A Traceable Multi-Legged Soft Robot and Its Preparation Method and Application

Abstract

The present invention discloses a traceable multi-legged soft robot and its preparation method and application. The preparation method includes the steps of adding magnetic particles to silica gel raw materials and mixing to obtain a first mixture; magnetizing the first mixture and then curing it to obtain a first film layer with several spiny feet formed on the lower surface; injecting silica gel raw materials onto a template engraved with convex pipes and then curing to obtain a second film layer with concave pipes formed on the upper surface; injecting liquid metal into the concave pipes to form a liquid metal circuit on the upper surface of the second film layer; electrically connecting a near-field communication chip to the liquid metal circuit to obtain a third film layer with a near-field communication chip arranged on the upper surface; and bonding the upper surface of the first film layer to the lower surface of the third film layer to manufacture the traceable multi-legged soft robot. Using the traceable multi-legged soft robot for gastrointestinal detection has the advantages of timely positioning, high cost performance, small footprint, no radiation to the human body, and anti-bubble interference.

Description

Technical Field

[0001] The present invention relates to the technical field of functional materials, and particularly to a trackable multi-legged soft robot and a preparation method and application thereof. Background Art

[0002] Traditional gastroscopes need to be directly inserted into the stomach through a fiber tube from the oral cavity. In order to relieve the discomfort of the throat, anesthetic needs to be sprayed on the larynx before the examination, and this process will have an extremely poor experience of pain and nausea for several seconds; and during the process of doctors' observation and diagnosis, some people will feel flatulence and nausea due to the air entering the stomach.

[0003] Due to the influence of various factors such as gas, the signal-to-noise ratio and resolution of ultrasonic imaging in gastrointestinal ultrasound are relatively low, and its clinical application is subject to certain limitations; moreover, it is greatly affected by the operator. Ultrasonic examination is a real-time dynamic scan, and it has a certain dependence on the operation technique, proficiency, and the correct position of the patient. And gastrointestinal ultrasound cannot distinguish superficial gastritis and small ulcers, and it is not universal for medical scenarios that require comprehensive screening.

[0004] Barium meal is not suitable for patients such as those with acute respiratory infections, severe heart, liver, and kidney insufficiency, and those with positive iodine tests. The scope of application is relatively narrow, and the barium agent makes it difficult to observe tiny lesions in the digestive tract.

[0005] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0006] In view of the above deficiencies of the existing technology, the purpose of the present invention is to provide a trackable multi-legged soft robot and a preparation method and application thereof, aiming to solve the problems of high cost, long time consumption, long treatment cycle, poor comfort, inability to effectively observe dangerous lesions, and side effects in the existing technology.

[0007] The technical solution of the present invention is as follows:

[0008] A preparation method of a trackable multi-legged soft robot, which includes the steps of:

[0009] Adding magnetic particles to a silicone raw material and mixing to obtain a first mixture;

[0010] Performing magnetization treatment on the first mixture and then performing curing treatment to obtain a first film layer with a plurality of spiky feet formed on the lower surface;

[0011] Injecting a silicone raw material onto a template engraved with convex pipes and then performing curing treatment to obtain a second film layer with concave pipes formed on the upper surface;

[0012] Injecting liquid metal into the concave pipes on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer;

[0013] Electrically connect the near-field communication chip to the liquid metal circuit to obtain a third film layer with a near-field communication chip disposed on its upper surface;

[0014] Bond the upper surface of the first film layer to the lower surface of the third film layer with a silicone raw material to fabricate the traceable multi-legged soft robot.

[0015] The method for preparing the traceable multi-legged soft robot, wherein the magnetic particles are one or more of iron oxide, carbonyl iron, and neodymium iron boron.

[0016] The method for preparing the traceable multi-legged soft robot, wherein the silicone raw material is one or both of PDMS silicone and Eco-flex silicone.

[0017] The method for preparing the traceable multi-legged soft robot, wherein among the plurality of spiked feet, the length of the spiked foot is 0.5 mm - 1.5 cm, the diameter of the spiked foot is 0.5 mm - 5 mm, and the spacing between adjacent spiked feet is 0.5 mm - 5 mm.

