Production method of magnetically controlled bionic robot

Abstract

The invention discloses a method for producing a magnetically controlled bionic robot. The method for producing the magnetically controlled bionic robot first obtains the tail, the rod and the head of the magnetically controlled bionic robot by three depositions respectively, and then magnetizes the head and the tail by placing them side by side in a U-shaped groove so that the magnetism of the head is completely opposite to the magnetization direction of the tail. This production method can not only obtain a magnetically controlled bionic robot that meets the motion properties, but also has simple processes and steps, and makes the cost of the magnetically controlled bionic robot low.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a production method of a magnetically controlled bionic robot. Background Art

[0002] In order to adapt to different environments, the robot's movement pattern will imitate the movement pattern of replicating organisms, such as imitating earthworms, insects, and snakes to change the body pattern for application in different applications. At present, micro-robots that imitate the swinging motion of fish have been widely used in many fields such as industry, medical care, and environmental governance. These fish-like micro-robots can perform a series of fish-like movements under the appropriate stimulation of external energy (electric field, light, magnetic field). For example, Bandyopadhyay et al. used a bidirectional reversible deformable shape memory metal to simulate the body and tail fin of a fish, and produced a fish-like swinging motion under rated AC stimulation. Li et al. embedded an elastic dielectric body into a fish-shaped robot made of silicone, which responded to deformation under high-voltage electrical stimulation, forcing the flexible fins to follow the changes to produce wave motion to propel the robot forward.

[0003] However, the structures of the two types of fish-like micro-robots using memory metal and / or elastic dielectric bodies in the prior art are relatively complex, the production process is complex and the production cost is too high. With the development of magnetic control technology, magnetic field-driven fish-like micro-robots have emerged. However, the production process of existing magnetic control fish-like robots still requires complex processes, uncontrollable precision, and high production costs.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a production method of a magnetically controlled bionic robot with a simple and controllable production process. Summary of the invention

[0005] In view of this, an object of an embodiment of the present invention is to provide a method for producing a magnetically controlled bionic robot.

[0006] In order to achieve the above-mentioned purpose, a technical solution provided by an embodiment of the present invention is as follows: a production method of a magnetically controlled bionic robot, comprising the steps of: printing a mold according to the shape of the magnetically controlled bionic robot; the mold comprising a tail portion, a head portion, and a rod portion for connecting the tail portion; filling the tail portion with a first filling material having magnetism; placing the mold in an oven at a first preset temperature, waiting for a first preset time, and then taking out the mold; filling the rod portion with a second filling material having flexibility and elasticity; placing the mold in an oven at a second preset temperature, waiting for a second preset time, and then taking out the mold; filling the head portion with a first filling material having magnetism; placing the mold in an oven at a third preset temperature, waiting for a third preset time, and then taking out and demolding the mold to obtain an initial state of the magnetically controlled bionic robot; placing the initial state of the magnetically controlled bionic robot in a U-shaped groove mold, and placing the head and tail of the initial state of the magnetically controlled bionic robot side by side in a magnetizer, and the magnetizer magnetizes the initial state of the magnetically controlled bionic robot.

[0007] As a further improvement of the present invention, the first preset temperature is equal to the second preset temperature, and the first preset time is equal to the second preset time; the third preset temperature is different from the first preset temperature and different from the second preset temperature, and the third preset time is different from the first preset time and different from the second preset time.

[0008] As a further improvement of the present invention, the first filling material includes a magnetic material and a second filling material.

[0009] As a further improvement of the present invention, the magnetic material includes neodymium iron boron, ferroferric oxide nanoparticles or micro permanent magnets.

[0010] As a further improvement of the present invention, the second filling material includes polydimethylsiloxane and a curing agent.

[0011] As a further improvement of the present invention, the second filling material includes a heat-curing adhesive material.

[0012] As a further improvement of the present invention, the first filling material includes neodymium iron boron, polydimethylsiloxane and a curing agent.

[0013] As a further improvement of the present invention, the mass ratio of the NdFeB, polydimethylsiloxane and curing agent is 5 to 20:10:1.

