A magnetic reconfiguration programming device and method for magnetic soft materials

Abstract

This invention provides a magnetic reconstruction programming device and method for magnetic soft materials, comprising: a heating unit for heating a magnetic soft robot to be magnetically reconstructed; after heating the magnetic soft robot to a preset temperature, the magnetic particles within the magnetic soft robot are programmed to be magnetized and redirected under the influence of a composite spatial magnetic field generated by a magnet array; subsequently, the magnetic soft robot is cooled, and during the cooling process, the composite spatial magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder solidifies again, completing the magnetic reconstruction of the magnetic soft robot; the magnetization and redirection direction of the magnetic particles in any region of the magnetic soft robot can be arbitrarily controlled under the influence of the composite spatial magnetic field. This invention requires only one step of magnetic reconstruction programming to achieve complex magnetization reconstruction, and does not require the use of molds to assist in changing the shape of the soft magnetic composite material before magnetization, nor does it require the use of lasers or other devices for multi-step heating and redirection processes. The magnetic reconstruction structure is simple and highly accurate.

Description

Technical Field

[0001] This invention belongs to the field of magnetic soft materials, and more specifically, relates to a magnetic reconfiguration programming device and method for magnetic soft materials. Background Technology

[0002] A soft robot is a type of robot whose main body or primary functional structure is made of soft materials (with an elastic modulus between 10 and 10). 4 Pa-10 9 Robots constructed from materials between Pa and Pa. Compared to traditional rigid robots, soft robots offer advantages such as high degrees of freedom, strong deformability, and good adaptability, and have broad application prospects in fields such as bioengineering and medicine. Among the many soft robots, magnetic soft robots driven by electromagnetic means have significant advantages such as non-contact operation, strong controllability, and good penetration performance, and are gradually becoming a research frontier and hot topic in the field of soft robotics.

[0003] The potential applications of soft robots place increasingly stringent demands on the complexity and controllability of their deformation forms. Therefore, to achieve multimodal motion in magnetic soft robots, the reconfiguration magnetization method of magnetic soft materials has become a research hotspot in this field.

[0004] To achieve remagnetization of magnetic soft materials, existing magnetic reconstruction techniques can be broadly categorized into three types: Curie temperature magnetic reconstruction, high-field direct magnetic programming, and solid-liquid conversion reconstruction. The Curie temperature magnetic reconstruction method utilizes the phenomenon of magnetism demagnetization when magnetic materials are heated to the Curie temperature to perform demagnetization and secondary magnetic programming. Its main drawback is the high Curie temperature, which places high demands on the design of the heating device and increases the operational risks during the reconstruction process. The high-field direct magnetic programming method utilizes the ability of magnetic materials to demagnetize and remagnetize under a high-intensity magnetic field, directly performing demagnetization and secondary magnetic programming reconstruction under an even stronger magnetic field. The main disadvantage of this method is the high magnetic field strength requirement of the magnetization device, which needs to provide very strong demagnetizing and remagnetizing magnetic fields. Furthermore, the remagnetization programming types are relatively limited, requiring the assistance of molds to perform various types of programming magnetization.

[0005] Compared to the two methods mentioned above, the solid-liquid conversion reconstruction method has the unique advantage of completing the magnetic reconstruction process at lower heating temperatures and lower programming magnetic fields. This method utilizes a low-melting-point phase change material shell to encapsulate magnetic powder, creating composite magnetic powder particles. When the heating temperature reaches the melting point of the phase change material, the shell melts, and the magnetic powder particles are in a localized liquid environment. At this point, the magnetic powder particles can be programmed and oriented under a lower magnetic field, thus achieving programmed magnetization of the magnetic material. Existing implementation technologies for this method include two approaches: one uses laser for localized heating. This method offers high control precision, but the introduction of lasers significantly increases the complexity of the magnetic reconstruction device. Furthermore, as the thickness of the magnetic soft material increases, the laser struggles to heat the interior of the material, which is far from the heating surface, resulting in poor magnetic reconstruction effects at the material's base layer. The other approach is overall heating, using a mold to change the geometry of the magnetic soft material for reconstruction and magnetization. This method offers advantages such as a simple reconstruction process and relatively fast magnetization speed, but its disadvantages include the need for specific molds and limited programming precision. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the purpose of this invention is to provide a magnetic reconstruction programming device and method for magnetic soft materials, which aims to solve the problems of poor reconstruction effect or limited accuracy of the underlying magnetized material in existing magnetic soft material reconstruction magnetization methods.

[0007] To achieve the above objectives, in a first aspect, the present invention provides a magnetic reconstruction programming device for magnetic soft materials, comprising: a heating unit and a magnetization control unit;

[0008] The heating unit is used to heat the magnetic soft robot to be reconstructed; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material.

[0009] The magnetization control unit includes a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by controlling the magnetic field direction of multiple pairs of magnet units in the magnet array respectively, the magnet array generates a composite spatial magnetic field with arbitrary controllable magnetic field direction at any position in the plane where the magnetic soft robot is located.

[0010] When the magnetic reconfiguration programming device is working, the heating unit heats the magnetic soft robot to a preset temperature. The magnetic particles inside the magnetic soft robot are then programmed to be magnetized and oriented under the influence of the composite spatial magnetic field generated by the magnet array. Subsequently, the magnetic soft robot is cooled, and during the cooling process, the composite spatial magnetic field continues to act on the magnetic soft robot until the phase change composite magnetic powder of the magnetic soft robot solidifies again, thus completing the magnetic reconfiguration of the magnetic soft robot. The magnetization and orientation direction of the magnetic particles in any region of the magnetic soft robot can be arbitrarily controlled under the influence of the composite spatial magnetic field.

[0011] In an optional example, the magnet array is formed by cutting or assembling permanent magnet blocks, each of which is a permanent magnet block of a preset shape or pattern; the permanent magnet blocks are either hard or soft.