[0018] The method for preparing the traceable multi-legged soft robot, wherein the step of injecting liquid metal into the concave pipeline on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer includes:

[0019] Cover the upper surface of the second film layer with a plastic film layer so that the plastic film layer covers the concave pipeline;

[0020] Set an opening on the plastic film layer, and the opening communicates with the concave pipeline;

[0021] Drop liquid metal at the opening, and place the second film layer under a vacuum condition so that the liquid metal flows into the concave pipeline to form a liquid metal circuit on the upper surface of the second film layer.

[0022] The method for preparing the traceable multi-legged soft robot, wherein the concave pipeline is composed of a plurality of pipeline units.

[0023] The method for preparing the traceable multi-legged soft robot, wherein the plurality of pipeline units are arranged at intervals, the pipe diameter of the pipeline unit is 100 um - 3 mm, and the spacing between adjacent pipeline units is 100 um - 3 mm.

[0024] The method for preparing the traceable multi-legged soft robot, wherein the plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film, or an Eco-flex film.

[0025] A trackable multi-legged soft robot, which is prepared by using the preparation method of the trackable multi-legged soft robot of the present invention.

[0026] An application of a trackable multi-legged soft robot, wherein the trackable multi-legged soft robot of the present invention is used for drug targeted delivery or gastrointestinal detection.

[0027] Beneficial effects: The trackable multi-legged soft robot prepared by the present invention has the advantages of low cost, softness, adaptability to the complex internal cavity environment of the human body, no mechanical damage to the cavity, non-invasiveness, strong deformability, and large specific surface area. Specifically, due to the multi-legged structure of the trackable multi-legged soft robot, it is beneficial to the movement and propulsion of the trackable multi-legged soft robot, has good adaptability and motion performance in complex environments, and solves the problem that capsule endoscopes cannot move autonomously; the trackable multi-legged soft robot can directly reach the lesion, conduct close-range exploration or load drugs to the lesion site for release; there are no special requirements for the gastrointestinal environment of patients, and it is not sensitive to interference from internal environments such as bubbles, and has obvious advantages relatively; the examinee will not have any foreign body sensation, and the psychological resistance to the medical item of gastric examination is greatly reduced; and for critically ill patients, elderly and young patients with relatively fragile digestive tract inner walls, it is safer and more comfortable, avoiding unnecessary medical pain; the trackable multi-legged soft robot can adapt to the acidic environment in the stomach and is non-toxic to the human body. Description of the Drawings

[0028] Figure 1 It is a flowchart of a preferred embodiment of the preparation method of a trackable multi-legged soft robot provided by the present invention.

[0029] Figure 2 It is a schematic structural diagram of the spike feet on the surface of the first film layer at different magnifications.

[0030] Figure 3 It is a physical diagram of the trackable multi-legged soft robot prepared by the present invention.

[0031] Figure 4 It is a schematic diagram of the upper surface of the first film layer of the present invention adhered to the lower surface of the third film layer by silicone raw materials. Detailed Embodiments

[0032] The present invention provides a trackable multi-legged soft robot and its preparation method and application. To make the purpose, technical solution and effects of the present invention clearer and more definite, the following further details the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0033] Please refer to Figure 1 , Figure 1The flowchart of a preferred embodiment of the preparation method of a traceable multi-legged soft robot provided by the present invention is shown in the figure, and it includes the following steps:

[0034] S10. Add magnetic particles to the silicone raw material and mix to obtain a first mixture;

[0035] S20. After magnetizing the first mixture, perform a curing treatment to obtain a first film layer with a plurality of spike feet formed on the lower surface;

[0036] S30. Inject the silicone raw material onto a template engraved with convex channels and then perform a curing treatment to obtain a second film layer with concave channels formed on the upper surface;

[0037] S40. Inject liquid metal into the concave channels on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer;

[0038] S50. Electrically connect the near-field communication chip to the liquid metal circuit to obtain a third film layer with a near-field communication chip arranged on the upper surface;

[0039] S60. Bond the upper surface of the first film layer and the lower surface of the third film layer with silicone raw material to manufacture the traceable multi-legged soft robot.

