Magnetic micro-cone array, magnetically driven micro-robot driving module and preparation method thereof

Abstract

The present invention discloses a magnetic micro-cone array, a magnetically driven micro-robot driving module and a preparation method thereof. The preparation method of the magnetic micro-cone array includes the following steps: providing a carrier; mixing a liquid silicone-based material with a magnetic material to form a composite slurry; using a jet dispensing method to print the composite slurry on the carrier according to a preset printing path to form droplets distributed in an array; applying an external magnetic field so that the droplets distributed in the array are pulled in the magnetic field and flow along a preset direction. After solidification, the magnetic micro-cone array is formed. The present invention is based on additive manufacturing technology and utilizes a high-precision non-contact jet dispensing method, combined with magnetic field traction, to form a magnetic micro-cone structure by non-contact means. The prepared magnetic micro-cone array can be used as a support structure for a magnetically driven micro-robot driving module. The preparation method provided by the present invention has a simple process, high manufacturing efficiency, and can greatly reduce manufacturing costs.

Description

Technical Field

[0001] The present invention relates to the field of micro array structure preparation and micro robot technology, and in particular to a magnetic micro cone array, a magnetically driven micro robot driving module and a preparation method thereof. Background Art

[0002] Microrobots, a key branch of robotics, are experiencing rapid development. They can perform targeted drug delivery within the human body and carry out tasks within other tiny spaces, such as between microelectronic components. Microrobots generally consist of an energy module, a drive module, and a sensor module. The energy module supplies the energy required for the microrobot's movement and communication. The drive module directly drives the microrobot's motion under various conditions. The sensor module transmits positional information during the microrobot's motion. Through the collaboration of these three modules, microrobots can achieve mobile and transport tasks within tiny spaces, offering broad application prospects in non-invasive medical care, microelectronics, aerospace, and other fields.

[0003] Common microrobots use chemical energy, bacterial bioenergy, or external energy sources as their energy sources. External energy sources mainly include electrostatic energy, light energy, magnetic energy, etc. Among them, magnetically driven microrobots have the characteristics of strong mobility, good controllability, fast movement speed, and harmlessness to the human body. They have attracted widespread attention and attention in the field of microrobots.

[0004] A magnetically driven microrobot is mainly composed of an external control magnetic field and a drive module. The drive module is generally a thin magnetic layer that is responsible for converting the magnetic energy generated by the external control magnetic field into kinetic energy. During the movement of the microrobot, structural support parts are required to provide support during the movement of the robot. This requires that the structural support parts have a certain structural strength so that the robot has sufficient carrying capacity. At the same time, in order to avoid kinetic energy loss caused by excessive friction with the moving surface, it is necessary to ensure that the coefficient of motion friction between the support structure and the moving surface is as small as possible, and its own weight must also be as small as possible. The development of a drive module with lightweight, high-strength support components is of great significance to the development of magnetically driven microrobots.

[0005] The support structure of a magnetically driven microrobot's drive module must support both the robot's own structure and the weight of the object being transported. Motion is achieved through the lifting and lowering of various components under magnetic actuation. Due to its overall size, the support structure is typically very small, and etching is typically used to create a microstructure on a flat surface. However, this method requires etching equipment, resulting in a complex manufacturing process, high costs, and low efficiency.

[0006] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0007] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a magnetic micro-cone array, a magnetically driven micro-robot driving module and a preparation method thereof, aiming to solve the problem that the supporting structure of the existing magnetically driven micro-robot driving module is usually prepared by an etching method, which has a complex manufacturing process, high cost and low efficiency.

[0008] The technical solutions of the present invention are as follows:

[0009] A first aspect of the present invention provides a method for preparing a magnetic microcone array, comprising the steps of:

[0010] Provide a carrier;

[0011] Mixing a liquid silicone-based material with a magnetic material to form a composite slurry;

[0012] Printing the composite slurry on the carrier according to a preset printing path using a jet dispensing method to form droplets distributed in an array;

[0013] An external magnetic field is applied, so that the droplets distributed in the array are pulled in the magnetic field and flow along a preset direction. After solidification, the magnetic micro-cone array is formed.