[0012] In an optional example, when the shape of the magnetic soft robot is elongated, the two magnetic blocks of each pair of magnetic units are placed above and below the plane where the magnetic soft robot is located, respectively. The magnetic field of each pair of magnetic blocks acting on the plane where the magnetic soft robot is located is in the X-axis direction, Y-axis direction, or Z-axis direction. Each magnetic block includes an N pole and a S pole.

[0013] Each pair of magnet blocks acts on a preset area of ​​the magnetic soft robot, causing the magnetic particles within the preset area to be magnetized and oriented in the direction of the magnetic field acting on the magnet blocks.

[0014] Taking the direction of the elongated shape of the magnetic soft robot as the X-axis, the plane where the magnetic soft robot is located as the XY plane, and the direction perpendicular to the XY plane as the Z-axis, multiple pairs of magnetic units act on the heated magnetic soft robot to perform magnetic reconfiguration programming. Among them, the elongated magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles along one end of the elongated shape to the other end is: negative X-axis and positive X-axis; negative X-axis, positive X-axis, negative X-axis and positive X-axis; positive Y-axis, negative X-axis, positive X-axis and positive Y-axis; or positive Z-axis and negative Z-axis. When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or twisted deformed shape.

[0015] In an optional example, when the magnetic soft robot has a multi-arm shape, the magnet array is a pair of magnet blocks;

[0016] When the magnet array consists of a pair of magnet blocks, the magnet blocks are disk-shaped, covering multiple arms of the magnetic soft robot, and the center of the magnet blocks coincides with the center of the magnetic soft robot; the plane where the magnetic soft robot is located is the XY plane, and the direction perpendicular to the XY plane is the Z axis; the N pole and S pole of the disk-shaped magnet blocks are distributed along the Z axis; when the disk-shaped magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z axis direction, the multiple arms of the magnetic soft robot can achieve grasping.

[0017] In an optional example, when the magnetic soft robot has a multi-arm shape, the magnet array consists of multiple pairs of magnet blocks; each magnet block includes an N pole and a S pole;

[0018] When the magnet array consists of multiple pairs of magnet blocks, these pairs are distributed above and below the multiple arms of the magnetic soft robot. The magnetic field direction of each pair of magnet blocks acting on each arm of the magnetic soft robot is the same as the direction of each arm. After the multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, the multiple arms of the magnetic soft robot can achieve grasping under the action of an external magnetic field in the Z-axis direction.

[0019] When the magnet array consists of multiple pairs of magnet blocks, the multiple pairs of magnet blocks are distributed above and below the multiple arms of the magnetic soft robot and the central connection area of ​​the multiple arms, respectively.

[0020] The system comprises multiple pairs of magnets, categorized into a first type and a second type. The first type of magnets is positioned above and below the central connection area of ​​the multiple arms of the magnetic soft robot, while the second type is positioned above and below the multiple arms. Using the plane where the magnetic soft robot is located as the XY plane and the direction perpendicular to the XY plane as the Z-axis: when the magnetic field directions of the first type of magnets relative to the XY plane are opposite, and the magnetic field direction of the second type of magnets acting on the XY plane is negative along the Z-axis, after the multiple pairs of magnets magnetically reconstruct the heated magnetic soft robot, under the influence of an external magnetic field along the Z-axis, the multiple arms of the magnetic soft robot can achieve a flower-shaped deformation. When the first type of magnets... When the magnetic field acting on the XY plane is in the positive Z-axis direction, and the magnetic field direction of the second type of magnetic block acting on each arm of the magnetic soft robot is the same as or opposite to the direction of each arm, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve bird-shaped deformation; when the magnetic field direction of the first type of magnetic block is opposite to that of the XY plane, and the magnetic field direction of the second type of magnetic block acting on the XY plane is in the positive Z-axis direction, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve full-coverage grasping.

[0021] In an optional example, when the magnetic soft robot is planar;

[0022] The magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is cut into a preset pattern, and multiple pairs of magnet blocks are combined into a preset pattern; or the magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is a pair of magnet cubes, and multiple pairs of magnet cubes are assembled into a preset pattern; the magnetic field direction of each pair of magnet blocks acting on the magnetic soft robot is the same.

[0023] After the magnetic soft robot is magnetically reconstructed by the preset pattern of magnet array, the magnetization direction of the reconstructed magnetic soft robot is distributed according to the preset pattern.

[0024] In an optional example, the magnetization control unit further includes: a fixing member;

[0025] The fixing component is used to fix the position of the magnet array to ensure that the magnet array is spatially symmetrically distributed; and to adjust the distance between each pair of magnet blocks in the magnet array and the magnetic soft robot, thereby controlling the magnetic field strength of the magnet blocks acting on the magnetic soft robot.

[0026] The fixing component is also used to provide a magnetization reconfiguration area for the magnetic soft robot and to support the magnetic soft robot.

[0027] Secondly, this invention provides a magnetic reconstruction programming method for magnetic soft materials, comprising the following steps:

[0028] A programmable magnet array is defined; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by controlling the magnetic field direction of multiple pairs of magnet units in the magnet array respectively, the magnet array generates a composite spatial magnetic field with arbitrary controllable magnetic field direction at any position in the plane where the magnetic soft robot is located.

[0029] The magnetic soft robot to be reconstructed is heated; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material.

[0030] Once the magnetic soft robot is heated to a preset temperature, the magnetic particles within it are programmed to be magnetized and oriented under the influence of a composite spatial magnetic field generated by the magnet array. Subsequently, the magnetic soft robot is cooled, and during the cooling process, the composite spatial magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder of the magnetic soft robot solidifies again, completing the magnetic reconstruction of the magnetic soft robot. The magnetization and orientation direction of the magnetic particles in any region of the magnetic soft robot can be arbitrarily controlled under the influence of the composite spatial magnetic field.

