Engraving device, engraving system and preparation method of magnetic spiral microrobot

Abstract

The application relates to a magnetic spiral micro-robot carving device, a carving system and a preparation method, which comprise a carving needle, a parameter adjusting platform and a moving platform, the tip of the carving needle is in contact with a material to be carved, the tip of the carving needle is in the shape of a hook, the parameter adjusting platform is connected with the needle stem of the carving needle, the parameter adjusting platform is used for adjusting the roll angle and the pitch angle of the carving needle, the moving platform is connected with the parameter adjusting platform, and the moving platform is used for driving the carving needle to perform a carving action. The application solves the problems that the existing magnetic spiral micro-robot preparation equipment is expensive, the maintenance cost is high, the single magnetic spiral robot preparation time cost is high, the uniformity of the magnetic spiral robot is poor during forming, the structure of the magnetic spiral robot is poor in preparation, the magnetization process of the spiral robot is complex, and the required cost is large.

Description

Technical Field

[0001] This invention relates to the field of magnetic spiral microrobot technology, and in particular to a marking device, marking system and preparation method for a magnetic spiral microrobot. Background Technology

[0002] Like other microrobots, magnetic helical microrobots also face challenges in fabrication. Currently, common methods for fabricating magnetic helical microrobots can be categorized into five types: optical lithography, electrochemical deposition, self-rolling, laser direct writing, and bio-hybridization. Optical lithography transfers the geometry from a photomask onto a thin film material sensitive to light irradiation covering a semiconductor substrate. Electrochemical deposition requires a micro / nanostructure as a template, using direct current to constrain the magnetic material on the template located between electrodes and an electrolyte solution, thus depositing the desired magnetic micro / nanostructure according to the template. Self-rolling was the earliest method used by scientists to fabricate helical microrobots. This method is mainly based on traditional thin film deposition and single-crystal thin film growth techniques, employing an electrodeless electroplating method to deposit magnetic materials onto the thin film. By adjusting process parameters such as deposition time and the deflection angle between crystalline structures, the geometric characteristics of the fabricated helical microrobot can be precisely controlled, thus completing the fabrication of the magnetic helical microrobot. Laser direct writing can fabricate three-dimensional microstructures of arbitrary shapes. The principle is that a photosensitive adhesive undergoes a localized two-photon polymerization reaction under the targeted irradiation of a laser beam. Therefore, as the laser point moves along a helical trajectory, a helical structure is formed inside the photosensitive adhesive. Unreacted photosensitive adhesive is then washed away to obtain a micron-sized helical structure. Finally, a layer of magnetic material is deposited on its surface using electron beam evaporation. Furthermore, many microorganisms and microtissues in nature possess helical structures, such as Helicobacter pylori, Spirulina, and the helical vessels in the xylem of certain plants, with diameters ranging from 1 to 100 micrometers. By chemically depositing these organisms or tissues with unique helical structures with magnetic particles, hybrid fabrication of magnetic helical microrobots can be achieved; this method is known as biohybridization.

[0003] Currently, the main problems with domestic magnetic helical robot fabrication technology are as follows: 1. Optical lithography requires a mask for each processing step, resulting in a complex process. The resulting helical structure is usually planar and cannot create a true three-dimensional structure. 2. Electrochemical deposition requires complex micro / nano template processing, and each deposition takes a very long time. 3. The self-rolling method requires expensive processing equipment. Since its film deposition relies on substrate rotation and has no template, the uniformity of the prepared magnetic helical robot is poor. 4. The laser direct writing method generates a helical structure through a chemical reaction under the illumination of a laser beam's helical trajectory. Due to errors in the laser beam's helical trajectory, the precision of the generated helical structure is poor. 5. The bio-hybrid method uses helical microorganisms with large size differences, resulting in poor uniformity of the prepared magnetic helical robot structure. Furthermore, since the size of the helical microorganisms is fixed, it is impossible to adjust their helical structure. Overcoming the shortcomings of existing magnetic helical microrobot fabrication equipment, such as high cost of maintenance, high time and cost of fabricating a single magnetic helical robot, poor uniformity during molding, poor adjustability of the magnetic helical robot structure during fabrication, complex magnetization process, and high cost, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to address the issues of expensive equipment for fabricating magnetic helical microrobots, high maintenance costs, high time and cost for fabricating a single magnetic helical robot, poor uniformity during molding, poor structural adjustability of the magnetic helical robot during fabrication, complex magnetization process of the helical robot, and high cost.

