A cross-scale electro-magnetic coupling driven flexible robot and its preparation method and application

Abstract

The present invention relates to the field of flexible robot technology, and more specifically to a cross-scale electro-magnetic coupling driven flexible robot and its preparation method and application. A cross-scale combination of a macroscopic flexible main structure and a microscopic microciliary surface structure is achieved through a distributed and modular processing technology; the macroscopic flexible structure is driven by an electric field, which can achieve a wide range of flexible swings to ensure that more seawater is swept and contacted during the movement; the surface microstructure is driven by a magnetic field, and reciprocates at a high frequency under the action of a high-frequency alternating magnetic field to achieve efficient contact and adsorption of micropollutants in seawater. The combination of the two motion modes can realize the efficient controllable macroscopic motion of the flexible robot in a high-pressure, highly disturbed seawater environment and the adsorption motion of microscale pollutants.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible robots, and more specifically to a cross-scale electro-magnetic coupling driven flexible robot and a preparation method and application thereof. Background Art

[0002] In recent years, micro-scale pollutants represented by microplastics, micro-oil droplets and heavy metals have become one of the main sources of pollution facing the global marine environment. Accurate detection of the distribution and concentration of micropollutants is the primary condition for monitoring their impact and further governance. However, due to the small size, high dispersion and strong mobility of micropollutants, conventional underwater detection methods are difficult to accurately detect, and the different shapes, sizes and properties of micropollutants such as transparency and translucency pose great challenges to detection under experimental conditions. Summary of the invention

[0003] The present invention provides a cross-scale electro-magnetic coupling driven flexible robot and a preparation method and application thereof, which can facilitate the control of the robot to capture and detect marine microplastics.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A cross-scale electro-magnetic coupling driven flexible robot comprises a flexible main body structure, the upper end surface of the flexible main body structure is coated with a conductive polymer layer, an electrode is fixed inside the flexible main body structure, the electrode is in contact with the conductive polymer layer, microcilia are evenly distributed and fixed on the upper end surface of the flexible main body structure, the microcilia are located above the conductive polymer layer and the electrode, neodymium iron boron powder is contained inside the microcilia, and specific functional groups for identifying micropollutants are modified on the surface of the microcilia.

[0006] The flexible main body structure includes a central disk located in the center and a plurality of radially symmetrical wrists extending outward from the edge of the central disk.

[0007] The number of wrists is six.

[0008] The central disk is circular or regular polygonal.

[0009] The end of the wrist away from the central disk is pointed or rounded.

[0010] The flexible main structure and microcili are made of silicone.

[0011] The conductive polymer layer is a dielectric elastomeric polymer or STATs.

[0012] Cross-scale electro-magnetic coupling-driven flexible robot for capture and detection of micropollutants in liquids.

[0013] A method for preparing a cross-scale electro-magnetic coupling driven flexible robot comprises the following steps:

[0014] S1, using a first mold, the first mold comprising a first mold body, and a first groove arranged on the upper end surface of the first mold body, the shape and size of the first groove being the same as that of the flexible main structure;

[0015] S2, injecting the silica gel solution into the first groove of the first mold so that the silica gel solution evenly covers the first groove of the mold;

[0016] S3, curing the silica gel solution in the first mold into a shape;

[0017] S4, after the silicone is cured, the silicone is taken out from the first mold to obtain a flexible main structure, and then a conductive polymer layer is coated on the surface of the flexible main structure, and an electrode is embedded;

[0018] L1. Use a second mold, the second mold comprising a second mold body and a second groove arranged on the upper end surface of the second mold body, the second groove is for the flexible main structure to be placed in, and the second mold body is provided with pores uniformly distributed in the second groove;

[0019] A slurry consisting of L2, silica gel solution and nano-grade NdFeB powder is fully and evenly stirred to form a uniform magnetic silica gel slurry, which is then injected into the second groove so that the slurry just covers all pores, and then the flexible main structure is placed in the second groove to fully contact with the slurry;

[0020] L3, solidifying the slurry in the pores to form microciliary hairs, which are fixedly connected to the flexible main structure;

[0021] L4, taking out the flexible robot with a microciliary structure on the surface from the second mold, and modifying the surface of the microciliary structure with specific functional groups for identifying micropollutants;

[0022] L5. The flexible robot with a microciliary structure on the surface is magnetized by a strong external magnetic field to obtain a cross-scale electro-magnetic coupling driven flexible robot.

[0023] Specific functional groups that recognize micropollutants are modified onto the surface of the microciliary structure using controlled self-assembly technology, hydrophobic modification, covalent linkage, and other methods.

[0024] The beneficial effects of the cross-scale electro-magnetic coupling driven flexible robot and the preparation method and application of the present invention are:

[0025] Through distributed and modular processing technology, a cross-scale combination of the macroscopic flexible main structure and the microscopic microciliary surface structure is achieved;

[0026] The flexible main structural material is flexible silicone, which has excellent tensile strength and elasticity while ensuring flexibility. Combined with the conductive polymer layer, it can achieve flexible swing under electric field drive.