[0031] In an optional example, the magnet array is formed by cutting or assembling permanent magnet blocks, each of which is a permanent magnet block of a preset shape or pattern; the permanent magnet blocks are either hard or soft.

[0032] In an optional example, when the shape of the magnetic soft robot is elongated, the two magnetic blocks of each pair of magnetic units are placed above and below the plane where the magnetic soft robot is located, respectively. The magnetic field of each pair of magnetic blocks acting on the plane where the magnetic soft robot is located is in the X-axis direction, Y-axis direction, or Z-axis direction. Each magnetic block includes an N pole and a S pole.

[0033] Each pair of magnet blocks acts on a preset area of ​​the magnetic soft robot, causing the magnetic particles within the preset area to be magnetized and oriented in the direction of the magnetic field acting on the magnet blocks.

[0034] Taking the direction of the elongated shape of the magnetic soft robot as the X-axis, the plane where the magnetic soft robot is located as the XY plane, and the direction perpendicular to the XY plane as the Z-axis, multiple pairs of magnetic units act on the heated magnetic soft robot to perform magnetic reconfiguration programming. Among them, the elongated magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles along one end of the elongated shape to the other end is: negative X-axis and positive X-axis; negative X-axis, positive X-axis, negative X-axis and positive X-axis; positive Y-axis, negative X-axis, positive X-axis and positive Y-axis; or positive Z-axis and negative Z-axis. When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or twisted deformed shape.

[0035] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0036] (1) Compared with existing solid-liquid conversion and reconstruction technologies, the magnetic reconstruction programming device provided by this invention, which features "overall heating - local magnetic field control," simplifies both structure and operation. Simulations and experiments demonstrate that by changing the magnetic pole positions and spacing of the magnet array, multiple magnetization directions and different magnetization intensities can be programmed and reconstructed for solid-liquid reconstructed magnetic soft robots at the millimeter scale. Therefore, by changing the combination of magnet arrays and assembling them for heating according to the required magnetization type, different types of magnetic soft robot reconstruction can be achieved.

[0037] (2) The "overall heating - local magnetic field control" magnetic reconstruction method provided by this invention simplifies the magnetization process while ensuring high reconstruction accuracy. Compared with existing solid-liquid phase change magnetization methods, the method proposed in this invention only requires one step of magnetic reconstruction programming to achieve complex magnetization reconstruction. Moreover, it does not require the use of molds to change the shape of soft magnetic composite materials before magnetization, nor does it require the use of lasers or other devices for multi-step heating and redirection processes. The magnet array generates spatially heterogeneous multidirectional magnetic fields, maintaining stable orientation reconstruction in each region. This simplifies the magnetization process while maintaining the accuracy of magnetic reconstruction.

[0038] (3) Compared with existing solid-liquid phase conversion reconstruction methods using overall heating, the "overall heating - local magnetic field control" magnetic reconstruction method provided by this invention greatly improves the accuracy of reconstruction programming, providing a new method for magnetic recording of complex patterns that are difficult to achieve under the limitations of existing technologies. The magnet array used in this invention is easy to replace and set up. By preparing magnets of special shapes or combining and assembling different magnet units, various types of patterned magnetic fields can be generated. Through the "overall heating - local magnetic field control" device provided by this invention, these special magnetic field information can be magnetically recorded, providing an effective way to achieve magnetic recording of complex information.

[0039] (4) The "overall heating-local magnetic field control" magnetic reconstruction method provided by this invention has the characteristic of being reprogrammable. Existing overall heating technology uses a mold-assisted method for magnetic reconstruction, which has low repeatability. The reconstruction effect of two experiments with the same mold will also differ due to differences in mold fixation. The method proposed in this invention, through precise control of the magnetic field distribution, ensures that the magnetization characteristics of the magnetic soft material programmed under the same local magnetic field are consistent. In addition, the magnetic information recorded by the phase change magnetic soft material can be easily erased and re-recorded, and the same magnetic soft material can stably exhibit a variety of different internal magnetization characteristics before and after programming. Attached Figure Description

[0040] Figure 1 This is a comparison diagram of the magnetic programming principle of this invention and existing overall heating technology;

[0041] Figure 2 This is a schematic diagram illustrating the generation principle of the composite directional spatial magnetic field in an embodiment of the present invention.

[0042] Figure 3 This is a diagram illustrating the multiple programming process for magnetic reconstruction of the magnetic soft composite material according to an embodiment of the present invention.

[0043] Figure 4 The diagram shows the magnetic reconstruction process and deformation experimental results of the strip magnetic soft material provided in the embodiments of the present invention;

[0044] Figure 5 The magnetic array diagram and the magnetic field distribution cloud map of the reconstructed region of the magnetization mode A of the bar magnetic soft material provided in the embodiments of the present invention;

[0045] Figure 6 The magnetic array diagram and the magnetic field distribution cloud map of the reconstructed region of the bar magnetic soft material magnetization mode B are provided in the embodiments of the present invention.

[0046] Figure 7 This is an embodiment of magnetic reconstruction of the strip-shaped magnetic soft material provided by the present invention;

[0047] Figure 8 This invention provides an embodiment of magnetic reconstruction of a multi-arm type magnetic soft material.

[0048] Figure 9 An embodiment of patterned magnetic recording provided by the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] To address the shortcomings of existing solid-liquid reconfiguration magnetization technologies, the present invention aims to provide a magnetic reconfiguration programming device and method based on "overall heating and local magnetic field control," thereby improving the applicability and programming accuracy of existing solid-liquid reconfiguration magnetization methods. This provides a possibility for the application of magnetically controlled soft robots in complex environments, and solves the technical problems of complex devices and limited reconfiguration accuracy in existing technologies.

[0052] To achieve the above objectives, the present invention provides a magnetic reconfiguration programming device for "overall heating - local magnetic field control", including an overall heating unit, a magnetization control unit and a solid-liquid reconfiguration type magnetic soft robot.