[0040] Specifically, as an environment that cannot be observed by the naked eye inside the human body, how to locate and track the robot inside the body is still a difficult point in the research of this field. The traceable multi-legged soft robot prepared in this embodiment is provided with a near-field communication chip, which can enter the human body in a cable-free manner and move inside the human body under the control of a uniform magnetic field, so as to realize the real-time tracking and positioning of the robot and complete the detection of gastrointestinal lesions. In this embodiment, the traceable multi-legged soft robot made of silicone as the main material is very soft and will not cause mechanical damage to the human body cavity; and the liquid metal circuit in the traceable multi-legged soft robot can flow and deform, and will not change the elastic modulus of the traceable multi-legged soft robot. Compared with solid metal, it can make the multi-legged robot have better motion performance, and the near-field communication chip electrically connected to the liquid metal circuit provides a basis for positioning.

[0041] In this embodiment, since many cavities in the human body have a "folded" rough surface structure, although the capsule-shaped gastroscopy robot can also perform imaging tasks in a cable-free state, greatly reducing the discomfort experience of patients, it is difficult to perform controllable movement on the "folded" rough surface of the cavity. The trackable multi-legged soft robot provided in this embodiment has a multi-legged structure, which is beneficial to the movement and propulsion of the trackable multi-legged soft robot. It has good adaptability and motion performance in complex environments, and solves the problem that capsule endoscopes are difficult to move autonomously; the trackable multi-legged soft robot can directly reach the lesion, conduct exploration at close range or load drugs to the lesion site for release; there are no special requirements for the patient's gastrointestinal environment, and it is not sensitive to interference from internal environments such as bubbles. Relatively speaking, it has obvious advantages; the examinee will not have any foreign body sensation, and the psychological resistance to the medical item of gastric examination is greatly reduced; and for critically ill patients, elderly and young patients with relatively fragile digestive tract inner walls, it is safer and more comfortable, avoiding unnecessary medical pain; the trackable multi-legged soft robot can also adapt to the acidic environment in the stomach and is non-toxic to the human body.

[0042] In some embodiments, the magnetic particles are one or more of magnetite, carbonyl iron, and neodymium iron boron, but are not limited thereto; in this embodiment, the ratio of the magnetic particles to the silicone raw material can be adjusted as needed, and the thickness (diameter between 100 nanometers and 300 micrometers) and type of the magnetic particles can also be adjusted as needed.

[0043] In some embodiments, the silicone raw material is one or two of PDMS silicone and Eco-flex silicone, but is not limited thereto. In this embodiment, the PDMS silicone can be a mixed glue obtained by mixing the A glue and B glue of PDMS according to requirements; the Eco-flex silicone can be a mixed glue obtained by mixing the A glue and B glue of Ecoflex according to requirements. Both the PDMS silicone and the Eco-flex silicone are elastomeric materials, which can adapt to the acidic environment in the stomach and are harmless to the human body. As an example, the PDMS silicone can be a mixed glue obtained by mixing the A glue and B glue of PDMS in a mass ratio of 1:10, and the Eco-flex silicone can be a mixed glue obtained by mixing the A glue and B glue of Ecoflex in a mass ratio of 1:1.

[0044] In some embodiments, magnetic particles are added to the silicone raw material and mixed to obtain a first mixture. After magnetizing the first mixture, it is cured at a temperature of 20°C - 150°C for 10 min - 24 h to obtain a first film layer with a number of spiky feet formed on the lower surface.

