the heating layer has a thickness of 0.1 mm.

[0049] Example 2

[0050] This embodiment provides a rigid-flexible coupled electrothermal bionic energy storage ejector driver and its preparation method. The difference from Embodiment 1 is that the proportions and thicknesses of each component are different, as follows: (1) Preparation of liquid crystal prepolymer solution: 6.66 mmol RM257, 5.68 mmol EDDET, 40 μL DPA and 10 mL tetrahydrofuran solution were added to a glass bottle in sequence and stirred at room temperature for 12 h to obtain a precursor solution; 0.38 mmol PETMP, 20 μL DPA and 100 μL DADS were added to the precursor solution and stirred magnetically at room temperature for 2 h to fully mix the components, thus obtaining the prepolymer solution;

[0051] (2) Place the prepolymer solution in the polytetrafluoroethylene template in step (1) on a glass plate and let it stand for 12 h to allow the reaction to proceed fully, and obtain a multi-domain LCE film containing disulfide bonds.

[0052] (3) The film is oriented by mechanical stretching combined with ultraviolet curing. The multi-domain LCE film is slowly stretched uniaxially to 1.0 times its original length. The film in the stretched state is vertically irradiated with an 80 W ultraviolet lamp for 2 h to fix the oriented liquid crystal units by photopolymerization, thus obtaining a single-domain LCE film containing disulfide bonds.

[0053] (4) The rigid layer and the heating layer, as well as the flexible driving layer and the heating layer, are all bonded together by injecting the prepolymer solution in step (1) and curing with ultraviolet light to form an integral structure. The flexible driving layer has a thickness of 0.5 mm, the rigid layer has a thickness of 0.10 mm, the phase change temperature is 60°C, and the heating layer has a thickness of 0.2 mm.

[0054] Example 3

[0055] This embodiment provides a rigid-flexible coupled electrothermal bionic energy storage ejector driver and its preparation method. The difference from Embodiment 1 is that the proportions and thicknesses of each component are different, as follows: (1) Preparation of liquid crystal prepolymer solution: 5.0 mmol RM257, 4.26 mmol EDDET, 30 μL DPA and 7.5 mL tetrahydrofuran solution are added to a glass bottle in sequence and stirred at room temperature for 12 h to obtain a precursor solution; 0.29 mmol PETMP, 15 μL DPA and 75 μLDADS are added to the precursor solution and magnetically stirred at room temperature for 2.5 h to fully mix the components, thus obtaining the prepolymer solution;

[0056] (2) Place the prepolymer solution in the polytetrafluoroethylene template in step (1) on a glass plate and let it stand for 10 h to allow the reaction to proceed fully, and obtain a multi-domain LCE film containing disulfide bonds.

[0057] (3) The film is oriented by mechanical stretching combined with ultraviolet curing. The multi-domain LCE film is slowly stretched uniaxially to 1.0 times its original length. The film in the stretched state is vertically irradiated with an 80 W ultraviolet lamp for 2 h to fix the oriented liquid crystal units by photopolymerization, thus obtaining a single-domain LCE film containing disulfide bonds.

[0058] (4) The rigid layer and the heating layer, as well as the flexible driving layer and the heating layer, are all bonded together by injecting the prepolymer solution in step (1) and curing with ultraviolet light to form an integral structure. The flexible driving layer has a thickness of 1.0 mm, the rigid layer has a thickness of 0.15 mm, the phase change temperature is 50°C, and the heating layer has a thickness of 0.1 mm.

[0059] Comparative Example 1

[0060] This comparative example provides a driver and its preparation method, but the liquid crystal prepolymer ratio and thickness are not within the preferred range of this invention.

[0061] (1) Preparation of liquid crystal prepolymer solution: 3.33 mmol RM257, 2.50 mmol EDDET, 10 μL DPA and 5 mL tetrahydrofuran solution were added to a glass bottle in sequence and stirred at room temperature for 8 h to obtain the precursor solution; 0.33 mmol PETMP, 15 μL DPA and 150 μL DADS were added to the precursor solution and stirred magnetically at room temperature for 2.5 h to ensure that the components were fully mixed to obtain the prepolymer solution;

[0062] (2) Place the prepolymer solution in the polytetrafluoroethylene template in step (1) on a glass plate and let it stand for 10 h to allow the reaction to proceed fully, and obtain a multi-domain LCE film containing disulfide bonds.

[0063] (3) The film is oriented by mechanical stretching combined with ultraviolet curing. The multi-domain LCE film is slowly stretched uniaxially to 1.5 times its original length. The film in the stretched state is vertically irradiated with an 80 W ultraviolet lamp for 2 h to fix the oriented liquid crystal units by photopolymerization, thus obtaining a single-domain LCE film containing disulfide bonds.

