Self-replicating microrobots guided by magnetic and elastic forces

Abstract

This invention discloses a self-replicating microrobot guided by magnetic and elastic forces, comprising a non-living material basic unit including a unit body, a first magnetic and elastic force interaction structure, and a second magnetic and elastic force interaction structure. The prototype self-replicating microrobot utilizes the magnetic and elastic forces of the first magnetic and elastic force interaction structure to plunder non-living material basic units scattered in a liquid environment, allowing the plundered non-living material basic units to combine into a new self-replicating microrobot. The second magnetic and elastic force interaction structure is adapted to maintain the combined state of the new self-replicating microrobot through magnetic and elastic force interaction. After replication is completed, an external magnetic field is applied to counteract the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure, causing the interconnected self-replicating microrobots to separate. This invention features a simple fabrication process, fast replication speed, and high replication success rate.

Description

Technical Field

[0001] This invention relates to the field of microrobot technology, and more specifically to a self-replicating microrobot guided by magnetic and elastic forces. Background Technology

[0002] Microrobots have broad application prospects in fields such as biosensing, targeted drug delivery, embolization therapy, minimally invasive surgery, and cell manipulation. For a considerable period, however, microrobots will not be able to achieve self-replication.

[0003] In the 1940s, computer scientist John von Neumann proposed the "theory of self-replicating automata" from a mathematical perspective, but he did not study the physical fields and forces required for actual fabrication. In 2005, Joseph M. Jacobson and Hod Lipson, among others, independently achieved self-replication of centimeter-scale robots equipped with batteries, controllers, and communication modules. In 2011, Nadrian C. Seeman and others first achieved self-replication of micro- and nanostructures, but based on DNA fragments, a fundamental building block of life.

[0004] Invention patent application CN202310791658.8 proposes a universal solution that can physically realize the self-replication of microrobots without living matter. However, this solution involves multiple physical fields and requires complex fabrication processes to produce the basic units. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a self-replicating microrobot guided by magnetic and elastic forces, which has a simple fabrication process, fast replication speed, and high replication success rate.

[0006] A self-replicating microrobot guided by magnetic and elastic forces according to an embodiment of the present invention includes:

[0007] Multiple non-living material basic units, each of which includes a unit body, a first magnetic and elastic force interaction structure, and a second magnetic and elastic force interaction structure; both the first and second magnetic and elastic force interaction structures are disposed on the unit body; the prototype self-replicating microrobot utilizes the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure to plunder the non-living material basic units in a liquid environment scattered with the multiple non-living material basic units, so that the plundered multiple non-living material basic units combine to form a new self-replicating microrobot; the second magnetic and elastic force interaction structure is adapted to maintain the new self-replicating microrobot composed of the plundered multiple non-living material basic units in a combined state through magnetic and elastic force interaction; after replication is completed, by applying an external magnetic field to counteract the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure, the interconnected self-replicating microrobots are separated from each other.

[0008] According to embodiments of the present invention, the self-replicating microrobot guided by magnetic and elastic forces has only the first and second magnetic and elastic force interaction structures and the basic non-living material unit are provided on the unit body, involving only two physical actions: magnetic force and elastic force. The number of physical fields involved is small, the preparation process is simple, and the self-replicating microrobot uses a bottom-up self-assembly method to self-replicate, which can realize a variety of complex replication behaviors of non-biological microrobots, with fast replication speed and high replication success rate.

[0009] In some embodiments, the first magnetic and elastic force acting structure includes a first magnet, a second magnet, a first tenon structure, and a first mortise structure; the first magnet is a hard magnet and the second magnet is a soft magnet, or the first magnet is a strong hard magnet and the second magnet is a weak hard magnet; one of the first magnet and the second magnet is combined with the first tenon structure, and the other of the first magnet and the second magnet is combined with the first mortise structure, and the first magnet and the second magnet are in a paired relationship;

[0010] The second magnetic and elastic force action structure includes a third magnet, a fourth magnet, a second tenon structure, and a second mortise structure; the third magnet is a hard magnet and the fourth magnet is a soft magnet, or both the third magnet and the fourth magnet are hard magnets; one of the third magnet and the fourth magnet is combined with the second tenon structure, and the other of the third magnet and the fourth magnet is combined with the second mortise structure; the third magnet and the fourth magnet are in a paired relationship.