[0005] To solve the above-mentioned technical problems, the present invention provides a scribing device for a magnetic helical microrobot, comprising:

[0006] A scribing needle, the tip of which contacts the material to be scribed, the tip of which is hook-shaped and has an outwardly convex arc-shaped surface;

[0007] A parameter adjustment platform is connected to the shank of the scribe needle. The parameter adjustment platform is used to adjust the tilt angle and elevation angle of the scribe needle. When adjusting the tilt angle of the scribe needle, the parameter adjustment platform drives the scribe needle to rotate around the shank axis of the scribe needle to the set tilt angle. When adjusting the elevation angle of the scribe needle, the parameter adjustment platform drives the tip of the scribe needle to swing up and down to the set elevation angle.

[0008] A mobile platform is connected to the parameter adjustment platform. The mobile platform is used to drive the scribing needle to perform a scribing action. When the mobile platform drives the scribing needle to perform a scribing action, the scribing needle moves along a first set horizontal direction and the convex arc surface of the hook-shaped needle tip abuts against the scribing material.

[0009] In one embodiment of the present invention, the parameter adjustment platform includes an angular displacement platform for adjusting the tilt angle of the scribe needle and a dual-axis servo and a single-axis servo for adjusting the pitch angle of the scribe needle. The dual-axis servo is mounted on the angular displacement platform, the single-axis servo is connected to the dual-axis servo, and the scribe needle is connected to the single-axis servo via a needle holder.

[0010] In one embodiment of the present invention, the mobile platform includes a fixed boss for mounting the parameter adjustment platform and a mobile drive assembly for driving the fixed boss to translate. The fixed boss is provided with a mounting slope, which is opposite to the first set horizontal direction. The intersection line of the mounting slope and the horizontal plane extends along the second set horizontal direction. The first set horizontal direction is perpendicular to the second set horizontal direction. The parameter adjustment platform is mounted on the mounting slope.

[0011] In one embodiment of the present invention, the moving drive assembly includes a motor and a lead screw, the motor driving the lead screw to rotate, and the lead screw driving the fixed boss to translate.

[0012] The present invention also provides a marking system for a magnetic helical microrobot, comprising:

[0013] A material-carrying platform, which is used to carry the material to be engraved and to move the material to be engraved up and down;

[0014] A scribing device, used to scribble on the material to be scribed on the material carrier platform;

[0015] An image acquisition device is used to acquire images of the scribing process on the material carrier platform.

[0016] This invention also provides a method for fabricating a magnetic helical microrobot, comprising the following steps performed sequentially:

[0017] S1. The spiral robot is delineated using the aforementioned delineation system;

[0018] S2. The prepared helical robot is surface-modified and wetted using a magnetohydrodynamic wetting method;

[0019] S3. By magnetizing the helical robot in different directions, the mass production and parameterized controllable preparation of magnetic helical microrobots were realized.

[0020] In one embodiment of the present invention, in step S2, the surface of the spiral robot is modified and wetted using a pipette.

[0021] In one embodiment of the present invention, in step S3, the helical robot is magnetized in different directions by a permanent magnet.

[0022] In one embodiment of the present invention, the material to be scratched is plastic.

[0023] In one embodiment of the present invention, the magnetic fluid comprises Fe3O4 nanoparticle magnetic fluid, an oil-based carrier fluid, and a surfactant.

[0024] The technical solution of the present invention has the following advantages compared with the prior art:

[0025] 1) The magnetic spiral microrobot marking device, marking system and preparation method of the present invention are based on the large deformation bending theory and bending test, and can prepare a material platform marking needle with arbitrary bending angle, which is of great significance to ensure the structural consistency of the marking needle of the material platform each time.