[0064] (4) The rigid layer and the heating layer, as well as the flexible driving layer and the heating layer, are all bonded together by injecting the prepolymer solution in step (1) and curing with ultraviolet light to form an integral structure. The thickness of the flexible driving layer is 0.1 mm, the thickness of the rigid layer is 0.05 mm, the phase change temperature is 50 °C, and the thickness of the heating layer is 0.2 mm.

[0065] Comparative Example 2

[0066] This comparative example provides an actuator and its preparation method, wherein no DADS is added to the liquid crystal prepolymer, i.e., no dynamic disulfide bonds are present.

[0067] (1) Preparation of liquid crystal prepolymer solution: 3.33 mmol RM257, 2.84 mmol EDDET, 10 μL DPA and 5 mL tetrahydrofuran solution were added to a glass bottle in sequence and stirred at room temperature for 8 h to obtain the precursor solution; 0.19 mmol PETMP, 10 μL DPA and 50 μL DADS were added to the precursor solution and the mixture was stirred magnetically at room temperature for 2.5 h to ensure that the components were fully mixed to obtain the prepolymer solution;

[0068] (2) Place the prepolymer solution in the polytetrafluoroethylene template in step (1) on a glass plate and let it stand for 12 h to allow the reaction to proceed fully, and obtain a multi-domain LCE film containing disulfide bonds.

[0069] (3) The film is oriented by mechanical stretching combined with ultraviolet curing. The multi-domain LCE film is slowly stretched uniaxially to 1.5 times its original length. The film in the stretched state is vertically irradiated with an 80 W ultraviolet lamp for 2 h to fix the oriented liquid crystal units by photopolymerization, thus obtaining a single-domain LCE film containing disulfide bonds.

[0070] (4) The rigid layer and the heating layer, as well as the flexible driving layer and the heating layer, are all bonded together by injecting the prepolymer solution in step (1) and curing with ultraviolet light to form an integral structure. The flexible driving layer has a thickness of 0.2 mm, the rigid layer has a thickness of 0.05 mm, the phase change temperature is 50°C, and the heating layer has a thickness of 0.1 mm.

[0071] Performance testing

[0072] The liquid crystal elastomer films and actuators prepared in Examples 1-3 and Comparative Examples 1-2 were subjected to performance tests. The mechanical properties of the materials were tested using a universal testing machine according to the national standard GB / T 1040; the phase transition temperature was determined using a differential scanning calorimeter (DSC); the driving deformation and response time were recorded and analyzed using a high-speed camera; and the adhesion force and driving force were measured using a force sensor. The test results are shown in Tables 1 and 2 below.

[0073] Table 1 Performance of Liquid Crystal Elastomer Films

[0074]

[0075] The tensile strength at break, phase transition temperature, response time, and driving strain of the liquid crystal elastomer film samples were tested. As shown in Table 1, the comprehensive performance comparison shows that Example 1 exhibits the best performance among Examples 1-3, with a thermal response driving strain of 35.8%, a tensile strength at break of 4.01 MPa, a phase transition temperature of 51.6 ℃, and stable performance. The introduction of dynamic disulfide bonds lowers the phase transition temperature of the liquid crystal elastomer, improving its mechanical tensile properties while maintaining a high driving strain.

[0076] Comparative Example 2 shows that without the introduction of dynamic disulfide bonds, the driving strain can reach 40.5%, but the tensile strength at break is 1.35 MPa, the phase transition temperature increases to 79.4°C, and the response time is prolonged to 8.7 s. This fully demonstrates that the addition of DADS can further reduce the phase transition temperature, accelerate the response speed, and synergistically improve the driving efficiency through the dynamic cross-linking network.

[0077] Table 2 Driver Performance

[0078]

[0079] The adhesion force and gripping weight of Example 1 and Comparative Examples 1-2 were tested, as shown in Table 2. The data shows that Example 3, prepared using the complete scheme of this invention, exhibits the best overall load performance, with an adhesion force of 8.57 N and a gripping weight of 20.99 g. In contrast, both of these properties of Comparative Examples 1 and 2 showed a significant decrease. The reduced adaptive capability of the flexible drive layer interface directly affects the actual load performance of the actuator.