[0011] During the plundering process, the magnetic force between the first magnetic and elastic force interaction structure and the second magnetic and elastic force interaction structure when maintaining the combined state is the attraction between a hard magnet and a soft magnet or the attraction between the north and south poles of a hard magnet; the elastic force between the first magnetic and elastic force interaction structure is the supporting force between the first tenon structure and the first mortise structure, and the elastic force between the second magnetic and elastic force interaction structure is the supporting force between the second tenon structure and the second mortise structure;

[0012] The external magnetic field counteracts the magnetic and elastic forces between the first magnetic and elastic force interaction structures by applying torque to the hard magnets in the first magnetic and elastic force interaction structure.

[0013] In some embodiments, one of the first magnet and the second magnet is disposed at the first tenon structure, and the other of the first magnet and the second magnet is disposed at the first mortise structure; one of the third magnet and the fourth magnet is disposed at the edge of the second tenon structure, and the other of the third magnet and the fourth magnet is disposed at the edge of the second mortise structure.

[0014] In some embodiments, the first tenon structure is different from the second tenon structure, and the first mortise structure is different from the second mortise structure.

[0015] In some embodiments, if the first magnet is a hard magnet or / and the third magnet is a hard magnet, then the first magnet or / and the third magnet are both unmagnetized hard magnets first placed on the unit body, and then the unmagnetized hard magnets are simultaneously magnetized. The magnetization direction is the displacement direction when the first tenon structure and the first mortise structure are paired between the first magnetic force and elastic force action structure.

[0016] In some embodiments, the strength of the magnetism of the hard magnet can be adjusted by its shape, size, and magnet material properties.

[0017] In some embodiments, the basic non-living material unit is only one type, which can be assembled into one or more different self-replicating microrobots.

[0018] In some embodiments, there are two types of non-living material basic units that can be assembled into at least two different self-replicating microrobots, wherein the first magnetic and elastic force interaction structures of the two different non-living material basic units are both chiral, while the second magnetic and elastic force interaction structures are both symmetrical.

[0019] In some embodiments, the self-replicating microrobot of the prototype is a symmetrical robot, and the new self-replicating microrobot copied by the self-replicating microrobot of the prototype is identical to the self-replicating microrobot of the prototype.

[0020] In some embodiments, the self-replicating microrobot of the prototype is an asymmetric robot, and the new self-replicating microrobot copied by the self-replicating microrobot of the prototype is a mirror robot of the self-replicating microrobot of the prototype, and the new self-replicating microrobot copied by the mirror robot is identical to the self-replicating microrobot of the prototype.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a flowchart illustrating the self-replication of a self-replicating microrobot guided by magnetic and elastic forces.

[0024] Figure 2 This is a front view of a non-living material basic unit of a petal-shaped self-replicating microrobot;

[0025] Figure 3 yes Figure 2 An oblique view of a non-living material basic unit of a petal-shaped self-replicating microrobot.

[0026] Figure 4 It consists of 3 Figure 2 The image shows a front view of a petal-shaped self-replicating microrobot assembled from basic non-living material units.

[0027] Figure 5 This is a front view of a basic non-living material unit of a ring-shaped self-replicating microrobot;

[0028] Figure 6 It consists of 4 Figure 5 The image shows a front view of a ring-shaped self-replicating microrobot assembled from basic non-living material units.

[0029] Figure 7 This is a front view of a basic non-living material unit that can be assembled into two different ring-shaped self-replicating microrobots;

[0030] Figure 8 It consists of 4 Figure 7The image shows a front view of a ring-shaped self-replicating microrobot assembled from basic non-living material units.

[0031] Figure 9 It consists of 6 Figure 7 A front view of another type of ring-shaped self-replicating microrobot assembled from basic non-living material units.