[0026] 2) The marking device, marking system and preparation method of the magnetic helical microrobot described in this invention establish a parameter adjustment platform with a simple structure and low equipment price;

[0027] 3) The scribing device, scribing system and preparation method of the magnetic helical microrobot described in this invention can remotely control the position, pitch angle and tilt angle of the scribing needle of the material carrier platform through a program, which has extremely high timeliness and accuracy.

[0028] 4) The magnetic spiral microrobot marking device, marking system and preparation method of the present invention are prepared by marking a plastic substrate with a marking needle on a material carrier platform. The time and economic costs required by this method are extremely low.

[0029] 5) The scribing device, scribing system and preparation method of the magnetic helical microrobot described in this invention select oil-based magnetic fluid droplets that do not stick to hydrophilic surfaces but are very easy to stick to plastic surfaces. The magnetic helical robot prepared by wetting the helical robot using this property of magnetic fluid not only has extremely high stability in air, but also has extremely strong stability in water.

[0030] 6) The marking device, marking system and preparation method of the magnetic helical microrobot described in this invention, before the magnetic fluid is attached to the helical robot, the helical robot is magnetized in different directions by using a permanent magnet, and then the different behavior modes of the helical robot can be controlled by using a rotating magnetic field.

[0031] 7) The magnetic spiral microrobot marking device, marking system and preparation method described in this invention have a simple and compact system structure, are more beautiful and practical than existing technology products, and have a stronger overall sense of technology and are more refined. Attached Figure Description

[0032] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to five specific embodiments and the accompanying drawings.

[0033] Figure 1 SEM image of the scribing needle of the magnetic spiral microrobot disclosed in this invention;

[0034] Figure 2 This is a perspective view of the scribing device of the magnetic helical microrobot disclosed in this invention;

[0035] Figure 3 This is a front view of the scribing device of the magnetic helical microrobot disclosed in this invention;

[0036] Figure 4 This invention discloses a diagram showing the pitch and diameter data of a helical robot with different pitch angles.

[0037] Figure 5 This invention discloses a graph showing the pitch and diameter data of a helical robot with different tilt angles.

[0038] Figure 6 This is a perspective view of the marking system of the magnetic helical microrobot disclosed in this invention;

[0039] Figure 7 This is a flowchart of the fabrication method of the magnetic helical microrobot disclosed in this invention;

[0040] Figure 8 This is a schematic diagram of step S2 in the preparation method of the magnetic helical microrobot disclosed in this invention;

[0041] Figure 9 This is a schematic diagram of step S3 in the preparation method of the magnetic helical microrobot disclosed in this invention;

[0042] Figure 10 The experimental process of preparing the helical microrobot for the automated parameter tuning platform of this invention is shown in the figure.

[0043] Figure 11 Experimental diagram of the magnetic spiral microrobot moving along its long axis according to the present invention;

[0044] Figure 12 Experimental diagram of the magnetic helical microrobot moving along its short axis according to the present invention.

[0045] Explanation of markings on the accompanying drawings: 1. Grating needle; 11. Needle holder; 2. Parameter adjustment platform; 21. Angle position

[0046] 22. Moving platform; 23. Dual-axis servo motor; 24. Single-axis servo motor; 35. Archway fixed platform; 46. Moving platform; 57. Fixed boss; 68. Mounting ramp; 79. Motor; 80. Lead screw; 91. Material loading platform; 10. Image acquisition.

[0047] 6. Scribing device; 7. Helical robot; 8. Pipette; 9. Permanent magnet. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings and specific embodiments to enable those skilled in the art to understand it.

[0049] Those skilled in the art can better understand and implement this invention, but the examples given are not intended to limit the invention.

[0050] See Figures 1 to 5 As shown, a scribing device for a magnetic helical microrobot includes:

[0051] The scribe needle 1 has its tip in contact with the material to be scribe. The tip of the scribe needle is hook-shaped and has an outwardly convex arc-shaped surface.

[0052] Parameter adjustment platform 2 is connected to the needle bar of the scribe needle 1. Parameter adjustment platform 2 is used to adjust the tilt and pitch angles of the scribe needle 1. When adjusting the tilt angle of the scribe needle 1, parameter adjustment platform 2...