[0053] The overall heating unit is used to provide global heating at a constant temperature for the solid-liquid reconfigurable magnetic soft robot.

[0054] The magnetization control unit includes a programmable magnet array and a fixed component; the magnetization control unit is used to provide a control magnetic field for the programmable magnetization of the solid-liquid reconfigurable magnetic soft robot.

[0055] The programmable magnet array comprises multiple pairs of magnet units. Each pair of magnet units, due to their different combinations, can generate a magnetic field with complex directions or shapes in the central surface region. Therefore, multiple pairs of magnet units can generate spatially heterogeneous magnetic fields with complex shapes and directions. The programmable magnet array is used to generate the reconfiguration programming magnetic field for the solid-liquid reconfiguration process of a solid-liquid reconfigurable magnetic soft robot.

[0056] The fixing component serves two purposes: firstly, it fixes the position of the magnet array to maintain the spatial symmetry of the fixed magnet array; secondly, it provides the reconstruction magnetic field region for the solid-liquid reconfigurable magnetic soft robot to ensure stable loading of the magnetic field environment of the magnetic soft material during the reconstruction process.

[0057] The solid-liquid reconfigurable magnetic soft robot is a magnetic soft material prepared by mixing phase change composite magnetic powder and soft material in a certain proportion. Phase change composite magnetic powder is a magnetic sphere composed of magnetic particles encapsulated in a low-melting-point composite material. Under normal conditions, the outer shell of the phase change composite magnetic powder sphere is solid, while the internal magnetic particles are in a solid environment encapsulated by the composite material. When the magnetized soft material is heated to the melting point of the composite material, the outer shell of the phase change composite magnetic powder sphere melts, and the internal magnetic particles are in a localized liquid environment encapsulated by the molten composite material.

[0058] When the system is working, it first pre-magnetizes the solid-liquid reconfigurable magnetic soft robot to give it a certain magnetization orientation. Then, according to the designed programmed magnetization type, it determines the spatial distribution of the programmed magnet array, assembles and fixes the magnetization control unit, and installs the solid-liquid reconfigurable magnetic soft robot into the control magnetic field area of ​​the fixed magnetization control unit. Finally, it places the assembly system of the magnetic soft robot and the magnetization control unit into the overall heating unit, heats it to the melting temperature of the phase change material, holds it for a period of time, cools the assembly system to room temperature, removes the magnetic soft robot, and applies an external excitation magnetic field to control the magnetic soft robot to deform and move according to the programmed magnetization type.

[0059] Preferably, the pre-magnetization process of the solid-liquid reconfigurable magnetic soft robot is the basis for realizing the reconfiguration programming process of the magnetic soft robot. The solid-liquid reconfigurable magnetization process requires the magnetic soft robot to have a certain external magnetism in its initial state. Therefore, it is necessary to use other magnetization systems to process the solid-liquid reconfigurable magnetic soft robot in advance.

[0060] Preferably, the programmable magnet array can achieve multi-directional magnetic field loading in three-dimensional space, thereby realizing complex solid-liquid reconfiguration magnetization in any direction.

[0061] Preferably, under normal conditions, the magnetization characteristics of this type of magnetic soft material are magnetically stable after being treated with a magnetic field and are not easily changed. When the magnetized soft material is heated to the melting point of the composite material, the outer shell of the magnetic sphere melts, and the magnetic particles inside are in a local liquid environment encased in the molten composite material. At this time, the magnetic particles are prone to secondary orientation under a relatively low applied magnetic field direction. When the magnetic soft material returns to its initial temperature, the magnetic particles maintain the stability of their magnetization characteristics after orientation.

[0062] According to the present invention, the operation steps of the magnetic reconstruction programming device with "overall heating - local magnetic field control" are as follows:

[0063] S1, under other magnetization devices, the solid-liquid reconfigurable magnetic soft robot is pre-magnetized to give the magnetic soft robot a certain magnetization orientation.

[0064] S2, based on the target programming magnetization type of the solid-liquid reconfigurable magnetic soft robot, design and determine the spatial distribution of the programming magnet array, and assemble and fix the magnetization control unit;

[0065] S3, Install the solid-liquid reconfigurable magnetic soft robot onto the center surface of the control magnetic field region of the fixed magnetization control unit;

[0066] S4. The assembly system of the magnetic soft robot and the magnetization control unit is placed into the overall heating unit. The assembly system is heated to the melting temperature of the phase change material and kept under stable heating for a period of time. Then the assembly system is cooled to room temperature, and the magnetic soft robot is removed to complete the entire reconstruction process.

[0067] Preferably, the magnetic field of the pre-processing magnetic treatment of the solid-liquid reconfigurable magnetic soft robot in step S1 should be higher than the saturation magnetization magnetic field of the magnetic material to ensure efficient programming magnetization of the solid-liquid reconfiguration magnetization process.

[0068] Preferably, the programmable magnet array in step S2 can generate a magnetic field in a specific direction in three-dimensional space in a local area, and the fixed component maintains the spatial symmetrical distribution of the programmable magnet array in the magnetization control unit.

[0069] Preferably, the control magnetic field region of the fixed magnetization control unit in step S3 is symmetrical about its geometric center plane, and the design of the fixed component ensures that the center of the solid-liquid reconfigurable magnetic soft robot is located on the geometric center plane of the control magnetic field region.

[0070] Preferably, the heating process in step S4 should maintain a stable temperature higher than the melting temperature of the composite material. After the magnetization software programming process is completed and the material has been completely cooled, it should be removed to ensure the complete execution of the solid-liquid reconstruction magnetization process.