[0045] In this embodiment, asFigure 2 and Figure 3 As shown in Figure 3 , during the magnetization process, the magnetic particles drive the silicone raw material to extend in the direction of the magnetic attraction force under the action of magnetic attraction, and several spike feet 20 are gradually formed on the lower surface of the first film layer 10. The spike feet are essentially composed of magnetic particles and silicone raw material. The spike feet are bent or rotated under the action of the magnetic field, and at the same time can track the deformation of the multi-legged soft robot to accumulate potential energy and convert it into kinetic energy, so that the trackable multi-legged soft robot can move and advance on the "folded" rough surface, thus having the characteristics of good adaptability to complex environments and good motion performance.

[0046] In some embodiments, among the several spike feet, the length of the spike feet is 0.5 mm - 1.5 cm, the diameter of the spike feet is 0.5 mm - 5 mm, and the distance between adjacent spike feet is 0.5 mm - 5 mm.

[0047] In some embodiments, after injecting the silicone raw material onto the template engraved with convex pipes and performing a curing treatment, a second film layer with concave pipes formed on its upper surface is obtained; liquid metal is injected into the concave pipes on the upper surface of the second film layer, and a liquid metal circuit is formed on the upper surface of the second film layer.

[0048] Specifically, use lithography technology or 3D printing technology to engrave convex pipes on the template, pour the silicone raw material onto the template and then place it in a vacuum dryer or an ultrasonic instrument for treatment, cure it at room temperature, or cure it in an oven; cover the upper surface of the second film layer with a plastic film layer so that the plastic film layer covers the concave pipes; set openings on the plastic film layer, and the openings communicate with the concave pipes; drop liquid metal at the openings, and place the second film layer under vacuum conditions so that the liquid metal flows into the concave pipes, and finally remove it and peel off the plastic film layer or dissolve it with water to form a liquid metal circuit on the upper surface of the second film layer. In this embodiment, the liquid metal circuit can flow and deform, which has little influence on the elastic modulus of the trackable multi-legged soft robot, and enables the multi-legged robot to have better motion performance compared with solid metal. The near-field communication chip electrically connected to the liquid metal circuit provides a basis for positioning.

[0049] In this embodiment, the concave pipes are composed of multiple pipe units.

[0050] In some embodiments, the multiple pipe units are arranged at intervals, the pipe diameter of the pipe units is 100 um - 3 mm, and the distance between adjacent pipe units is 100 um - 3 mm.

[0051] In some specific embodiments, such as Figure 3As shown, the concave pipeline includes a first pipeline opening, and gradually forms a plurality of sequentially connected pipeline units starting from the first pipeline opening. The end of the concave pipeline is a second pipeline opening, and adjacent pipeline units are arranged at intervals.

[0052] In some embodiments, the pipeline units are not limited to being circular, and can also be rectangular, polygonal, elliptical, etc.

[0053] In this embodiment, the silicone raw material is one or both of PDMS silicone and Eco-flex silicone, but is not limited thereto; the plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film or an Eco-flex film, but is not limited thereto.

[0054] In this embodiment, the liquid metal is a gallium indium tin alloy, but is not limited thereto. The gallium indium tin alloy is liquid at room temperature and can maintain the characteristics of flowing and deforming.

[0055] In some embodiments, as Figure 4 shown, the near-field communication chip is electrically connected to the liquid metal circuit to obtain a third film layer 30 with a near-field communication chip 40 disposed on the upper surface; the upper surface of the first film layer 10 is bonded to the lower surface of the third film layer 30 through a silicone raw material to prepare the traceable multi-legged soft robot.

[0056] In this embodiment, the near-field communication chip and the liquid metal circuit can be connected through a pasteable copper foil or other conductive materials, and the first film layer and the third film layer can be connected through PDMS silicone and Eco-flex silicone, and finally the traceable multi-legged soft robot as Figure 3 shown is prepared.

[0057] In this embodiment, the near-field communication chip is a radio frequency identification chip.

[0058] In some embodiments, there is also provided a traceable multi-legged soft robot prepared by using the preparation method of the traceable multi-legged soft robot of the present invention.

[0059] In some embodiments, there is also provided an application of the traceable multi-legged soft robot, which uses the traceable multi-legged soft robot of the present invention for drug targeted delivery or gastrointestinal detection.