[0053] When the marking needle 1 is rotated around the needle shaft axis to the set tilt angle, the parameter adjustment platform 2 adjusts the elevation angle of the marking needle 1, causing the needle tip of the marking needle 1 to swing up and down to the set elevation angle.

[0054] The mobile platform 3 is connected to the parameter adjustment platform 2. The mobile platform 3 is used to drive the scribing needle 1 to perform scribing action. When the mobile platform 3 drives the scribing needle 1 to perform scribing action, the scribing needle 1 moves along the first 0 set horizontal direction and the outward convex arc surface of the hook-shaped needle tip abuts against the scribing material.

[0055] The principle behind this invention for creating a spiral robot lies in the fact that the material being etched by the scribe needle has different internal and external stresses, causing the etched material to coil and shrink, thus forming a spiral shape. The core of this invention is based on the SEM image of the scribe needle after bending, calculating the bending stiffness B of the scribe needle, and then...

[0056] In the deformation theory bending model, φ-PL^2 / B, the radial force P acting on the tip of the scribing needle can be calculated to be approximately 513.58 N. Therefore, by obtaining the radial force acting on the needle tip each time, fixed bending can be mass-produced.

[0057] Angle-dependent scribing needles, or scribing needles with varying radial forces to create different bending angles, can be used to conduct scribing experiments on helical robots after qualitative analysis and controllable fabrication.

[0058] In this preferred embodiment, the parameter adjustment platform 2 includes a tool for adjusting the tilt of the scribing needle 1.

[0059] An angular displacement platform 21 and a dual-axis servo 22 and a single-axis servo 23 for adjusting the pitch angle of the scribe pin 1. The dual-axis servo 22 is mounted on the angular displacement platform 21, and the single-axis servo 23 is connected to the dual-axis servo 22.

[0060] The scriber 1 is connected to the single-axis servo motor 23 via the needle holder 11. Specifically, the arch fixing platform 24 is connected to the angular displacement platform 21, and the dual-axis servo motor 22 is connected to the arch fixing platform 24.

[0061] In this preferred embodiment, the mobile platform 3 includes a fixed mounting base for installing the parameter adjustment platform 2.

[0062] The system includes a fixed boss 31 and a moving drive assembly for translating the fixed boss 31. The fixed boss 31 has a mounting inclined surface 32, which is opposite to a first predetermined horizontal direction. The intersection line of the mounting inclined surface 32 and the horizontal plane extends along a second predetermined horizontal direction. The first predetermined horizontal direction is perpendicular to the second predetermined horizontal direction. The parameter adjustment platform 2 is mounted on the mounting inclined surface 32. The aforementioned mounting inclined surface ensures that when the scribing needle is scribing, the needle tip faces the direction of the scribing needle's travel, and the scribing needle is tilted.

[0063] In a preferred embodiment of this invention, the moving drive assembly includes a motor 33 and a lead screw 34. The motor 33 drives the lead screw 34 to rotate, and the lead screw 34 drives the fixed boss 31 to translate.

[0064] The aforementioned parameter adjustment platform mainly consists of a motor (stepper motor), a scribing needle, a needle holder, a dual-axis servo motor, an arch-shaped fixed platform, an angle displacement stage, and a fixed boss. This automated parameter adjustment platform uses a model M6-00-110 with a working range of 100mm. This large working range enables automated fabrication of helical microrobots on large substrates. The fixed boss connects the stepper motor and the angle displacement stage. The stepper motor is fixed to the fixed boss via four M5 threaded holes at its bottom, and the angle displacement stage is fixed to the fixed boss via four M4 threaded holes at its top. Thus, the movement of the scribing needle along the x-axis is achieved by moving the stepper motor. The initial tilt angle of the fixed boss is 30°, and the angle displacement stage located above it is a model GFG40-40, capable of adjusting the angle by ±20°. The upper part of the angular displacement platform is fixed to the designed arch structure through four M3 threaded holes. The dual-axis servo is fixed to both sides of the arch through M2.5 threaded holes on both sides of the arch. The dual-axis servo and the single-axis servo are assembled and fixed together through a cross-groove servo connector. Finally, a pin holder connects the single-axis servo and the scribing needle. The single-axis servo is model DS3115, and the dual-axis servo is model RDS3115, both with a working range of ±90°. In this way, the scribing needle can be rotated on the x-axis and y-axis through the dual-servo two-degree-of-freedom rotation structure.