[0032] Figure 10 This is a front view of a symmetrical, self-replicating microrobot assembled from two different basic non-living material units;

[0033] Figure 11 This is a front view of an asymmetric self-replicating microrobot assembled from two different basic non-living material units;

[0034] Figure 12 yes Figure 11 The rear view (away from its first magnetic and elastic force structures) of the asymmetric self-replicating microrobot shown is of the asymmetric self-replicating microrobot attracting a new robot to its pairing via its multiple first magnetic and elastic force action structures.

[0035] Figure 13 yes Figure 12 The front view of the new robot shown;

[0036] Figure 14 yes Figure 13 The rear view (away from its first magnetic and elastic force structures) of the new robot shown attracts paired asymmetric self-replicating microrobots through its multiple first magnetic and elastic force action structures;

[0037] Figure 15 This is a front view of a large asymmetric self-replicating microrobot assembled from two different basic non-living material units;

[0038] Figure 16 yes Figure 15 The rear view (away from its first magnetic and elastic force structures) of the large asymmetric self-replicating microrobot shown is shown.

[0039] Figure 17 yes Figure 16 The front view of the new large robot shown;

[0040] Figure 18 yes Figure 17 The rear view (away from its first magnetic and elastic force action structure) of the new large robot shown attracts a pair of large asymmetric self-replicating microrobots through its multiple first magnetic and elastic force action structures.

[0041] Figure label:

[0042] Basic non-living material unit 1; First magnetic and elastic force action structure 101; First magnet 1011; Second magnet 1012; First tenon structure 1013; First mortise structure 1014; Second magnetic and elastic force action structure 102; Third magnet 1021; Fourth magnet 1022; Second tenon structure 1023; Second mortise structure 1024; Unit body 103. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0044] The following combination Figures 1 to 18 This invention describes a self-replicating microrobot guided by magnetic and elastic forces according to an embodiment of the invention. The self-replicating microrobot achieves various complex replication behaviors of a non-biological microrobot by utilizing only two physical effects, magnetic and elastic forces, and a simple fabrication process.

[0045] like Figures 1 to 18 As shown, the self-replicating microrobot guided by magnetic and elastic forces according to an embodiment of the present invention includes multiple non-living material basic units 1. Each non-living material basic unit 1 includes a unit body 103, a first magnetic and elastic force interaction structure 101, and a second magnetic and elastic force interaction structure 102. The first magnetic and elastic force interaction structure 101 and the second magnetic and elastic force interaction structure 102 are both disposed on the unit body 103. The prototype self-replicating microrobot utilizes the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure 101 to plunder the non-living material basic units 1 in a liquid environment where multiple non-living material basic units 1 are scattered, so that the plundered multiple non-living material basic units 1 combine into a new self-replicating microrobot. The second magnetic and elastic force interaction structure 102 is adapted to maintain the new self-replicating microrobot composed of the plundered multiple non-living material basic units 1 in a combined state through magnetic and elastic force interaction. After replication is completed, an external magnetic field is applied to counteract the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure 101, causing the interconnected self-replicating microrobots to separate from each other.

[0046] Specifically, the unit body 103 of the non-living material basic unit 1 only has a first magnetic and elastic force interaction structure 101 and a second magnetic and elastic force interaction structure 102, involving only two physical interactions: magnetic force and elastic force. The number of physical fields involved is small, and it can be fabricated using mature microfabrication processes such as spin coating, photolithography, plasma etching, laser etching, and magnetron sputtering. The fabrication process is simple. For example... Figure 1 As shown, when the self-replicating microrobot performs self-replication, one or more prototype self-replicating microrobots assembled from non-living material basic units 1 are first provided. The prototype self-replicating microrobots and multiple non-living material basic units 1 are scattered in a liquid. The prototype self-replicating microrobots use the magnetic and elastic forces of the first magnetic and elastic force action structure 101 to plunder the non-living material basic units 1 in the liquid environment where multiple non-living material basic units 1 are scattered, so that the plundered multiple non-living material basic units 1 combine into a new self-replicating microrobot. At the same time, the non-living material basic units in the new self-replicating microrobot are firmly connected to each other through the magnetic and elastic forces of the second magnetic and elastic force action structure 102, so that the multiple non-living material basic units 1 of the new self-replicating microrobot remain in a combined state. After replication is completed, by applying an external magnetic field to counteract the magnetic and elastic forces of the first magnetic and elastic force action structure 101, the interconnected self-replicating microrobots are quickly separated from each other. The separation method is simple.