[0071] Figure 1 This diagram compares the magnetic programming principle of this invention with existing overall heating technologies. Existing solid-liquid reconstruction magnetization overall heating technologies include... Figure 1 As shown in (a), after the magnetic soft material is fixed by winding it around a spherical mold, the entire magnetic soft material is heated and an upward magnetic field is applied. At this time, the magnetization characteristics of the magnetic soft material are reprogrammed and reconstructed. Therefore, existing overall heating technology, based on the assistance of the mold, changes the geometry of the magnetic soft material, thereby achieving programmatic reconstruction of the magnetic soft material. However, the shape change of the magnetic soft material based on the mold constraint is imprecise, and there are large operational errors in the experiment, including: the fixed constraint deviation of the magnetic soft material in the mold and the difference in the reconstructed magnetization mode caused by the uneven distribution of the soft material deformation thickness during the winding process. Therefore, the reconstruction accuracy of the existing overall heating solid-liquid reconstruction technology is relatively limited. It can only qualitatively control the deformation morphology of the magnetic soft material under the excitation magnetic field on a macroscopic level, and it is difficult to quantitatively and accurately control the magnetization properties of the magnetic soft material within a unit length. In some application scenarios with more stringent requirements for the accuracy of reconstructed programmed magnetization, existing technologies often cannot meet the needs and are difficult to promote and use.

[0072] like Figure 1 As shown in (b), the magnetic reconstruction method of "overall heating - local magnetic field control" proposed in this invention does not require changing the shape of the magnetic soft material. By controlling the magnetic field loading in the region of the magnetic soft material, the magnitude and direction of the magnetic field in any direction at the millimeter scale can be controlled. It can perform precise arbitrary-direction programmed magnetization of the magnetic soft material, which greatly improves the programming accuracy and controllability of the magnetic reconstruction method. The method proposed in this invention is scalable and has wide applicability in the field of precise magnetization of magnetic soft materials.

[0073] In some implementations, the magnet array used in step S2 is a combination of miniature permanent magnet arrays, generating a spatial magnetic field in a composite direction within the magnetic soft material region. For example... Figure 2 As shown, by performing the following on the magnet array Figure 2The combination shown can generate magnetic fields in three dimensions (X, Y, Z) on the geometrically neutral surface of the magnet array. By using each magnet array as a basic unit and combining different magnet array units, spatially heterogeneous magnetic fields with multiple directions can be generated in the region of the magnetic soft material, enabling material reprogramming for the magnetic soft material. In summary, the magnet array method can generate spatial magnetic fields with three-dimensional composite directions, thereby achieving programmed magnetization of the magnetic soft material on a three-dimensional scale.

[0074] In some embodiments, the magnet array used in step S2 is prepared by cutting or assembling soft magnetic cubes to generate a complex magnetic field with a specific pattern shape in the region of the soft magnetic material. For example... Figure 9 In the invention case, different patterned magnetic fields were formed using magnet arrays, and patterned experiments were conducted.

[0075] Figure 3 The programming process and reprogramming diagram of magnetic reconstruction of magnetic soft composite material according to an embodiment of the present invention are as follows: Figure 3 As shown. The soft magnetic material is initially magnetized in the downward direction, and then the soft magnetic material is heated as a whole, while based on... Figure 2 The mentioned magnet array method involves applying programmed magnetic fields in different directions (leftward and upward) to the left and right halves of the strip-shaped magnetic soft robot region. Under heating, the PEG shell of the internal composite magnetic microspheres melts, and the NdFeB magnetic powder, in a liquid environment, is redirected according to the applied multi-directional programmed magnetic fields, altering the internal magnetization of the strip-shaped magnetic soft robot material. While maintaining the magnetic field, the strip-shaped magnetic soft robot is cooled. When the PEG shell re-solidifies, the composite magnetic powder exhibits external magnetic stability, completing the programming process for the strip-shaped soft robot. Under an upward external magnetic field, the strip-shaped magnetic soft robot exhibits the deformation characteristics of magnetization mode A.

[0076] Furthermore, this magnetic soft material retains the characteristics of magnetic programming, enabling the repeated solid-liquid phase change magnetic programming process described above. For example... Figure 3 As shown, the above process was repeated for a bar-shaped magnetic soft material with magnetization mode A. The difference was that different upward and rightward magnetic fields were applied to the left and right halves of the bar-shaped soft material region, respectively. Through a reprogramming process, a new bar-shaped soft robot with magnetization mode B was obtained. Under the same upward applied magnetic field, the soft robot exhibited deformation characteristics that were antisymmetric compared to magnetization mode A.

[0077] Figure 4 The magnetic reconstruction process and deformation experimental results of the strip magnetic soft material provided by this invention are shown in the figure. Figure 4The diagram illustrates the specific implementation process of the solid-liquid reconstruction method proposed in this invention. In this invention, the magnetic soft material is first pre-magnetized. Then, the specific combination of the magnet array is designed according to the required programming magnetization characteristics. The magnet array and the magnetic soft material are assembled and fixed at equal intervals. The assembly mold, including the magnetic soft material and the magnets, is heated at a temperature higher than the melting temperature of the composite magnetic powder shell. After maintaining the heating stable for a period of time, the assembly mold is finally cooled. After it drops to room temperature, the magnetic soft material is removed, and its magnetization programming effect is observed.

[0078] Specifically, pre-magnetizing the magnetic soft material is the basis for the programming orientation of this type of magnetization method. When the magnetic soft material is not magnetized, it has no initial magnetic domain orientation, and the turning angles of each domain unit differ significantly, making it difficult to perform programmed magnetization orientation under a low applied magnetic field. When the magnetic soft material has a certain initial magnetization direction, the material has an initial magnetic domain orientation, and the turning angles of each domain unit in a local region are similar, enabling programmed magnetization orientation in a specific direction under a low applied magnetic field.

[0079] Specifically, the water bath heating temperature must be higher than the melting temperature of the composite magnetic powder's outer shell to ensure that the outer shell melts during the heating process, allowing the magnetic particles to be programmed and magnetized in a localized liquid environment encased in the molten composite material. Conversely, if the temperature is too low, the outer shell does not melt during the heating process, and the magnetic particles remain in a solid environment encased in the composite material, making it difficult to program and reconstruct them under low field strength.