[0065] See Figure 6 As shown, a marking system for a magnetic helical microrobot includes:

[0066] Material loading platform 4 is used to support the material to be engraved 6 and to move the material to be engraved 6 up and down;

[0067] The scribing device is used to scribble the material 6 to be scribed on the material carrier platform 4.

[0068] Image acquisition device 5 is used to acquire images of the marking process on the material loading platform 4.

[0069] After designing the automated parameter tuning platform model, its physical model was constructed. The host computer controls the automated parameter tuning platform through a five-axis motion control board. During the experiment, the height of the plastic substrate is adjusted by the Z-axis lifting platform (material loading platform), the aperture can be adjusted to control the lighting during the experiment, and an industrial lens is used to capture images above the plastic substrate. Finally, the CCD camera transmits the acquired images to the host computer.

[0070] The automated parameter tuning platform utilizes a LabVIEW control program. It can be connected to a five-axis motion control board via VISA serial communication on the control panel. In the experiment, the pitch angle of the scribe pin is adjusted by controlling the rotation angle of the dual-axis servo motor, the tilt angle of the scribe pin is adjusted by controlling the rotation angle of the angular displacement stage, and the cutting motion of the scribe pin on the substrate is achieved by controlling the x-axis displacement of the stepper motor (first set direction).

[0071] See Figures 7 to 12 As shown, a method for fabricating a magnetic helical microrobot includes the following steps performed sequentially:

[0072] S1. The spiral robot 7 is delineated using the above-mentioned delineation system;

[0073] S2. The prepared spiral robot 7 is surface-modified and wetted by magnetohydrodynamic wetting method;

[0074] S3. Magnetizing the helical robot 7 in different directions enables the mass production of magnetic helical microrobots in a parameterized and controllable manner.

[0075] In the preferred embodiment of this example, in step S2, the surface of the spiral robot 7 is modified and wetted using a pipette 8.

[0076] In the preferred embodiment of this example, in step S3, the helical robot 7 is magnetized in different directions by the permanent magnet 9.

[0077] In this preferred embodiment, the material 6 to be scratched is plastic.

[0078] In this preferred embodiment, the magnetic fluid includes Fe3O4 nanoparticle magnetic fluid, oil-based carrier fluid, and surfactant.

[0079] After fabricating a helical robot using an automated parameter tuning platform to control the scribing of a stylus, it needs to be magnetized so that it can be controlled by magnetic fields in different directions. In this invention, we innovatively propose a magnetofluid wetting method. The magnetofluid used in this method consists of Fe3O4 nanoparticles with a diameter of approximately 10 nm, a carrier liquid (oil-based organic solvent or water), and a surfactant. The carrier liquid allows the magnetofluid to maintain its liquid properties, and the van der Waals forces generated by the surfactant prevent the aggregation of internal magnetic nanoparticles during magnetization, allowing the ferrofluid to remain stable for a relatively long time. When the oil-based (or water-based) magnetofluid is mixed with an aqueous (or oil-based) solution, due to the immiscibility of the two and the presence of surface tension, the magnetofluid is torn into countless magnetofluid droplets randomly distributed in the continuous phase solution. Furthermore, in a liquid (aqueous) environment, when an oil-based magnetorheological fluid droplet falls onto a hydrophilic surface, water molecules aggregate at the interface to form a water film between the droplet and the hydrophilic surface. This water film effectively isolates the droplet from direct contact with the substrate, thus preventing the oil-based magnetorheological fluid droplet from adhering to the hydrophilic surface. However, it readily adheres to plastic surfaces, and the helical microrobot wetted by the magnetorheological fluid exhibits very high stability in water. Utilizing these properties of magnetorheological fluids, a pipette can be used to aspirate and wet the surface of the helical robot.