[0014] A second aspect of the present invention provides a method for preparing a magnetically driven micro-robot driving module, wherein the magnetically driven micro-robot driving module includes a magnetic driving layer and a magnetic micro-cone array provided on the magnetic driving layer. The method for preparing the magnetically driven micro-robot driving module includes the following steps:

[0015] providing a substrate;

[0016] preparing a magnetic driving layer on the substrate;

[0017] mixing a first liquid organosilicon-based material with a first magnetic material to form a first composite slurry;

[0018] Printing the first composite slurry on the magnetic drive layer according to a preset printing path using a jet dispensing method to form droplets distributed in an array;

[0019] An external magnetic field is applied to pull the droplets distributed in the array in the magnetic field and flow in a preset direction. After solidification, a magnetic micro-cone array is formed on the magnetic drive layer to obtain the magnetically driven micro-robot drive module.

[0020] Optionally, the substrate is an insulating substrate.

[0021] Optionally, the first step of mixing the liquid organosilicon-based material with the first magnetic material to form a first composite slurry specifically includes:

[0022] The first liquid organic silicon-based material and the first magnetic material are mixed, centrifugally stirred, and then degassed to form a first composite slurry.

[0023] Optionally, the first liquid silicone-based material is selected from at least one of polydimethylsiloxane and silicone.

[0024] Optionally, the first magnetic material is selected from at least one of iron, neodymium iron boron, aluminum nickel cobalt, iron chromium cobalt, samarium cobalt, iron chromium molybdenum, doped ferroferric oxide, and undoped ferroferric oxide.

[0025] Optionally, the dispensing time of the jet dispensing is 1-50ms, and the number of pulse points of the jet dispensing is 1-100.

[0026] Optionally, in the external magnetic field, the magnetic lines of force in the magnetic field region where at least the magnetic drive layer containing the arrayed droplets is located are perpendicular to the magnetic drive layer, so that the arrayed droplets are pulled in the magnetic field and flow in a direction perpendicular to the magnetic drive layer and away from the magnetic drive layer.

[0027] Optionally, the step of preparing a magnetic driving layer on the substrate specifically includes:

[0028] mixing a second liquid organosilicon-based material with a second magnetic material to form a second composite slurry;

[0029] The second composite slurry is printed on the substrate by a jet dispensing method, and after curing, a magnetic drive layer is prepared on the substrate.

[0030] A third aspect of the present invention provides a magnetically driven micro robot driving module, which is prepared using the preparation method of the present invention as described above.

[0031] Beneficial Effects: Based on additive manufacturing technology, this invention utilizes a high-precision, non-contact jet dispensing method, combined with magnetic field traction, to form a non-contact magnetic micro-cone structure. The resulting magnetic micro-cone array can serve as the support structure for the drive module of a magnetically driven micro-robot. The preparation method provided by this invention offers a simple process, high manufacturing efficiency, and can significantly reduce manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of droplets distributed in an array in an embodiment of the present invention.

[0033] Figure 2 Schematic diagram of the formation of the micro-cone structure in an embodiment of the present invention.

[0034] Figure 3 Schematic diagram of the structure of the magnetically driven micro robot driving module in an embodiment of the present invention.

[0035] Figure 4 This is a physical picture of the magnetically driven micro robot driving module in Example 1 of the present invention. DETAILED DESCRIPTION

[0036] The present invention provides a magnetic micro-cone array, a magnetically driven micro-robot drive module, and a method for manufacturing the same. To clarify the objectives, technical solutions, and effects of the present invention, the present invention is described in further detail below. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0037] Unless otherwise defined, all technical terms and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0038] An embodiment of the present invention provides a method for preparing a magnetic micro-cone array, which includes:

[0039] S11, providing a carrier;

[0040] S12, mixing the liquid silicone-based material and the magnetic material to form a composite slurry;

[0041] S13, using a jet dispensing method to print the composite slurry on the carrier according to a preset printing path to form droplets distributed in an array;

[0042] S14, applying an external magnetic field so that the droplets distributed in the array are pulled in the magnetic field and flow along a preset direction. After solidification, the magnetic micro-cone array is formed.