[0080] Specifically, the distance in the equidistant assembly process should be greater than the minimum turning magnetic field strength of the magnetic particles in the local liquid environment of the molten composite material, so as to ensure the reconstruction and turning efficiency of the magnetic particles in the composite magnetic powder.

[0081] Specifically, the programmed magnetic field should be kept stably applied before the outer shell of the magnetic soft material is completely cured. Before the shell is completely cured, the magnetic particles are still in a liquid-like environment, and the orientation of the magnetic domains is easily changed under a low applied magnetic field, affecting the difference between the actual magnetization characteristics and the programmed magnetization characteristics. Therefore, the assembly mold needs to be cooled for a period of time, and the magnetic soft material should only be removed after the composite magnetic powder shell is completely cured.

[0082] Furthermore, during the programmed magnetization process, different micro-magnet arrays can be replaced according to the actual magnetization direction required, enabling different types of programmed magnetization of this type of magnetic soft material.

[0083] Furthermore, this type of programmable magnetization method operates on the principle that magnetic particles, situated in a localized liquid environment encased in a molten composite material, exhibit low-intensity magnetic field deflection characteristics. Therefore, this type of programmable magnetization method is highly programmable, allowing for multiple programming, restoration, and reprogramming of the same material.

[0084] Optionally, the thickness of the partition can be changed during the experiment to precisely control the distance between the magnet and the magnetic soft material, thereby controlling the magnetic field strength generated by the magnet array in the magnetic soft region. This allows for precise control of the programmed magnetic field strength and enables the study of experimental results of the magnetic soft material under different magnetic field strengths.

[0085] Specifically, in this implementation case, when changing the thickness of the partition, it is necessary to keep the axial geometric center plane of the magnetic soft material located on the geometric center plane of the magnet array to ensure that the magnetic soft material is symmetrically magnetized about the axial geometric center plane, and to avoid the magnetization characteristics of the material exhibiting a unilateral tendency, which would affect the deformation symmetry of the magnetic soft material under the excitation magnetic field.

[0086] Figure 5 The magnetic array diagram and the magnetic field distribution cloud map of the reconstructed region of the magnetization mode A of the bar magnetic soft material provided by the present invention are as follows: Figure 5 As shown in (a), in this implementation case, the L-shaped deformation is set as the deformation of the target magnetic soft material, and the magnet array is designed as follows. Figure 5 As shown, the magnetic field distribution cloud map of the programming region of this magnet array combination is as follows: Figure 5 As shown in (b). Therefore, the distribution of the target magnet array can well meet the requirements of L-shaped deformation.

[0087] Figure 6 The magnetic array diagram and the magnetic field distribution cloud map of the reconstructed region of the bar magnetic soft material magnetization mode B provided by the present invention are as follows: Figure 6 As shown in (a), in another implementation, the B-type magnetization mode deformation is set to the deformation of the target magnetic soft material, and the magnet array is designed as follows. Figure 6 As shown, the magnetic field distribution cloud map of the programming region of this magnet array combination is as follows: Figure 6 As shown in (b). Figure 6 In the experimental cases, based on Figure 5 The sample of the implementation example shown can be reprogrammed to achieve the reprogramming conversion from L-shaped deformable magnetization to antisymmetric L-shaped deformable magnetization.

[0088] Figure 7 The magnetic reconstruction embodiment of the strip magnetic soft material provided by the present invention, such as Figure 7As shown, taking a strip-shaped magnetic soft material (geometric dimensions 8mm × 2mm × 0.4mm) as an example, four different magnet arrays were designed using three types of square magnets (magnets A and B, both with geometric dimensions of 1mm × 3mm × 8mm, and magnetization directions of 1mm and 3mm respectively; magnet C, with geometric dimensions of 1mm × 3mm × 4mm and magnetization direction of 4mm). These magnet arrays can generate different magnetic field distributions in the millimeter-scale strip-shaped phase-change composite magnetic soft material, enabling the reconstruction of magnetic soft materials with different magnetization types. Their deformation morphology under an upward magnetic field was recorded, as shown in the figure. Figure 7 This invention performs magnetic field simulations on four types of magnet arrays, and simultaneously performs deformation simulations on four types of magnetic soft materials in an ABAQUS finite element subroutine. For example... Figure 7 As shown, the simulation results are in good agreement with the experimental results, indicating that the phase change soft magnetic composite material can form U-shaped, W-shaped, O-shaped and twisted deformation shapes under the same applied magnetic field.

[0089] Figure 8 The magnetic reconstruction embodiment of the multi-arm type magnetic soft material provided by the present invention, such as Figure 8 As shown, taking a multi-armed magnetic soft material (with arm dimensions of 3mm × 2mm × 0.4mm, specifically divided into six-armed and four-armed types) as an example, six different magnet arrays were designed using three types of magnets (square magnets D and E, both with dimensions of 2mm × 2mm × 3mm, and magnetization directions of 2mm and 3mm respectively; cylindrical magnet F, with dimensions of Φ6mm × 2mm and magnetization direction of 2mm). These magnet arrays can generate different magnetic field distributions in the multi-armed phase change composite magnetic soft material, reconstructing magnetic soft materials with different magnetization types, and recording their deformation morphology under an upward magnetic field, as shown in the figure. Figure 8 This invention performs magnetic field simulations on the above six types of magnet arrays, and simultaneously performs deformation simulations on six types of magnetic soft materials in the ABAQUS finite element subroutine. For example... Figure 8 As shown, the simulation results are in good agreement with the experimental results, proving that multi-arm phase change soft magnetic composite materials can form a variety of different deformation shapes under the same applied magnetic field, including: semi-grasping deformation, flower-shaped deformation, bird-shaped deformation and full-coverage grasping.