[0047] It is particularly important to emphasize that the first magnetic and elastic force action structure 101 has two functions. One is to use its own magnetic and elastic force to plunder the non-living material basic units 1 scattered in the liquid environment, so that the multiple non-living material basic units 1 in the liquid environment can be combined into a new self-replicating microrobot. The other is to apply an external magnetic field to counteract the magnetic and elastic force action of the first magnetic and elastic force action structure 101, so that the interconnected self-replicating microrobots can be separated from each other.

[0048] The new self-replicating microrobots formed through self-replication can also serve as new prototypes of self-replicating microrobots to replicate new self-replicating microrobots, and the self-replication speed can be gradually accelerated before the liquid environment reaches saturation.

[0049] According to the embodiments of the present invention, the self-replicating microrobot guided by magnetic and elastic forces has only a first magnetic and elastic force interaction structure 101 and a second magnetic and elastic force interaction structure 102 on the unit body 103 of the basic non-living material unit 1, which involves only two physical actions: magnetic force and elastic force. The number of physical fields involved is small, the manufacturing process is simple, and the self-replicating microrobot uses a bottom-up self-assembly method to self-replicate, which can realize a variety of complex replication behaviors of non-biological microrobots. The replication speed is fast and the replication success rate is high.

[0050] In some embodiments, the first magnetic and elastic force action structure 101 includes a first magnet 1011, a second magnet 1012, a first tenon structure 1013, and a first mortise structure 1014; the first magnet 1011 is a hard magnet and the second magnet 1012 is a soft magnet, or the first magnet 1011 is a stronger hard magnet and the second magnet 1012 is a weaker hard magnet; one of the first magnet 1011 and the second magnet 1012 is combined with the first tenon structure 1013. The other of the first magnet 1011 and the second magnet 1012 is combined with the first mortise structure 1014. The first magnet 1011 and the second magnet 1012 are paired; that is, if the first magnet 1011 is combined with the first tenon structure 1013, then the second magnet 1012 is combined with the first mortise structure 1014; if the second magnet 1012 is combined with the first tenon structure 1013, then the first magnet 1011 is combined with the first mortise structure 1014 (e.g., ...). Figure 2 , Figure 5 (As shown). Therefore, the first magnetic and elastic force interaction structure 101 is relatively simple and easy to process and prepare.

[0051] The second magnetic and elastic force action structure 102 includes a third magnet 1021, a fourth magnet 1022, a second tenon structure 1023, and a second mortise structure 1024; the third magnet 1021 is a hard magnet and the fourth magnet 1022 is a soft magnet, or both the third magnet 1021 and the fourth magnet 1022 are hard magnets; one of the third magnet 1021 and the fourth magnet 1022 is combined with the second tenon structure 1023, and the other of the third magnet 1021 and the fourth magnet 1022 is combined with the second mortise structure 1024; the third magnet 1021 and the fourth magnet 1022 are paired, that is, if the third magnet 1021 is combined with the second tenon structure 1023, then the fourth magnet 1022 is combined with the second mortise structure 1024; if the fourth magnet 1022 is combined with the second tenon structure 1023, then the third magnet 1021 is combined with the second mortise structure 1024 (e.g., ...). Figure 2 , Figure 5 (As shown). Therefore, the second magnetic and elastic force interaction structure 102 is relatively simple and easy to process and prepare.

[0052] During the plundering process, the magnetic force between the first magnetic and elastic force acting structure 101 and between the second magnetic and elastic force acting structure 102 when maintaining the combined state is the attraction between a hard magnet and a soft magnet or the attraction between the north and south poles of a hard magnet; the elastic force between the first magnetic and elastic force acting structure 101 is the supporting force between the first tenon structure 1013 and the first mortise structure 1014, and the elastic force between the second magnetic and elastic force acting structure 102 is the supporting force between the second tenon structure 1023 and the second mortise structure 1024.