[0080] While the present invention has been described above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A rigid-flexible coupled electro-thermal bionic energy storage and launching driver, characterized in that, Comprise: an adhesion layer, which is a liquid crystal elastomer film containing dynamic disulfide bonds; a flexible driving layer, which is a liquid crystal elastomer film containing dynamic disulfide bonds; a rigid layer, which is a nickel-titanium alloy layer; a heating layer, which is an electrothermal film, arranged between the rigid layer and the flexible driving layer; wherein the heat generated by the heating layer after being powered can be transmitted to the rigid layer and the flexible driving layer at the same time, so that the rigid layer undergoes a thermal phase transition and generates a restoring force, and at the same time the flexible driving layer undergoes a thermal shrinkage strain, the restoring force of the rigid layer and the shrinkage strain of the flexible driving layer are coupled, and together realize the rapid deployment and ejection driving of the driver.

2. The rigid-flexible coupled electrothermal biomimetic energy storage and shot driver of claim 1, wherein, The liquid crystal elastomer films of the adhesion layer and the flexible driving layer are single-domain liquid crystal elastomer films prepared from the same liquid crystal prepolymer solution; The liquid crystal prepolymer solution comprises RM257, EDDET, DPA, tetrahydrofuran, PETMP, and DADS as a source of dynamic disulfide bonds.

3. The rigid-flexible coupled electrothermal biomimetic energy storage and shot driver of claim 1, wherein, The layered structure of the driver from top to bottom is: adhesion layer, rigid layer, heating layer, flexible driving layer.

4. The rigid-flexible coupled electrothermal biomimetic energy storage and shot driver of claim 1, wherein, The adhesion layer and the rigid layer, the rigid layer and the heating layer, and the heating layer and the flexible driving layer are all bonded into an integrated structure by the interfacial layer formed after the liquid crystal prepolymer solution is cured by ultraviolet light.

5. The rigid-flexible coupled electrothermal biomimetic energy accumulating and shot driving device according to claim 1, characterized in that, The thickness of the adhesion layer and the flexible driving layer is 0.1 mm to 1.0 mm; the thickness of the rigid layer is 0.05 mm to 0.15 mm, and its phase transition temperature is 50°C to 60°C; the thickness of the heating layer is 0.05 mm to 0.2 mm, and its resistance is 5Ω.

6. A method of making the rigid-flexible coupled electro-thermal biomimetic energy storage and launching driver according to any one of claims 1 to 5, characterized in that, Comprise the following steps: S1: preparing a liquid crystal prepolymer solution containing dynamic disulfide bonds; S2: injecting the liquid crystal prepolymer solution prepared in step S1 into a mold, standing for reaction, to obtain a multi-domain liquid crystal elastomer film containing dynamic disulfide bonds; S3: uniaxially stretching and orienting the multi-domain liquid crystal elastomer film prepared in step S2, and curing by ultraviolet light in the stretched state to obtain a single-domain liquid crystal elastomer film containing dynamic disulfide bonds as raw material for the adhesion layer and the flexible driving layer; S4: providing a rigid layer and a heating layer, using the liquid crystal prepolymer solution prepared in step S1 as an interfacial adhesive, stacking the adhesion layer, the rigid layer, the heating layer and the flexible driving layer in a predetermined order, and after ultraviolet curing, forming an integrated structure between the layers to obtain the rigid-flexible coupling electrothermal bionic energy storage and ejection driver.

7. The method for fabricating a rigid-flexible coupled electrothermal biomimetic energy storage ejector driver according to claim 6, characterized in that, Step S1 specifically comprises: S11: mixing 3.33-6.66 mmol of RM257, 2.84-5.68 mmol of EDDET, 10-30 μL of DPA and 5-10 mL of tetrahydrofuran solution, stirring at room temperature for 8-12 h to obtain a precursor solution; S12: adding 0.19-0.38 mmol of PETMP, 10-30 μL of DPA and 50-100 μL of DADS to the precursor solution, stirring at room temperature for 3-5 h to obtain the liquid crystal prepolymer solution.

8. The method for fabricating a rigid-flexible coupled electrothermal biomimetic energy storage ejector driver according to claim 6, characterized in that, In step S3, the stretching involves uniaxially stretching the multi-domain liquid crystal elastomer film to 1.0-1.5 times its original length; the UV curing conditions are: vertical irradiation with an 80 W UV lamp for 2-3 hours.

9. The method for fabricating a rigid-flexible coupled electrothermal biomimetic energy storage ejector driver according to claim 6, characterized in that, In step S4, the preset sequence is from top to bottom: adhesive layer, rigid layer, heating layer, and flexible driving layer.

10. The method for fabricating the rigid-flexible coupled electrothermal biomimetic energy storage ejection actuator according to claim 6, characterized in that, In step S4, the thickness of the adhesive layer and the flexible driving layer is controlled to be 0.1 mm to 1.0 mm; the thickness of the rigid layer is 0.05 mm to 0.15 mm; and the thickness of the heating layer is 0.05 mm to 0.2 mm.

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