[0060] The following further explains and illustrates the preparation method of a traceable multi-legged soft robot of the present invention through specific embodiments:

[0061] Example 1

[0062] Preparation of the first film layer with several spiky feet formed on the surface:

[0063] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, stir evenly and pour in the weighed iron oxide (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of iron oxide to silicone is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0064] Example 2

[0065] Preparation of the first film layer with several spiny feet formed on the surface:

[0066] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, stir evenly and pour in the weighed neodymium iron boron (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of neodymium iron boron to silicone is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0067] Example 3

[0068] Preparation of the first film layer with several spiny feet formed on the surface:

[0069] Take a centrifuge tube or a culture dish, mix Eco-flex at a mass ratio of 1:1, stir evenly and pour in the weighed iron carbonyl (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of iron carbonyl to Eco-flex is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0070] Example 4

[0071] Preparation of the first film layer with several spiny feet formed on the surface:

[0072] Take a centrifuge tube or a culture dish, mix Eco-flex in a mass ratio of 1:1, stir evenly and pour in the weighed neodymium iron boron (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of neodymium iron boron to Eco-flex is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0073] Example 5

[0074] Preparation of the first film layer with several spiny feet formed on the surface:

[0075] Take a centrifuge tube or a culture dish, mix Eco-flex in a mass ratio of 1:1, stir evenly and pour in the weighed iron oxide (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of iron oxide to Eco-flex is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0076] Example 6

[0077] Preparation of the first film layer with several spiny feet formed on the surface:

[0078] Take a centrifuge tube or a culture dish, mix PDMS silicone in a mass ratio of 10:1, stir evenly and pour in the weighed iron carbonyl (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of iron carbonyl to silicone is about 0 to 300%. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C to 150°C.

[0079] Example 7

[0080] Preparation of the first film layer with several spiny feet formed on the surface:

[0081] Take a centrifuge tube or a culture dish, mix Eco-flex at a mass ratio of 1:1, stir evenly and pour in the weighed neodymium iron boron and iron oxide (with a diameter between 100 nanometers and 300 micrometers). The mass ratios of neodymium iron boron and iron oxide to Eco-flex are approximately 0-300% respectively. After stirring, disperse with a spin coater and place in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C to 150°C.

[0082] Example 8

[0083] Preparation of the first film layer with several thorn-shaped feet formed on the surface:

[0084] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, stir evenly and pour in the weighed neodymium iron boron and iron oxide (with a diameter between 100 nanometers and 300 micrometers). The mass ratios of neodymium iron boron and iron oxide to the silicone are approximately 0-300% respectively. After stirring, disperse with a spin coater and place in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C to 150°C.

[0085] Example 9

[0086] Preparation of the first film layer with several thorn-shaped feet formed on the surface:

[0087] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, then mix Eco-flex at a mass ratio of 1:1, and then mix PDMS and Eco-flex at a mass ratio with PDMS accounting for 1%-50%. Stir evenly and pour in the weighed iron carbonyl (with a diameter between 100 nanometers and 300 micrometers). The mass ratio of iron carbonyl to the mixed silicone is approximately 0-300% respectively. After stirring, disperse with a spin coater and place in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C to 150°C.

[0088] Example 10

[0089] Preparation of the first film layer with several thorn-shaped feet formed on the surface:

[0090] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, stir evenly and pour in the weighed neodymium iron boron and carbonyl iron (with diameters between 100 nanometers and 300 microns). The mass ratios of neodymium iron boron and carbonyl iron to the silicone are approximately 0 - 300% respectively. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing treatment. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C - 150°C.

[0091] Example 11

[0092] Preparation of the first film layer with several spiky feet formed on the surface:

[0093] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, then mix Eco-flex at a mass ratio of 1:1, and then mix PDMS and Eco-flex at a mass ratio with PDMS accounting for 1% - 50%. Stir evenly and pour in the weighed iron oxide (with diameters between 100 nanometers and 300 microns). The mass ratio of iron oxide to the mixed silicone is approximately 0 - 300% respectively. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing treatment. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C - 150°C.