[0043] The embodiment of the present invention is based on additive manufacturing technology, using a high-precision non-contact jet dispensing method combined with magnetic field traction to form a magnetic micro-cone structure. The prepared magnetic micro-cone array can be used as the support structure of the magnetic drive micro-robot drive module. The inventor cleverly uses the traction effect of the magnetic field on the magnetic material in the droplet to form the micro-cone structure through the non-contact means of the magnetic field. The preparation method provided by the embodiment of the present invention has a simple process, high manufacturing efficiency, and can greatly reduce manufacturing costs.

[0044] In this embodiment, magnetic microcone arrays with different densities (i.e., different numbers of magnetic microcones are obtained in the magnetic microcone array per unit area) and magnetic microcone arrays with different distribution patterns (i.e., the arrangement of the magnetic microcones in the magnetic microcone array) can be obtained by changing the printing path. The specific size parameters of the droplet forming structure (i.e., the magnetic microcones) can be controlled by regulating the direction and strength of the external magnetic field. The flow direction of the droplet can be controlled by regulating the direction of the magnetic lines of force of the external magnetic field.

[0045] In step S11, the specific material of the carrier is not limited. Any object on whose surface a magnetic micro-cone array is to be prepared falls within the scope of the carrier described in the present invention.

[0046] In step S12, in one embodiment, the step of mixing the liquid silicone-based material with the magnetic material to form a composite slurry specifically includes:

[0047] The liquid silicone-based material is mixed with the magnetic material, centrifugally stirred, and then degassed to form a composite slurry.

[0048] In one embodiment, the liquid silicone-based material is selected from at least one of polydimethylsiloxane and silicone, but is not limited thereto.

[0049] In one embodiment, the magnetic material is selected from at least one of iron, neodymium iron boron, aluminum nickel cobalt, iron chromium cobalt, samarium cobalt, iron chromium molybdenum, doped ferroferric oxide, and undoped ferroferric oxide, but is not limited thereto.

[0050] In step S13, in one embodiment, the preset drive voltage for the jet dispensing is 50-100% (the preset drive voltage is 50-100% of the device voltage), the jet dispensing time is 1-50ms, and the number of jet dispensing pulses is 1-100. In this embodiment, the jet flow rate is controlled by controlling these parameters, thereby controlling the mass or size of the droplets.

[0051] The embodiment of the present invention also provides a method for preparing a magnetically driven micro robot driving module, such as Figure 1-3 As shown, the magnetically driven micro-robot driving module includes a magnetic driving layer and a magnetic micro-cone array arranged on the magnetic driving layer. The preparation method of the magnetically driven micro-robot driving module includes the steps of:

[0052] S21, provide substrate 3 (such as Figure 1 shown);

[0053] S22, prepare a magnetic driving layer 2 (such as Figure 1 shown);

[0054] S23, mixing the first liquid organosilicon-based material and the first magnetic material to form a first composite slurry;

[0055] S24, using a jet dispensing method to print the first composite slurry on the magnetic drive layer 2 according to a preset printing path, forming an array of droplets 1 (such as Figure 1 shown);

[0056] S25, such as Figure 2-3As shown, an external magnetic field is applied so that the droplets 1 distributed in the array are pulled in the magnetic field and flow in a preset direction. After solidification, a magnetic micro-cone array 1' is formed on the magnetic driving layer 2 to obtain the magnetically driven micro robot driving module (as shown in FIG. Figure 3 shown).