[0053] The external magnetic field applies torque to the hard magnet in the first magnetic and elastic force action structure 101 to counteract the magnetic and elastic force action between the first magnetic and elastic force action structures 101, thereby causing the interconnected self-replicating microrobots to separate from each other. The separation method is simple and the separation speed is fast.

[0054] In some embodiments, one of the first magnet 1011 and the second magnet 1012 is disposed at the first tenon structure 1013, and the other of the first magnet 1011 and the second magnet 1012 is disposed at the first mortise structure 1014. For example, the first magnet 1011 is adapted to be disposed in the region of the first tenon structure 1013, and the second magnet 1012 is adapted to be disposed in the region of the first mortise structure 1014; or the second magnet 1012 is adapted to be disposed in the region of the first tenon structure 1013, and the first magnet 1011 is adapted to be disposed in the region of the first mortise structure 1014.

[0055] One of the third magnet 1021 and the fourth magnet 1022 is disposed on the edge of the second tenon structure 1023, and the other of the third magnet 1021 and the fourth magnet 1022 is disposed on the edge of the second mortise structure 1024. For example, the third magnet 1021 is disposed on the edge of the second tenon structure 1023, and the fourth magnet 1022 is disposed on the edge of the second mortise structure 1024; or the fourth magnet 1022 is disposed on the edge of the second tenon structure 1023, and the third magnet 1021 is disposed on the edge of the second mortise structure 1024.

[0056] In some embodiments, the first tenon structure 1013 is different from the second tenon structure 1023, and the first mortise structure 1014 is different from the second mortise structure 1024, in order to avoid incorrect pairing of the basic unit 1 of non-living matter.

[0057] In some embodiments, if the first magnet 1011 is a hard magnet and / or the third magnet 1021 is also a hard magnet, then the first magnet 1011 and / or the third magnet 1021 are both unmagnetized hard magnets first placed on the unit body 103, and then the unmagnetized hard magnets are simultaneously magnetized. The magnetization direction is the displacement direction when the first tenon structure 1013 and the first mortise structure 1014 are paired between the first magnetic force and elastic force action structure 101, which reduces the complexity of the process.

[0058] In some embodiments, the strength of a hard magnet can be adjusted by its shape, size, and magnet material properties.

[0059] In some embodiments, the first magnetic and elastic force interaction structure 101 and the second magnetic and elastic force interaction structure 102 in each basic non-living material unit 1 are one. In this way, the basic non-living material unit 1 has a simple structure and a simple preparation process.

[0060] In some embodiments, the structure of the non-living material basic unit 1 satisfies chiral characteristics, which can further improve the replication success rate.

[0061] In some embodiments, the unit body 103 is made of a soft material with good elasticity, such as silicone or hydrogel, which allows for a certain assembly error and improves the replication success rate; the hard magnet material includes neodymium iron boron permanent magnet material, rare earth cobalt permanent magnet material, AlNiCo permanent magnet alloy, iron chromium cobalt permanent magnet alloy, permanent magnet ferrite, etc., and a mixture of their powder and soft material; the soft magnet material includes pure iron, iron alloy, etc., and a mixture of their powder and soft material.

[0062] In some embodiments, among multiple non-living material basic units 1, too few types will affect the richness of functions, while too many types will reduce the replication success rate.

[0063] In some embodiments, the non-living material basic unit 1 is of only one type and can be assembled into one or more different self-replicating microrobots. For example, such as Figures 2 to 4 As shown, a basic non-living material unit 1 is presented, and three identical basic non-living material units 1 can be assembled into a petal-shaped self-replicating microrobot. For example, such as... Figure 5 and Figure 6 As shown, a basic non-living material unit 1 is presented, and four identical basic non-living material units 1 can be assembled into a ring-shaped self-replicating microrobot. For example, such as... Figures 7 to 9 As shown, a basic non-living material unit 1 is presented, which can be assembled into two different ring-shaped self-replicating microrobots, wherein... Figure 8 The diagram illustrates the assembly of four basic non-living material units into a ring-shaped, self-replicating microrobot. Figure 9 The illustration shows six basic non-living material units 1 assembling into another type of ring-shaped self-replicating microrobot. The specific type of ring-shaped self-replicating microrobot assembled from these numerous basic non-living material units 1 depends on the initial prototype ring-shaped self-replicating microrobot introduced into the liquid environment. It should be noted that a single basic non-living material unit 1 can assemble into many more types of self-replicating microrobots, which will not be listed here.