[0014] As a further improvement of the present invention, the volume of the tail portion is smaller than that of the head portion.

[0015] As a further improvement of the present invention, before the first filling material is filled, the first filling material is first degassed in a vacuum chamber.

[0016] The present invention has the following advantages:

[0017] The production method of the magnetically controlled bionic robot provided in the embodiment of the present invention first obtains the tail, the rod and the head of the magnetically controlled bionic robot respectively through three depositions, and then magnetizes the head and the tail side by side in a U-shaped groove so that the magnetism of the head is completely opposite to the magnetization direction of the tail. This production method can not only obtain a magnetically controlled bionic robot that meets the motion properties, but also has simple processes and steps, and makes the cost of the magnetically controlled bionic robot low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the structure of a magnetically controlled bionic robot provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a process for producing a magnetically controlled bionic robot provided by an embodiment of the present invention;

[0021] Figure 3 for Figure 2 The illustrated embodiment provides a graphical schematic diagram of the production process of a magnetically controlled bionic robot.

[0022] Description of the symbols in the accompanying drawings:

[0023] 100, magnetically controlled bionic robot 10, head 20, tail

[0024] 30. Rod DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 creative work should fall within the scope of protection of the present invention.

[0026] like Figure 1As shown, a schematic diagram of the structure of the magnetically controlled bionic robot 100 provided in the first embodiment of the present invention. In this embodiment, the magnetically controlled bionic robot 100 includes a head 10, a tail 20 and a rod 30. The head 10 is magnetic, the tail 20 is magnetic, and the magnetic direction of the tail 20 is opposite to that of the head 10. One end of the rod 30 is connected to the head 10, and the other end of the rod 30 is connected to the tail 20, and the rod 30 is flexible and elastic. When the magnetic field acts on the magnetically controlled bionic robot 100, the head 10 and the tail 20 are respectively subjected to corresponding magnetic field forces, the rod 30 is bent and deformed, and interacts with the fluid to move the magnetically controlled bionic robot 100; when the magnetic field no longer acts on the magnetically controlled bionic robot 100, the rod 30 automatically returns to the original rod state.

[0027] The overall shape of the magnetically controlled bionic robot 100 can be cylindrical, strip-shaped or ribbon-shaped. The volume of the head 10 is greater than the volume of the tail 20. The material of the head 10 is consistent with the material of the tail 20, such as a mixture of neodymium iron boron, polydimethylsiloxane and a curing agent in a mass ratio of 10:10:1. According to the requirements of the magnetic strength of the magnetically controlled bionic robot 100 in a specific application scenario, the mass specific gravity range of the magnetic neodymium iron boron can be set to 5 to 20. Correspondingly, the magnetic strength of the head 10 is 1.5 to 3 times that of the magnetic strength of the tail 20. The weight of the head 10 is heavier than the weight of the tail 20. Preferably, the length of the head 10 is 2 to 3 times the length of the tail 20.

[0028] The material of the rod 30 is both elastic and flexible to adapt to the movement of the magnetically controlled bionic robot 100 in the magnetic field. In one embodiment, the material of the rod 30 includes polydimethylsiloxane and a curing agent mixed in a mass ratio of 10:1, or a thermal curing adhesive material.

[0029] Continue to refer Figure 1 As shown, in this embodiment, the magnetically controlled bionic robot 100 is generally cylindrical in shape. In this embodiment, the head 10 is cylindrical, the tail 20 is cylindrical, and the rod 30 is also cylindrical. The diameter of the rod 30 is smaller than the diameter of the head 10, and the diameter of the rod 30 is smaller than the diameter of the tail 20. In a specific embodiment, the diameter of the head 10 is 1 mm and the length is 3 mm, the diameter of the tail 20 is 1 mm and the length is 1 mm, and the diameter of the rod 30 is 0.6 mm and the length is 8 mm.