[0090] Figure 9 Examples of patterned magnetic recording provided by the present invention, such as Figure 9As shown. In the magnetic recording embodiment, a composite permanent magnet based on PDMS was used as the magnetic source, and the composite permanent magnet was prepared according to a mass ratio of NdFeB:PDMS = 4:1. Compared with traditional permanent magnets, the fabrication process of these composite magnets is simple, and their two-dimensional shape can be arbitrarily cut using a laser device, providing a foundation for realizing magnetic recording of complex arbitrary patterns. Figure 2 Based on the previous method, this case uses a composite PDMS permanent magnet to replace the NdFeB permanent magnet. The experimental procedure is the same as... Figure 2 To maintain consistency, the embodiments employed two methods: integral cutting and forming, and magnetic block assembly, to prepare six different types of patterned magnets. In the patterned magnetic recording embodiment, the present invention completed magnetic recording of graphic combinations, number combinations 1037, and letter combinations HUST based on an integrally cut composite magnet array. Simultaneously, it completed the recording of three portrait patterns (smiley face, smiley face with sunglasses, and smiley face with heart eyes) based on a composite magnet block assembly array.

[0091] In particular, when designing the magnetic field distribution of an assembled magnet array, the magnetic blocks can be magnetized in different directions, resulting in richer recorded information. For example... Figure 9 As shown in (h), when the magnetization directions of the magnets in the eye and mouth areas are set to opposite, the recorded magnetic pattern can be displayed as a two-color pattern.

[0092] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magnetic reconfiguration programming device for magnetic soft materials, characterized in that, include: Heating unit and magnetization control unit; The heating unit is used to heat the magnetic soft robot to be reconstructed; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material. The magnetization control unit includes a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by controlling the magnetic field direction of multiple pairs of magnet units in the magnet array respectively, the magnet array generates a composite spatial magnetic field with arbitrary controllable magnetic field direction at any position in the plane where the magnetic soft robot is located. When the magnetic soft robot has a multi-arm shape, the magnet array consists of multiple pairs of magnet blocks; each magnet block includes an N pole and a S pole; When the magnet array consists of multiple pairs of magnet blocks, these pairs are distributed above and below the multiple arms of the magnetic soft robot. The magnetic field direction of each pair of magnet blocks acting on each arm of the magnetic soft robot is the same as the direction of each arm. After the multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, the multiple arms of the magnetic soft robot can achieve grasping under the action of an external magnetic field in the Z-axis direction. When the magnet array consists of multiple pairs of magnet blocks, these pairs are distributed above and below the multiple arms of the magnetic soft robot and the central connection area of ​​the arms. When the magnetic reconfiguration programming device is operational, the heating unit heats the magnetic soft robot to a preset temperature. The magnetic particles within the robot are then programmed and magnetized under the influence of the composite spatial magnetic field generated by the magnet array. Subsequently, the magnetic soft robot is cooled, and during the cooling process, the composite spatial magnetic field continues to act on the robot until the phase-change composite magnetic powder of the robot solidifies again, completing the magnetic reconfiguration of the robot. The magnetization direction of the magnetic particles in any region of the magnetic soft robot can be arbitrarily controlled under the influence of the composite spatial magnetic field. The system comprises multiple pairs of magnets, categorized into a first type and a second type. The first type of magnets is positioned above and below the central connection area of ​​the multiple arms of the magnetic soft robot, while the second type is positioned above and below the multiple arms. Using the plane where the magnetic soft robot is located as the XY plane and the direction perpendicular to the XY plane as the Z-axis: when the magnetic field directions of the first type of magnets relative to the XY plane are opposite, and the magnetic field direction of the second type of magnets acting on the XY plane is negative along the Z-axis, after the multiple pairs of magnets magnetically reconstruct the heated magnetic soft robot, under the influence of an external magnetic field along the Z-axis, the multiple arms of the magnetic soft robot can achieve a flower-shaped deformation. When the first type of magnets... When the magnetic field acting on the XY plane is in the positive Z-axis direction, and the magnetic field direction of the second type of magnetic block acting on each arm of the magnetic soft robot is the same as or opposite to the direction of each arm, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve bird-shaped deformation; when the magnetic field direction of the first type of magnetic block is opposite to that of the XY plane, and the magnetic field direction of the second type of magnetic block acting on the XY plane is in the positive Z-axis direction, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve full-coverage grasping.

2. The apparatus according to claim 1, characterized in that, The magnet array is formed by cutting or assembling permanent magnet blocks, each of which is a permanent magnet block of a preset shape or pattern; the permanent magnet blocks can be hard or soft.

3. The apparatus according to claim 1 or 2, characterized in that, When the shape of the magnetic soft robot is elongated, the two magnetic blocks of each pair of magnetic units are placed above and below the plane where the magnetic soft robot is located, respectively. The magnetic field of each pair of magnetic blocks acting on the plane where the magnetic soft robot is located is in the X-axis direction, Y-axis direction, or Z-axis direction. Each magnetic block includes an N pole and a S pole. Each pair of magnet blocks acts on a preset area of ​​the magnetic soft robot, causing the magnetic particles within the preset area to be magnetized and oriented in the direction of the magnetic field acting on the magnet blocks. Taking the direction of the elongated shape of the magnetic soft robot as the X-axis, the plane where the magnetic soft robot is located as the XY plane, and the direction perpendicular to the XY plane as the Z-axis, multiple pairs of magnetic units act on the heated magnetic soft robot to perform magnetic reconfiguration programming. Among them, the elongated magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles along one end of the elongated shape to the other end is: negative X-axis and positive X-axis; negative X-axis, positive X-axis, negative X-axis and positive X-axis; positive Y-axis, negative X-axis, positive X-axis and positive Y-axis; or positive Z-axis and negative Z-axis. When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or twisted deformed shape.