[0064] In some embodiments, there are two types of non-living material basic unit 1, which can be assembled into at least two different self-replicating microrobots. The first magnetic and elastic force interaction structures 101 of the two different non-living material basic unit 1 are both chiral, while the second magnetic and elastic force interaction structures 102 are both symmetrical. For example, Figure 10 A symmetrical self-replicating microrobot assembled from two different non-living material basic units 1 is shown, which attracts a new self-replicating microrobot identical to itself through multiple first magnetic and elastic force action structures 101. Figure 11 A prototype asymmetric self-replicating microrobot, assembled from two different non-living material basic units 1, is demonstrated. This microrobot attracts and pairs with new self-replicating microrobots that are different from itself through multiple first magnetic and elastic force action structures 101. Figure 12 and Figure 13 This can be called its mirror robot. The mirror robot then attracts paired robots through its multiple first magnetic and elastic force action structures 101, identical to the prototype's asymmetric self-replicating microrobot, such as... Figure 14 For example, Figure 15 A large asymmetric self-replicating microrobot assembled from two different non-living material basic units 1 is demonstrated. This microrobot attracts and pairs with new, large self-replicating microrobots that are different from itself through multiple first magnetic and elastic force action structures 101. Figure 16 and Figure 17 This can be called its mirror robot. The mirror robot then attracts paired robots through its multiple first magnetic and elastic force structures 101, similar to the original large-scale asymmetric self-replicating microrobot, such as... Figure 18 .

[0065] In some embodiments, the prototype self-replicating microrobot is a symmetrical robot, and the new self-replicating microrobot copied from the prototype is identical to the prototype self-replicating microrobot. For example, Figure 10 A symmetrical self-replicating microrobot assembled from two different non-living material basic units 1 is shown, which attracts a new self-replicating microrobot identical to itself through multiple first magnetic and elastic force action structures 101.

[0066] In some embodiments, the prototype self-replicating microrobot is an asymmetric robot, and the new self-replicating microrobot copied from the prototype is a mirror image of the prototype, with the mirror image copying a new self-replicating microrobot identical to the prototype. For example... Figure 11A prototype asymmetric self-replicating microrobot, assembled from two different non-living material basic units 1, is demonstrated. This microrobot attracts and pairs with new self-replicating microrobots that are different from itself through multiple first magnetic and elastic force action structures 101. Figure 12 and Figure 13 This can be called its mirror robot. The mirror robot then attracts paired robots through its multiple first magnetic and elastic force action structures 101, identical to the prototype's asymmetric self-replicating microrobot, such as... Figure 14 For example, Figure 15 A large asymmetric self-replicating microrobot assembled from two different non-living material basic units 1 is demonstrated. This microrobot attracts and pairs with new, large self-replicating microrobots that are different from itself through multiple first magnetic and elastic force action structures 101. Figure 16 and Figure 17 This can be called its mirror robot. The mirror robot then attracts paired robots through its multiple first magnetic and elastic force structures 101, similar to the original large-scale asymmetric self-replicating microrobot, such as... Figure 18 .