[0080] After wetting the helical robot with a pipette, the magnetic fluid's ability to deform or move under the influence of an external magnetic field can be utilized. Therefore, before the magnetic fluid is fully attached to the helical robot, we can change the magnetization direction of the magnetic fluid by varying the angle between the permanent magnet and the helical robot. By keeping the angle constant and waiting for 30 minutes until the magnetic fluid is fully attached to the magnetic helical robot, we can achieve magnetization of the helical robot in different directions.

[0081] During magnetization, the helical robot is positioned 2 cm directly above the permanent magnet. The left image shows the angle at which the helical robot is magnetized along its major axis; under this magnetization direction, the helical robot exhibits a rolling motion along its major axis driven by the rotating magnetic field. The right image shows the angle at which the helical robot is magnetized along its minor axis; under this magnetization direction, the helical robot exhibits a rolling motion along its minor axis driven by the rotating magnetic field. Using this method, magnetic helical robots with different motion behavior modes can be fabricated, which is of great significance for subsequent motion control experiments.

[0082] In summary, the fabrication of the magnetic helical robot of this invention mainly involves the following five steps:

[0083] First, the fabrication of different bending angles of the scribing needle was determined by studying the bending model.

[0084] Secondly, an automated parameter tuning platform model was built using Solidworks 3D modeling software and then assembled.

[0085] Furthermore, the position, pitch angle, and tilt angle of the scribe pin are controlled by the automated parameter tuning platform program, thereby producing helical robots with different pitches and diameters.

[0086] Then, a pipette was used to attach the magnetorheological fluid to the surface of the helical robot.

[0087] Finally, by changing the angle between the permanent magnet and the helical robot, magnetization of the helical robot in different directions was achieved, thus ultimately realizing the mass production, parameterized, and controllable fabrication of magnetic helical microrobots.

[0088] During the experiment, the height of the plastic substrate was adjusted by a Z-axis lifting platform to calibrate the substrate and the scribing needle. Then, the motion control board controlled the automated parameter adjustment platform. Images were acquired above the plastic substrate through an industrial lens, and finally, the industrial camera transmitted the acquired images to the host computer.

[0089] The main steps in fabricating a helical robot using an automated parameter tuning platform are as follows:

[0090] (1) System initialization: The plastic substrate and the scribing needle are calibrated by using the Z-axis lifting stage to calibrate the 60mm plastic culture dish.

[0091] (2) Open the top lens and move the lens position to adjust the imaging field of view. Use the lens to initially locate the position of the magnetic robot, select the experimental area of ​​interest, and position the area to the center of the lens field of view.

[0092] (3) Connect the stepper motor and servo motor to the corresponding output terminals of the five-axis control board module, and connect the five-axis control board to the power supply.

[0093] (4) Open the host computer control software of the automated parameter adjustment platform and use the host computer control program to implement it.

[0094] (5) Adjust the output signals of the stepper motor and servo motor to control the position, pitch angle and tilt angle of the scribe pin, and finally realize the experimental process diagram of the spiral micro robot with different pitch and diameter.

[0095] (6) The prepared spiral robot is surface modified and wetted by magnetic fluid wetting method, and magnetization of the spiral robot in different directions is achieved by using permanent magnets. In this way, the mass production and parameterized controllable preparation of magnetic spiral microrobots are finally realized.

[0096] (7) Finally, the host computer sends a control signal to control the electromagnetic coil to generate a rotating magnetic field to drive the rotational motion of the magnetic helical robots with different magnetization directions. The magnetic helical robot magnetized along the major axis moves along the x-axis; the magnetic helical robot magnetized along the minor axis moves along the x-axis.