[0030] like Figure 2 As shown, a schematic flow chart of a method for producing a magnetically controlled bionic robot provided by an embodiment of the present invention. Figure 3 for Figure 2 The embodiment shown is a diagrammatical schematic diagram of the production process of a magnetically controlled bionic robot. The embodiment of the present invention provides a method for producing a magnetically controlled bionic robot, which includes five steps, and the content of each step is described as follows.

[0031] Step S1, printing a mold according to the shape of the magnetically controlled bionic robot; the mold includes a tail portion, a head portion, and a rod portion for connecting the tail portion. In a specific embodiment, the mold can be printed using 3D technology to better control the accuracy of the mold.

[0032] Step S2, fill the tail portion with a first magnetic filling material; put the mold into an oven at a first preset temperature, wait for a first preset time, and then take out the mold. The first preset temperature ranges from 50 degrees Celsius to 70 degrees Celsius, which is specifically selected based on the first filling material and the waiting time. The first preset time ranges from 8 minutes to 15 minutes, which is specifically selected based on the first filling material and the waiting time.

[0033] The first filling material includes a magnetic material and a second filling material. Preferably, the first filling material is degassed in a vacuum chamber before filling.

[0034] Specifically, the magnetic material includes neodymium iron boron, ferric oxide nanoparticles or micro permanent magnets. The second filling material includes a mixture of polydimethylsiloxane and a curing agent or a thermosetting adhesive material. In a specific embodiment, the first filling material uses neodymium iron boron, polydimethylsiloxane and a curing agent in a weight ratio of 10:10:1. According to the requirements of the magnetic strength of the magnetically controlled bionic robot 100 in the specific application scenario, the mass specific gravity range of the magnetic neodymium iron boron can be set to 5 to 20, that is, the mass ratio range of neodymium iron boron, polydimethylsiloxane and curing agent is 5 to 20:10:1.

[0035] Specifically, after mixing NdFeB, PDMS and curing agent in a weight ratio of 10:10:1, degassing in a vacuum chamber, the mixture is filled into the tail of the mold; the mold is then placed in an oven at 60 degrees Celsius, baked for 10 minutes to obtain a semi-solid material. This step can be called the first deposition.

[0036] Step S3, filling the rod portion with a second filling material having flexibility and elasticity; placing the mold in an oven at a second preset temperature, waiting for a second preset time, and then taking out the mold. The second filling material is both elastic and flexible to adapt to the movement of the magnetically controlled bionic robot 100 in a magnetic field. In one embodiment, the second filling material includes polydimethylsiloxane and a curing agent mixed in a mass ratio of 10:1, or a thermal curing adhesive material.

[0037] Preferably, the first preset temperature is equal to the second preset temperature, and the first preset time is equal to the second preset time. Such temperature and time settings ensure that the strength of the connections between the various parts of the magnetically controlled bionic robot 100 remains as consistent as possible, while making each part clearly layered. Heating the mixture to a semi-solid state is to ensure the strength of the connection while making the structural layers of each part more distinct. Heating the mixture to a solid state before the next filling may cause the two parts to become loosely bonded; directly performing the next filling may cause the two parts to be bonded and kneaded together, making it difficult to distinguish the boundaries.

[0038] Specifically, polydimethylsiloxane and curing agent are mixed in a mass ratio of 10:1, degassed in a vacuum chamber, and the mixture is filled into the rod part of the mold; the mold is then placed in an oven at 60 degrees Celsius, baked for 10 minutes to obtain a semi-solid material. This step can be called the second deposition.

[0039] Step S4, filling the head part with a first magnetic filling material; placing the mold in an oven at a third preset temperature, and after waiting for a third preset time, taking out the mold and demolding to obtain the magnetically controlled bionic robot in its initial state.

[0040] Preferably, the third preset temperature is different from the first preset temperature and the second preset temperature, and the third preset time is different from the first preset time and the second preset time. The third preset temperature is higher than the first preset temperature and the second preset temperature, and the third preset time is longer than the first preset time and the second preset time. The third preset temperature ranges from 70 degrees Celsius to 80 degrees Celsius, and the third preset time ranges from 90 minutes to 120 minutes.