4. The apparatus according to claim 1 or 2, characterized in that, When the magnetic soft robot has a multi-arm shape, the magnet array is a pair of magnet blocks; When the magnet array consists of a pair of magnet blocks, the magnet blocks are disk-shaped, covering multiple arms of the magnetic soft robot, and the center of the magnet blocks coincides with the center of the magnetic soft robot; the plane where the magnetic soft robot is located is the XY plane, and the direction perpendicular to the XY plane is the Z axis; the N pole and S pole of the disk-shaped magnet blocks are distributed along the Z axis; when the disk-shaped magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z axis direction, the multiple arms of the magnetic soft robot can achieve grasping.

5. The apparatus according to claim 1 or 2, characterized in that, When the magnetic soft robot is planar; The magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is cut into a preset pattern, and multiple pairs of magnet blocks are combined into a preset pattern; or the magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is a pair of magnet cubes, and multiple pairs of magnet cubes are assembled into a preset pattern; the magnetic field direction of each pair of magnet blocks acting on the magnetic soft robot is the same. After the magnetic soft robot is magnetically reconstructed by the preset pattern of magnet array, the magnetization direction of the reconstructed magnetic soft robot is distributed according to the preset pattern.

6. The apparatus according to claim 1 or 2, characterized in that, The magnetization control unit further includes: a fixing component; The fixing component is used to fix the position of the magnet array to ensure that the magnet array is spatially symmetrically distributed; and to adjust the distance between each pair of magnet blocks in the magnet array and the magnetic soft robot, thereby controlling the magnetic field strength of the magnet blocks acting on the magnetic soft robot. The fixing component is also used to provide a magnetization reconfiguration area for the magnetic soft robot and to support the magnetic soft robot.

7. A magnetic reconstruction programming method for magnetic soft materials, characterized in that, Includes the following steps: A programmable magnet array is defined; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by controlling the magnetic field direction of multiple pairs of magnet units in the magnet array, the magnet array generates a composite spatial magnetic field with arbitrarily controllable magnetic field direction at any position in the plane where the magnetic soft robot is located; when the shape of the magnetic soft robot is multi-arm type, the magnet array consists of multiple pairs of magnet blocks; each magnet block includes an N pole and a S pole; when the magnetic... When the magnet array consists of multiple pairs of magnet blocks, these pairs are distributed above and below the multiple arms of the magnetic soft robot. The magnetic field direction of each pair of magnet blocks acting on each arm of the magnetic soft robot is the same as the direction of each arm. After the multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, the multiple arms of the magnetic soft robot can achieve grasping under the action of an external magnetic field in the Z-axis direction. When the magnet array consists of multiple pairs of magnet blocks, these pairs are distributed above and below the multiple arms of the magnetic soft robot and the central connection area of ​​the multiple arms. The magnetic soft robot to be reconstructed is heated; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material. Once the magnetic soft robot is heated to a preset temperature, the magnetic particles within it are programmed to be magnetized and oriented under the influence of a composite spatial magnetic field generated by the magnet array. The magnetic soft robot is then cooled, and during the cooling process, the composite spatial magnetic field continues to act on the robot until the phase-change composite magnetic powder of the robot solidifies again, completing the magnetic reconstruction of the robot. The magnetization and orientation direction of the magnetic particles in any region of the magnetic soft robot can be arbitrarily controlled under the influence of the composite spatial magnetic field. The system comprises multiple pairs of magnets, categorized into a first type and a second type. The first type of magnets is positioned above and below the central connection area of ​​the multiple arms of the magnetic soft robot, while the second type is positioned above and below the multiple arms. Using the plane where the magnetic soft robot is located as the XY plane and the direction perpendicular to the XY plane as the Z-axis: when the magnetic field directions of the first type of magnets relative to the XY plane are opposite, and the magnetic field direction of the second type of magnets acting on the XY plane is negative along the Z-axis, after the multiple pairs of magnets magnetically reconstruct the heated magnetic soft robot, under the influence of an external magnetic field along the Z-axis, the multiple arms of the magnetic soft robot can achieve a flower-shaped deformation. When the first type of magnets... When the magnetic field acting on the XY plane is in the positive Z-axis direction, and the magnetic field direction of the second type of magnetic block acting on each arm of the magnetic soft robot is the same as or opposite to the direction of each arm, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve bird-shaped deformation; when the magnetic field direction of the first type of magnetic block is opposite to that of the XY plane, and the magnetic field direction of the second type of magnetic block acting on the XY plane is in the positive Z-axis direction, after multiple pairs of magnetic blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can achieve full-coverage grasping.

8. The method according to claim 7, characterized in that, The magnet array is formed by cutting or assembling permanent magnet blocks, each of which is a permanent magnet block of a preset shape or pattern; the permanent magnet blocks can be hard or soft.

9. The method according to claim 7 or 8, characterized in that, When the shape of the magnetic soft robot is elongated, the two magnetic blocks of each pair of magnetic units are placed above and below the plane where the magnetic soft robot is located, respectively. The magnetic field of each pair of magnetic blocks acting on the plane where the magnetic soft robot is located is in the X-axis direction, Y-axis direction, or Z-axis direction. Each magnetic block includes an N pole and a S pole. Each pair of magnet blocks acts on a preset area of ​​the magnetic soft robot, causing the magnetic particles within the preset area to be magnetized and oriented in the direction of the magnetic field acting on the magnet blocks. Taking the direction of the elongated shape of the magnetic soft robot as the X-axis, the plane where the magnetic soft robot is located as the XY plane, and the direction perpendicular to the XY plane as the Z-axis, multiple pairs of magnetic units act on the heated magnetic soft robot to perform magnetic reconfiguration programming. Among them, the elongated magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles along one end of the elongated shape to the other end is: negative X-axis and positive X-axis; negative X-axis, positive X-axis, negative X-axis and positive X-axis; positive Y-axis, negative X-axis, positive X-axis and positive Y-axis; or positive Z-axis and negative Z-axis. When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or twisted deformed shape.

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