[0097] This invention constructs an automated parameter adjustment platform composed of a stepper motor and a servo motor. The platform has a simple and clear structure and low equipment cost. As the processing equipment system of this invention, its overall structure and assembly relationship need to be protected. The stepper motor and servo motor are cleverly connected, with the stepper motor controlling the displacement of the scribe line. An angle displacement stage is also connected between the stepper motor and the servo motor, which can adjust the tilt angle of the scribe line. The rotating structure combining the two servo motors enables the scribe line to rotate along the x and y axes. The position, pitch angle, and tilt angle of the scribe line are remotely controlled via a program, exhibiting extremely high timeliness and accuracy. The method for fabricating helical robots by scribing a plastic substrate with a scriber is ingenious and novel, with extremely low time and economic costs. For helical robots based on plastic substrates, a magnetofluid wetting method was invented, utilizing their excellent bonding ability with oil-based magnetofluids. Magnetic helical robots fabricated using this method exhibit strong stability in both air and water. The innovative feature of the magnetofluid wetting method is the clever use of different angles between a permanent magnet and the helical robot to achieve magnetization in different directions. After magnetization, different behavioral modes of the helical robot can be controlled using a rotating magnetic field.

[0098] The entire automated parameter adjustment platform cleverly combines moving and rotating structures, increasing the control precision, stability, and aesthetics of this magnetic control system.

[0099] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A scribing device for a magnetic helical microrobot, characterized in that, include: A scribing needle, the tip of which contacts the material to be scribed, the tip of which is hook-shaped and has an outwardly convex arc-shaped surface; A parameter adjustment platform is connected to the shank of the scribe needle. The parameter adjustment platform is used to adjust the tilt angle and elevation angle of the scribe needle. When adjusting the tilt angle of the scribe needle, the parameter adjustment platform drives the scribe needle to rotate around the shank axis of the scribe needle to the set tilt angle. When adjusting the elevation angle of the scribe needle, the parameter adjustment platform drives the tip of the scribe needle to swing up and down to the set elevation angle. A mobile platform is connected to the parameter adjustment platform. The mobile platform is used to drive the scribing needle to perform scribing action. When the mobile platform drives the scribing needle to perform scribing action, the scribing needle moves along a first set horizontal direction and the convex arc surface of the hook-shaped needle tip abuts against the scribing material. The parameter adjustment platform includes an angular displacement platform for adjusting the tilt angle of the scribe needle and a dual-axis servo and a single-axis servo for adjusting the pitch angle of the scribe needle. The dual-axis servo is mounted on the angular displacement platform, the single-axis servo is connected to the dual-axis servo, and the scribe needle is connected to the single-axis servo via a needle holder. The mobile platform includes a fixed boss for mounting the parameter adjustment platform and a mobile drive assembly for driving the fixed boss to translate. The fixed boss has a mounting slope that is opposite to the first set horizontal direction. The intersection line of the mounting slope and the horizontal plane extends along the second set horizontal direction. The first set horizontal direction is perpendicular to the second set horizontal direction. The parameter adjustment platform is mounted on the mounting slope.

2. The scribing apparatus according to claim 1, characterized in that, The moving drive assembly includes a motor and a lead screw. The motor drives the lead screw to rotate, and the lead screw drives the fixed boss to translate.

3. A scribing system for a magnetic helical microrobot, characterized in that, include: A material-carrying platform, which is used to carry the material to be engraved and to move the material to be engraved up and down; The scribing apparatus according to claim 1 or 2 is used to scribble on the material to be scribed on the material carrier platform; An image acquisition device is used to acquire images of the scribing process on the material carrier platform.

4. A method for fabricating a magnetic helical microrobot, characterized in that, This includes the following steps performed sequentially: S1. A spiral robot is delineated using the delineation system described in claim 3; S2. The prepared helical robot is surface-modified and wetted using a magnetohydrodynamic wetting method; S3. By magnetizing the helical robot in different directions, the mass production and parameterized controllable preparation of magnetic helical microrobots were realized.

5. The preparation method according to claim 4, characterized in that, In step S2, the surface of the spiral robot is modified and wetted using a pipette.

6. The preparation method according to claim 4, characterized in that, In step S3, the helical robot is magnetized in different directions using permanent magnets.

7. The preparation method according to claim 4, characterized in that, The material to be scratched is plastic.

8. The preparation method according to claim 4, characterized in that, The magnetic fluid comprises Fe3O4 nanoparticle magnetic fluid, oil-based carrier fluid, and surfactant.

Images