[0094] Example 12

[0095] Preparation of the first film layer with several spiky feet formed on the surface:

[0096] Take a centrifuge tube or a culture dish, mix Eco-flex at a mass ratio of 1:1, stir evenly and pour in the weighed neodymium iron boron and carbonyl iron (with diameters between 100 nanometers and 300 microns). The mass ratios of neodymium iron boron and carbonyl iron to the Eco-flex are approximately 0 - 300% respectively. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing treatment. Take out the mixture, magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven for curing at a temperature of 20°C - 150°C.

[0097] Example 13

[0098] Preparation of the first film layer with several spiky feet formed on the surface:

[0099] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, then mix Eco-flex at a mass ratio of 1:1, and then mix PDMS and Eco-flex at a mass ratio where the proportion of PDMS is 1% - 50%. Stir evenly and pour in the weighed neodymium iron boron (with a diameter between 100 nanometers and 300 micrometers), and the mass ratio of neodymium iron boron to the mixed silicone is approximately 0 - 300% respectively. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing treatment. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven and cure it at a temperature of 20°C - 150°C.

[0100] Example 14

[0101] Preparation of the first film layer with several spiny feet formed on the surface:

[0102] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, then mix Eco-flex at a mass ratio of 1:1, and then mix PDMS and Eco-flex at a mass ratio where the proportion of PDMS is 1% - 50%. Stir evenly and pour in two of the weighed neodymium iron boron, iron oxide, and iron carbonyl (with a diameter between 100 nanometers and 300 micrometers), and the mass ratio of these two magnetic particles to the mixed silicone is approximately 0 - 300% respectively. After stirring, disperse it with a spin coater and place it in a vacuum dryer for degassing treatment. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about between 0.1 cm and 10 cm. Then cure the obtained product at room temperature or place it in an oven and cure it at a temperature of 20°C - 150°C.

[0103] Example 15

[0104] Preparation of the first film layer with several spiny feet formed on the surface:

[0105] Take a centrifuge tube or a culture dish, mix PDMS silicone at a mass ratio of 10:1, then mix Eco-flex at a mass ratio of 1:1, and then mix PDMS and Eco-flex at a mass ratio where the proportion of PDMS is 1% - 50%. Stir evenly and pour in the weighed neodymium iron boron, iron oxide, and carbonyl iron magnetic particles (with diameters between 100 nanometers and 300 micrometers). The mass ratios of these three magnetic particles in the mixed silicone are approximately 0 - 300% respectively. After stirring, disperse with a spin coater and place in a vacuum dryer for degassing. Take out the mixture and magnetize the mixture with a magnet to make the mixture grow "thorn"-shaped feet. The distance between the mixture and the magnet is about 0.1 cm - 10 cm. Then cure the obtained product at room temperature or in an oven at a temperature of 20°C - 150°C.

[0106] Example 16

[0107] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0108] Use lithography technology to engrave pipelines on the template, pour 0 - 20 g of PDMS silicone mixed at a mass ratio of 10:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, and bake it at a temperature of 20°C - 150°C (for 10 min - 24 h) and then remove it after molding. Cover the front of the pipeline with a PVA film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipeline through vacuum. After taking it out, remove the film or dissolve it with water.

[0109] Example 17

[0110] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0111] Use lithography technology to engrave pipelines on the template, pour 0 - 20 g of Eco-flex silicone mixed at a mass ratio of 1:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, and bake it at a temperature of 20°C - 150°C (for 10 min - 24 h) and then remove it after molding. Cover the front of the pipeline with a PVA film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipeline through vacuum. After taking it out, remove the film or dissolve it with water.

[0112] Example 18

[0113] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0114] Use 3D printing technology to print a pipeline on a template, pour in 0 - 20 g of Eco-flex silicone mixed in a 1:1 mass ratio, place it in a vacuum dryer or ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h). After forming, remove it. Cover the front of the pipeline with a PE film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and use vacuum to make the liquid metal flow into the pipeline. After taking it out, remove the film.