[0057] The present invention utilizes additive manufacturing technology, a high-precision, non-contact jet dispensing method, and a magnetic field that pulls droplets containing magnetic material. This allows for the rapid, non-contact fabrication of a sufficiently strong magnetic micro-cone array (i.e., the support structure for the magnetically driven microrobot drive module) on a magnetic drive layer. The fabrication method provided by the present invention is simple, highly efficient, and can significantly reduce manufacturing costs.

[0058] In this embodiment, a high-precision non-contact jet dispensing method is used to print the first composite slurry on the magnetic drive layer to form an array of distributed droplets. The substrate containing the array of distributed droplets and the magnetic drive layer is placed in a magnetic field. The magnetic field exerts a traction effect on the droplets containing the magnetic material, causing the droplets to flow in a preset direction (the magnetic field direction is set according to this preset direction). Through the combined effect of the magnetic field, the gravity of the liquid itself, and the surface tension, the droplets form a micro-cone structure, and then after solidification in the magnetic field, a magnetic micro-cone array is formed.

[0059] In step S21 , in one embodiment, the substrate is an insulating substrate.

[0060] In a specific embodiment, the substrate is a polyvinyl chloride (PVC) substrate, but is not limited thereto.

[0061] In step S22, in one embodiment, the step of preparing a magnetic drive layer on the substrate specifically includes:

[0062] S221. Mix the second liquid organic silicon-based material and the second magnetic material, perform centrifugal stirring, and then perform degassing treatment to form a second composite slurry.

[0063] S222: Print the second composite slurry on the substrate using a jet dispensing method, and after curing, prepare a magnetic drive layer on the substrate.

[0064] In this embodiment, based on additive manufacturing technology, a high-precision non-contact jet dispensing method (specifically, it can be performed in a jet dispensing machine) is used to control the dispensing density and dispensing flow rate to produce a magnetic drive layer with uniform thickness.

[0065] In step S221 , in one embodiment, the second liquid silicone-based material is selected from at least one of polydimethylsiloxane and silicone, but is not limited thereto.

[0066] In one embodiment, the second magnetic material is selected from at least one of iron, neodymium iron boron, aluminum nickel cobalt, iron chromium cobalt, samarium cobalt, iron chromium molybdenum, doped ferroferric oxide, and undoped ferroferric oxide, but is not limited thereto.

[0067] In one specific embodiment, the second magnetic material is selected from neodymium iron boron (NdFeB). NdFeB is a rare earth permanent magnet material. The magnetic drive layer employs NdFeB, which, after magnetization, provides excellent magnetic response characteristics. A magnetically driven microrobot employing this drive module exhibits excellent deformation and movement capabilities when an external drive magnetic field is applied.

[0068] In step S23, in one embodiment, the step of mixing the first liquid organosilicon-based material and the first magnetic material to form a first composite slurry specifically includes:

[0069] The first liquid organic silicon-based material and the first magnetic material are mixed, centrifugally stirred, and then degassed to form a first composite slurry. In specific implementation, the ratio of the first liquid organic silicon-based material to the first magnetic material is set according to actual needs.

[0070] In one embodiment, the first liquid organosilicon-based material is selected from at least one of polydimethylsiloxane and silica gel, but is not limited thereto. In practice, silica gel cures quickly, and the addition of a retarder during the preparation of the first composite slurry can significantly slow the curing rate of the silica gel. Existing retarders can be used, such as Smooth-on SLO-JO retarder from the United States.

[0071] In one embodiment, the first magnetic material is selected from at least one of iron, neodymium iron boron, aluminum nickel cobalt, iron chromium cobalt, samarium cobalt, iron chromium molybdenum, doped ferroferric oxide, and undoped ferroferric oxide, but is not limited thereto.