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present 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, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0068] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A self-replicating microrobot guided by magnetic and elastic forces, characterized in that, include: Multiple non-living material basic units, each of which includes a unit body, a first magnetic and elastic force interaction structure, and a second magnetic and elastic force interaction structure; Both the first magnetic and elastic force interaction structure and the second magnetic and elastic force interaction structure are disposed on the main body of the unit; The prototype self-replicating microrobot utilizes the magnetic and elastic forces of the first magnetic and elastic force interaction structure to plunder the non-living material basic units scattered in a liquid environment, thereby combining the plundered non-living material basic units into a new self-replicating microrobot. The second magnetic and elastic force interaction structure is adapted to maintain the new self-replicating microrobot composed of the plundered non-living material basic units in a combined state through magnetic and elastic force interaction. After replication is completed, an external magnetic field is applied to counteract the magnetic and elastic force interaction of the first magnetic and elastic force interaction structure, causing the interconnected self-replicating microrobots to separate from each other. The first magnetic and elastic force action structure includes a first magnet, a second magnet, a first tenon structure, and a first mortise structure; the first magnet is a hard magnet and the second magnet is a soft magnet, or the first magnet is a relatively strong hard magnet and the second magnet is a relatively weak hard magnet; one of the first magnet and the second magnet is combined with the first tenon structure, and the other of the first magnet and the second magnet is combined with the first mortise structure; the first magnet and the second magnet are in a paired relationship. The second magnetic and elastic force action structure includes a third magnet, a fourth magnet, a second tenon structure, and a second mortise structure; the third magnet is a hard magnet and the fourth magnet is a soft magnet, or both the third magnet and the fourth magnet are hard magnets; One of the third magnet and the fourth magnet is combined with the second tenon structure, and the other of the third magnet and the fourth magnet is combined with the second mortise structure. The third magnet and the fourth magnet are in a paired relationship. During the plundering, the magnetic force between the first magnetic and elastic force interaction structure and between the second magnetic and elastic force interaction structure when maintaining the combined state is the attraction between a hard magnet and a soft magnet or the attraction between the north and south poles of a hard magnet. The elastic force between the first magnetic force and elastic force acting structure is the supporting force between the first tenon structure and the first mortise structure, and the elastic force between the second magnetic force and elastic force acting structure is the supporting force between the second tenon structure and the second mortise structure. The external magnetic field counteracts the magnetic and elastic forces between the first magnetic and elastic force interaction structures by applying a torque to the hard magnet in the first magnetic and elastic force interaction structure. If the first magnet is a hard magnet or / and the third magnet is a hard magnet, then the first magnet or / and the third magnet are both unmagnetized hard magnets first placed on the unit body, and then the unmagnetized hard magnets are simultaneously magnetized. The magnetization direction is the displacement direction when the first tenon structure and the first mortise structure are paired between the first magnetic force and elastic force action structure.

2. The self-replicating microrobot guided by magnetic and elastic forces according to claim 1, characterized in that, One of the first magnet and the second magnet is disposed at the first tenon structure, and the other of the first magnet and the second magnet is disposed at the first mortise structure; one of the third magnet and the fourth magnet is disposed at the edge of the second tenon structure, and the other of the third magnet and the fourth magnet is disposed at the edge of the second mortise structure.

3. The self-replicating microrobot guided by magnetic and elastic forces according to claim 1, characterized in that, The first tenon structure is different from the second tenon structure, and the first mortise structure is different from the second mortise structure.

4. The self-replicating microrobot according to claim 1, characterized in that, The strength of the magnetism of the hard magnet can be adjusted by its shape, size, and the properties of the magnet material.

5. The self-replicating microrobot guided by magnetic and elastic forces according to claim 1, characterized in that, The basic non-living material unit is of only one type, which can be assembled into one or more different self-replicating microrobots.

6. The self-replicating microrobot guided by magnetic and elastic forces according to claim 1, characterized in that, There are two types of non-living material basic units that can be assembled into at least two different self-replicating microrobots. The first magnetic and elastic force interaction structures of the two different non-living material basic units are both chiral, while the second magnetic and elastic force interaction structures are both symmetrical.

7. The self-replicating microrobot guided by magnetic and elastic forces according to claim 6, characterized in that, The self-replicating microrobot of the prototype is a symmetrical robot, and the new self-replicating microrobot copied by the self-replicating microrobot of the prototype is identical to the self-replicating microrobot of the prototype.

8. The self-replicating microrobot guided by magnetic and elastic forces according to claim 6, characterized in that, The self-replicating microrobot of the prototype is an asymmetric robot. The new self-replicating microrobot copied by the self-replicating microrobot of the prototype is a mirror image of the self-replicating microrobot of the prototype. The new self-replicating microrobot copied by the mirror image robot is identical to the self-replicating microrobot of the prototype.

Images