[0115] Example 19

[0116] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0117] Use 3D printing technology to print a pipeline on a template, pour in 0 - 20 g of PDMS silicone mixed in a 10:1 mass ratio, place it in a vacuum dryer or ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h). After forming, remove it. Cover the front of the pipeline with a PVA film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and use vacuum to make the liquid metal flow into the pipeline. After taking it out, remove the film or dissolve it with water.

[0118] Example 20

[0119] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0120] Use lithography technology to engrave a pipeline on a template, pour in 0 - 20 g of PDMS silicone mixed in a 10:1 mass ratio, place it in a vacuum dryer or ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h). After forming, remove it. Cover the front of the pipeline with a PE film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and use vacuum to make the liquid metal flow into the pipeline. After taking it out, remove the film.

[0121] Example 21

[0122] Preparation method of the second film layer with a liquid metal circuit formed on the surface:

[0123] Use lithography technology to engrave a pipeline on a template, pour in 0 - 20 g of Eco-flex silicone mixed in a 1:1 mass ratio, place it in a vacuum dryer or ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h). After forming, remove it. Cover the front of the pipeline with a PE film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and use vacuum to make the liquid metal flow into the pipeline. After taking it out, remove the film.

[0124] Example 22

[0125] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0126] Use 3D printing technology to print pipes on a template, pour in 0 - 20 g of Eco-flex silicone rubber mixed in a mass ratio of 1:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, dry it at a temperature of 20°C - 150°C (10 min - 24 h), and remove it after molding. Cover the front of the pipe with a PVA film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipe through vacuum. After taking it out, remove the film or dissolve it in water.

[0127] Example 23

[0128] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0129] Use 3D printing technology to print pipes on a template, pour in 0 - 20 g of PDMS silicone rubber mixed in a mass ratio of 10:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, dry it at a temperature of 20°C - 150°C (10 min - 24 h), and remove it after molding. Cover the front of the pipe with a PE film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipe through vacuum. After taking it out, remove the film.

[0130] Example 24

[0131] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0132] Use lithography technology to engrave pipes on a template, pour in 0 - 20 g of PDMS silicone rubber mixed in a mass ratio of 10:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, dry it at a temperature of 20°C - 150°C (10 min - 24 h), and remove it after molding. Cover the front of the pipe with a PP film or a PET film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipe through vacuum. After taking it out, remove the film.

[0133] Example 25

[0134] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0135] Use lithography technology to engrave pipes on a template, pour in 0 - 20 g of Eco-flex silicone rubber mixed in a mass ratio of 1:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, dry it at a temperature of 20°C - 150°C (10 min - 24 h), and remove it after molding. Cover the front of the pipe with a PP film or a PET film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipe through vacuum. After taking it out, remove the film.

[0136] Example 26

[0137] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0138] Use 3D printing technology to print a pipeline on a template, pour in 0 - 20 g of Eco-flex silicone rubber mixed in a mass ratio of 1:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h) and then remove it after molding. Cover the front of the pipeline with a PP film or a PET film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipeline through vacuum. After taking it out, remove the film.

[0139] Example 27

[0140] Preparation method of the second film layer for generating a liquid metal circuit on the surface:

[0141] Use 3D printing technology to print a pipeline on a template, pour in 0 - 20 g of PDMS silicone rubber mixed in a mass ratio of 10:1, place it in a vacuum dryer or an ultrasonic instrument for treatment, and dry it at a temperature of 20°C - 150°C (for 10 min - 24 h) and then remove it after molding. Cover the front of the pipeline with a PP film or a PET film, pierce a small hole, drop a drop of liquid metal at the hole, place the product in a vacuum chamber, and let the liquid metal flow into the pipeline through vacuum. After taking it out, remove the film.