[0027] The surface microstructure of the cross-scale electro-magnetic coupling-driven flexible robot contains NdFeB powder, which has good magnetic response performance after magnetization and can be precisely driven using an external magnetic field.

[0028] The electrodes and magnetic particles in the cross-scale electro-magnetic coupling-driven flexible robot are coated in silicone material, making the robot shellless, able to withstand the high-pressure environment of seawater while avoiding sealing problems.

[0029] The cross-scale electro-magnetic coupling-driven flexible robot achieves efficient contact and adsorption of micropollutants in seawater through the large-scale sweeping motion of the flexible main structure and the high-frequency reciprocating motion of the microciliary structure on the surface. Finally, the content of micropollutants is measured by the change of the surface charge of the robot before and after adsorption.

[0030] During operation, the macroscopic flexible structure is driven by electric fields, and can achieve a wide range of flexible swings to ensure that more seawater is swept and contacted during the movement; the surface microstructure is driven by magnetic fields, and can reciprocate at high frequencies under the action of high-frequency alternating magnetic fields to achieve efficient contact and adsorption of micropollutants in seawater. This can achieve efficient and controllable macroscopic motion and adsorption of microscale pollutants in high-pressure and highly disturbed seawater environments. This cross-scale flexible underwater detection robot system can overcome the "scale difference" problem of accurate detection of micropollutants in seawater, provide new ideas and approaches for the detection of a variety of marine micropollutants, and is of great significance to the improvement of seawater pollution monitoring and treatment technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the process of making the robot's flexible main structure

[0032] Structural diagram;

[0033] Figure 2 A schematic diagram of the microciliary structure of the cross-scale electro-magnetic coupling-driven flexible robot and the overall manufacturing process;

[0034] Figure 3 Schematic diagram of the structure of a cross-scale electro-magnetic coupling-driven flexible robot.

[0035] In the figure: 1. Flexible main structure; 2. Microcilia. DETAILED DESCRIPTION

[0036] A method for preparing a cross-scale electro-magnetic coupling driven flexible robot, reference Figure 1 and 2 , including the following steps:

[0037] S1. Use a first mold, the first mold comprising a first mold body, and a first groove arranged on the upper end surface of the first mold body, the shape and size of the first groove being the same as the flexible main structure 1; wherein the first mold can be designed online using 3D modeling software, and then the first mold is prepared by extrusion 3D printing for 3D printing;

[0038] S2, injecting the silica gel solution into the first groove of the first mold, so that the silica gel solution evenly spreads over the first groove of the mold; wherein, a gel spreader can be used to rotate at a low speed to promote the silica gel solution to spread evenly in the first groove;

[0039] S3, placing the first mold together with the silica gel solution in a vacuum drying oven, first evacuating to 1 kPa, leaving it for 2 h to ensure that the silica gel solution fills the first mold without bubbles, then heating it to 70-80°C and maintaining it for 2 h;

[0040] S4, after the silicone is cured, it is taken out from the first mold to obtain a flexible main structure 1, and then a conductive polymer layer is coated on the surface of the flexible main structure 1 by spraying, and an electrode is embedded;

[0041] L1. Use a second mold, which includes all the structures of the first mold and adds a pore structure. For easy distinction, the second mold includes a second mold body and a second groove arranged on the upper end surface of the second mold body. The second mold body is provided with pores uniformly distributed in the second groove. Preferably, the pore diameter is 100 μm and the depth is 3 mm. The processing method of the second mold can adopt the processing method included in the first mold;

[0042] A slurry consisting of L2, silica gel solution and nano-grade NdFeB powder is fully and evenly stirred to form a uniform magnetic silica gel slurry, which is then injected into the second groove so that the slurry just covers all the pores, and then the flexible main structure 1 is placed in the second groove to fully contact with the slurry;

[0043] The silicone solution mentioned in S2 and L2 above can be Ecoflex-0020, which is composed of A glue and B glue, which are mixed in a ratio of 1:1 by weight or volume and can be cured at room temperature, or.

[0044] L3. Place the second mold together with the flexible main structure 1 in a vacuum drying oven, first evacuate to 1 kpa, and let it stand for 2 hours to ensure that the magnetic silica gel slurry fills the mold without bubbles. Then heat it to 70-80℃ and maintain for 2 hours;

[0045] L4, after the silicone in the pores is solidified, it is taken out from the second mold to obtain a flexible robot with a microciliary structure on the surface;