[0041] In this step, the temperature of the oven is increased to cure faster, but the curing temperature cannot be too high, otherwise the template will be deformed and damaged. The longer the time is, the more thorough the curing is to obtain a magnetically controlled bionic robot with a stable form. The higher the third preset temperature, the shorter the third preset time. The specific time depends on the situation, and it is only necessary to finally make the magnetically controlled bionic robot completely cured.

[0042] Specifically, NdFeB, polydimethylsiloxane and curing agent are mixed in a weight ratio of 10:10:1, degassed in a vacuum chamber, and then the mixture is filled into the head of the mold; the mold is then placed in an oven at 70 degrees Celsius and baked for 120 minutes to obtain a semi-solid material. This step can be called the third deposition.

[0043] Step S5, placing the magnetically controlled bionic robot in the initial state into a U-shaped groove mold, placing the head and tail of the magnetically controlled bionic robot in the initial state side by side in a magnetizer, and magnetizing the magnetically controlled bionic robot in the initial state by applying a pulsed magnetic field of about 2T.

[0044] Placing the head and tail of the magnetically controlled bionic robot side by side in the magnetizer can obtain a magnetically controlled bionic robot head and tail with completely opposite magnetization directions, which is beneficial to the subsequent control of the magnetically controlled bionic robot, so that a magnetically controlled bionic robot with more stable movement can be obtained.

[0045] In this embodiment, the tail, the stem and the head of the magnetically controlled bionic robot are obtained by three layer-by-layer depositions. This layer-by-layer deposition method ensures that the structure of each part (the tail, the stem and the head) is clear, and magnetically controlled bionic robots with different sizes and structures can be designed by controlling the thickness of each deposition.

[0046] The production method of the magnetically controlled bionic robot provided in the embodiment of the present invention first obtains the head, the rod and the tail of the magnetically controlled bionic robot by three depositions respectively, and then magnetizes the head and the tail by placing them side by side in a U-shaped groove so that the magnetism of the head is completely opposite to that of the tail. This production method can not only obtain a magnetically controlled bionic robot that meets the motion properties, but also has simple processes and steps, and makes the cost of the magnetically controlled bionic robot low.

[0047] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0048] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for producing a magnetically controlled bionic robot, characterized in that: Includes steps: Printing a mold according to the appearance of the magnetically controlled bionic robot; the mold includes a tail portion, a head portion, and a rod portion for connecting the tail portion and the head portion; Filling the tail portion with a first magnetic filling material; placing the mold in an oven at a first preset temperature, and taking the mold out after waiting for a first preset time; Filling the rod portion with a second filling material having flexibility and elasticity; placing the mold in an oven at a second preset temperature, and taking the mold out after waiting for a second preset time; Filling the head portion with a first magnetic filling material; placing the mold in an oven at a third preset temperature, and after waiting for a third preset time, taking out the mold and demoulding to obtain the magnetically controlled bionic robot in an initial state; The magnetically controlled bionic robot in the initial state is placed in a U-shaped groove mold, and the head and tail of the magnetically controlled bionic robot in the initial state are placed side by side in a magnetizer, and the magnetizer magnetizes the magnetically controlled bionic robot in the initial state; The first preset temperature is equal to the second preset temperature, and the first preset time is equal to the second preset time; the third preset temperature is different from the first preset temperature and the second preset temperature, and the third preset time is different from the first preset time and the second preset time; The first filling material includes a magnetic material and a second filling material; The magnetic material includes neodymium iron boron, ferroferric oxide nanoparticles or micro permanent magnets; the second filling material includes polydimethylsiloxane and a curing agent, or the second filling material includes a thermal curing adhesive material.

2. The method for producing a magnetically controlled bionic robot according to claim 1, characterized in that: The mass ratio of the NdFeB, PDMS and curing agent is 5 to 20:10:

1.

3. The method for producing a magnetically controlled bionic robot according to claim 1, characterized in that: The tail portion has a smaller volume than the head portion.

4. The method for producing a magnetically controlled bionic robot according to claim 1, characterized in that: Before filling the first filling material, the first filling material is first degassed in a vacuum chamber.

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