[0142] Example 28

[0143] Preparation of a traceable multi-legged soft robot:

[0144] Electrically connect the near-field communication chip and the liquid metal circuit through aluminum foil to obtain a third film layer with a near-field communication chip arranged on the upper surface; bond the upper surface of the first film layer and the lower surface of the third film layer with Eco-flex silicone rubber to prepare the traceable multi-legged soft robot.

[0145] Example 29

[0146] Preparation of a traceable multi-legged soft robot:

[0147] Electrically connect the near-field communication chip and the liquid metal circuit through aluminum foil to obtain a third film layer with a near-field communication chip arranged on the upper surface; bond the upper surface of the first film layer and the lower surface of the third film layer with PDMS silicone rubber to prepare the traceable multi-legged soft robot.

[0148] Example 30

[0149] Preparation of a traceable multi-legged soft robot:

[0150] The near-field communication chip and the liquid metal circuit are electrically connected through liquid metal to obtain a third film layer with the near-field communication chip disposed on the upper surface; the upper surface of the first film layer and the lower surface of the third film layer are bonded through Eco-flex silicone to fabricate the traceable multi-legged soft robot.

[0151] Example 28

[0152] Preparation of the traceable multi-legged soft robot:

[0153] The near-field communication chip and the liquid metal circuit are electrically connected through liquid metal to obtain a third film layer with the near-field communication chip disposed on the upper surface; the upper surface of the first film layer and the lower surface of the third film layer are bonded through PDMS silicone to fabricate the traceable multi-legged soft robot.

[0154] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A preparation method of a traceable multi-legged soft robot, characterized in that, it includes the steps of: Adding magnetic particles to the silicone raw material and mixing to obtain a first mixture; Performing magnetization treatment on the first mixture and then curing treatment to obtain a first film layer with a number of spike feet formed on the lower surface; Injecting silicone raw material onto a template engraved with convex pipes and then performing curing treatment to obtain a second film layer with concave pipes formed on the upper surface; Injecting liquid metal into the concave pipes on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer; Electrically connecting a near-field communication chip to the liquid metal circuit to obtain a third film layer with a near-field communication chip arranged on the upper surface; Gluing the upper surface of the first film layer to the lower surface of the third film layer to manufacture the traceable multi-legged soft robot.

2. The preparation method of the traceable multi-legged soft robot according to claim 1, characterized in that, The magnetic particles are one or more of magnetite, iron carbonyl and neodymium iron boron.

3. The preparation method of the traceable multi-legged soft robot according to claim 1, characterized in that, The silicone raw material is one or two of PDMS silicone and Eco-flex silicone.

4. The preparation method of the traceable multi-legged soft robot according to claim 1, characterized in that, Among the several spike feet, the length of the spike foot is 0.5 mm - 1.5 cm, the diameter of the spike foot is 0.5 mm - 5 mm, and the distance between adjacent spike feet is 0.5 mm - 5 mm.

5. The preparation method of the traceable multi-legged soft robot according to claim 1, characterized in that, The step of injecting liquid metal into the concave pipes on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer includes: Covering a plastic film layer on the upper surface of the second film layer so that the plastic film layer covers the concave pipes; Setting openings on the plastic film layer, and the openings communicate with the concave pipes; Dropping liquid metal at the openings and placing the second film layer under vacuum conditions so that the liquid metal flows into the concave pipes to form a liquid metal circuit on the upper surface of the second film layer.

6. The preparation method of the traceable multi-legged soft robot according to claim 5, characterized in that, The concave pipes are composed of one or more pipe units.

7. The preparation method of the traceable multi-legged soft robot according to claim 6, characterized in that, The multiple pipe units are arranged at intervals, the pipe diameter of the pipe unit is 100 μm - 3 mm, and the distance between adjacent pipe units is 100 μm - 3 mm.

8. The preparation method of the traceable multi-legged soft robot according to claim 5, characterized in that, The plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film or an Eco-flex film.

9. A traceable multi-legged soft robot, characterized in that, It is manufactured by using the preparation method of the traceable multi-legged soft robot according to any one of claims 1 - 8.

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