[0072] In step S24, in one embodiment, the preset drive voltage for the jet dispensing is 50-100% (the preset drive voltage is 50-100% of the device voltage), the jet dispensing time is 1-50ms, and the number of jet dispensing pulses is 1-100. In this embodiment, these parameters are controlled to control the jet flow rate, thereby controlling the mass or size of the droplets.

[0073] In step S24, the number of magnetic micro-cones per unit area and the distribution pattern of the magnetic micro-cone array can be changed by designing an optimized printing path. In step S25, the specific size parameters of the droplet forming structure (i.e., the micro-cone) can be controlled by regulating the direction and strength of the external magnetic field. The flow direction of the droplet can be controlled by regulating the direction of the magnetic lines of force of the external magnetic field (for example, flowing in a direction perpendicular to the magnetic drive layer, or flowing in a direction at a certain angle to the magnetic drive layer, such as 30°, 60°, etc.), thereby improving the carrying capacity of the driving module, reducing the friction resistance between the body of the magnetically driven micro robot using this driving module and the ground, increasing the degree of freedom of movement, and enhancing the obstacle crossing capability.

[0074] In one embodiment, in the external magnetic field, at least the magnetic field lines in the magnetic field region where the magnetic drive layer containing the arrayed droplets is located are perpendicular to the magnetic drive layer (that is, the magnetic field lines of the external magnetic field are perpendicular to the magnetic drive layer, or the magnetic field lines of the magnetic field region where the magnetic drive layer containing the arrayed droplets on the surface is located are perpendicular to the magnetic drive layer), so that the arrayed droplets are pulled in the magnetic field and flow in a direction perpendicular to and away from the magnetic drive layer. In this embodiment, when the magnetic field lines of the external magnetic field are perpendicular to the magnetic drive layer or the magnetic field lines of the magnetic field region where the magnetic drive layer containing the arrayed droplets on the surface is located are perpendicular to the magnetic drive layer, then because the droplets contain magnetic material, the droplets are pulled in the magnetic field and flow in a direction perpendicular to and away from the magnetic drive layer, and a magnetic micro-cone array is formed by the combined action of the magnetic field, the gravity of the liquid itself, and the surface tension. The formed magnetic micro-cone array is a magnetic micro-cone array distribution (the distribution pattern of the array can be set according to actual needs), wherein a single magnetic micro-cone is a micro-cone structure with a pointed top and a wide bottom.

[0075] In one embodiment, the magnetic field strength of the external magnetic field is 50-260 mT.

[0076] An embodiment of the present invention further provides a magnetically driven micro-robot driving module, which is prepared using the above-described preparation method of the present invention.

[0077] The following describes it in detail through specific examples.

[0078] Example 1

[0079] A PVC plate with a thickness of 0.2 mm was used as a forming substrate for the magnetic substrate, and ultrasonic cleaning was performed using anhydrous ethanol for 5-10 minutes, and the plate was dried and then used for later use.

[0080] Mixing polydimethylsiloxane and neodymium iron boron in a mass ratio of 1:2, and centrifugally stirring in a centrifugal stirring device to fully mix and remove bubbles to form a second composite slurry;

[0081] The second composite slurry was printed on the PVC board using a jet dispensing machine to form a thin film, and fully cured to prepare a magnetic drive layer with a size of 15 mm × 15 mm × 0.5 mm on the PVC board;

[0082] Silica gel, undoped ferroferric oxide, and a retarder are mixed in a mass ratio of 5:3:0.37, and centrifugally stirred in a centrifugal stirring device to fully mix (so that the ferroferric oxide is evenly mixed in the silica gel) and remove bubbles to form a first composite slurry;

[0083] The non-contact jet dispensing method is used to use a jet dispensing machine (the preset driving voltage is 80%, the jet dispensing time is 2.0ms, the jet dispensing pulse point number is 60, and the jet dispensing machine model is Gaokai Precision GK-5070R) according to the preset printing path (such as Figure 4 ), printing the first composite slurry on the magnetic drive layer to form droplets distributed in an array;

[0084] Apply an external magnetic field of 260 mT (e.g. Figure 2 As shown in FIG, the magnetic field lines are perpendicular to the magnetic drive layer, so that the droplets distributed in the array are pulled in the magnetic field and flow in a direction perpendicular to and away from the magnetic drive layer. After 3 minutes, solidification begins in the magnetic field (curing at room temperature for 12 hours), and a magnetic micro-cone array with a bottom diameter of about 1.4 mm and a height of about 1.5 mm is formed on the magnetic drive layer to obtain the magnetically driven micro robot driving module (as shown in FIG). Figure 4 shown) 。

[0085] In summary, the present invention provides a magnetic micro-cone array, a magnetically driven micro-robot drive module, and methods for their preparation. Based on additive manufacturing technology, the present invention utilizes a high-precision, non-contact jet dispensing method, combined with magnetic field traction, to form a magnetic micro-cone structure through non-contact means. The resulting magnetic micro-cone array can serve as the support structure for the magnetically driven micro-robot drive module. The preparation method provided by the present invention offers simple process flow, high manufacturing efficiency, and can significantly reduce manufacturing costs.

[0086] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A method for preparing a magnetically driven microrobot driving module, characterized in that: The magnetically driven micro-robot driving module includes a magnetic driving layer and a magnetic micro-cone array arranged on the magnetic driving layer. The preparation method of the magnetically driven micro-robot driving module includes the following steps: providing a substrate; preparing a magnetic driving layer on the substrate; mixing a first liquid organosilicon-based material with a first magnetic material to form a first composite slurry; Printing the first composite slurry on the magnetic drive layer according to a preset printing path using a jet dispensing method to form droplets distributed in an array; An external magnetic field is applied to pull the droplets distributed in the array in the magnetic field and flow in a preset direction. After solidification, a magnetic micro-cone array is formed on the magnetic drive layer to obtain the magnetically driven micro-robot drive module.

2. The method for preparing a magnetically driven micro-robot driving module according to claim 1, characterized in that: The substrate is an insulating substrate.

3. The method for preparing a magnetically driven micro robot driving module according to claim 1, characterized in that: The step of mixing the first liquid organosilicon-based material with the first magnetic material to form a first composite slurry specifically includes: The first liquid organic silicon-based material and the first magnetic material are mixed, centrifugally stirred, and then degassed to form a first composite slurry.

4. The method for preparing a magnetically driven micro-robot driving module according to claim 1, wherein: The first liquid silicone-based material is selected from at least one of polydimethylsiloxane and silicone.

5. The method for preparing a magnetically driven micro robot driving module according to claim 1, wherein: The first magnetic material is selected from at least one of iron, neodymium iron boron, aluminum nickel cobalt, iron chromium cobalt, samarium cobalt, iron chromium molybdenum, doped ferroferric oxide, and undoped ferroferric oxide.

6. The method for preparing a magnetically driven micro-robot driving module according to claim 1, characterized in that: The dispensing time of the jet dispensing is 1-50ms, and the number of pulse points of the jet dispensing is 1-100.

7. The method for preparing a magnetically driven micro-robot driving module according to claim 1, characterized in that: In the external magnetic field, the magnetic lines of force in the magnetic field region where at least the magnetic drive layer containing the arrayed droplets is located are perpendicular to the magnetic drive layer, so that the arrayed droplets are pulled in the magnetic field and flow in a direction perpendicular to the magnetic drive layer and away from the magnetic drive layer.

8. The method for preparing a magnetically driven micro-robot driving module according to claim 1, characterized in that: The step of preparing the magnetic driving layer on the substrate specifically includes: mixing a second liquid organosilicon-based material with a second magnetic material to form a second composite slurry; The second composite slurry is printed on the substrate by a jet dispensing method, and after curing, a magnetic drive layer is prepared on the substrate.

9. A magnetically driven micro robot driving module, characterized in that: The method is described in any one of claims 1 to 8.

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