[0046] Subsequently, specific functional groups that recognize micropollutants, microplastics, salt ions and plankton are modified onto the surface of the microciliary structure using controlled self-assembly technology, hydrophobic modification, covalent bonding and other methods. For example, surface microciliary treatment for microplastic (mainly negatively charged) adsorption detection: (1) First, use a dropper to apply 0.5 mol / L NaCl and 2 mg / ml polyethyleneimine (PEI) solution to the surface microciliary. After 6 minutes, use clean water to apply the solution to the microciliary to clean it, and then place it in a 50-60℃ drying oven for 10 minutes. (2) Then, use a dropper to apply 0.5 mol / L NaCl and 2 mg / ml sodium poly (4-styrene sulfonate)-negatively charged (PSS) solution to the surface microciliary. After 6 minutes, use clean water to apply the solution to the microciliary to clean it, and then place it in a 50-60℃ drying oven for 20 minutes. (3) Then, use a dropper to apply 0.5 mol / L NaCl and 2 mg / ml sodium poly (4-styrene sulfonate)-negatively charged (PSS) solution to the surface microciliary. 500 mg / ml polyallylamine hydrochloride (PAH) solution was drop-coated onto the surface microciliary hairs. After 6 minutes, the microciliary hairs were cleaned by drop-coating with clean water, and then heated in a 50-60°C drying oven for 20 minutes. This completed the assembly of one PSS / PAH layer. Repeat the above steps (2)-(3) twice to finally obtain the assembly of three PSS / PAH layers on the microciliary surface.

[0047] L5. Place the flexible robot horizontally with the microciliary surface facing upwards, and place it in the coil of a magnetizer. The microciliary structure is magnetized by a strong external magnetic field of 2.3-2.5T to obtain a cross-scale electro-magnetic coupling-driven flexible robot.

[0048] At this point, the cross-scale electro-magnetic coupling driven flexible robot includes a flexible main body structure 1 made of silicone material, the upper end surface of the flexible main body structure 1 is coated with a conductive polymer layer, such as a dielectric high elastic polymer or a new type of smart fabric STATs, and an electrode is embedded and fixed therein, and microcilia 2 are evenly distributed and fixedly connected to the upper end surface of the flexible main body structure 1, the microcilia 2 are located above the conductive polymer layer and the electrodes, and the surface of the microcilia 2 is modified with specific functional groups for identifying micropollutants.

[0049] In actual work, the cross-scale electro-magnetic coupling driven flexible robot is mounted on the execution end of the underwater robot as an operation module, and achieves full contact with seawater and efficient adsorption of micro-pollutants under the combined drive of electric and magnetic fields.

[0050] The flexible main structure 1 of the cross-scale bionic flexible robot determines the macroscopic shape. The shape of the flexible main structure 1 is preferably: the central disk located in the center can be circular or polygonal, serving as the support and connection center of the overall structure. Multiple radially symmetrical wrists extend outward from the edge of the central disk, and a continuous and smooth transition surface is formed between the wrist and the central disk. If there are six wrists, the whole is in the shape of a hexagram. The end of the wrist away from the central disk is called the end, which can be sharp or circular. The flexible main structure 1 realizes a large range of movement under the control of electric field signals through the internal circuit distribution, and has achieved movement covering a larger range of seawater areas.

[0051] Driven by the high-frequency magnetic field, the microcilia 2 perform high-frequency reciprocating motion, thereby achieving efficient contact and adsorption of micropollutants in seawater.

Claims

1. A cross-scale electro-magnetic coupling driven flexible robot, characterized in that: The invention comprises a flexible main body structure (1), wherein the upper end surface of the flexible main body structure (1) is coated with a conductive polymer layer, an electrode is fixedly connected inside the flexible main body structure (1), the electrode is in contact with the conductive polymer layer, microcilia (2) are evenly distributed and fixedly connected to the upper end surface of the flexible main body structure (1), the microcilia (2) are located above the conductive polymer layer and the electrode, neodymium iron boron powder is contained inside the microcilia (2), and specific functional groups for identifying micropollutants are modified on the surface of the microcilia (2).

2. The cross-scale electro-magnetic coupling driven flexible robot according to claim 1 is characterized in that: The flexible main body structure (1) comprises a central disk located in the center, and a plurality of radially symmetrical wrists extending outward from the edge of the central disk.

3. The cross-scale electro-magnetic coupling driven flexible robot according to claim 2 is characterized in that: The number of wrists is six.

4. The cross-scale electro-magnetic coupling driven flexible robot according to claim 2 is characterized in that: The central disk is circular or regular polygonal.

5. The cross-scale electro-magnetic coupling driven flexible robot according to claim 2 is characterized in that: The end of the wrist away from the central disk is pointed or rounded.

6. The cross-scale electro-magnetic coupling driven flexible robot according to claim 1, characterized in that: The flexible main structure (1) and the microcilia (2) are made of silicone.

7. The cross-scale electro-magnetic coupling driven flexible robot according to claim 1, characterized in that: The conductive polymer layer is a dielectric elastomeric polymer or STATs.

8. The cross-scale electro-magnetic coupling driven flexible robot according to any one of claims 1 to 7 is used for capturing and detecting micro-pollutants in liquids.

9. A method for preparing a cross-scale electro-magnetic coupling driven flexible robot, characterized in that: The following steps are involved: S1. Using a first mold, the first mold comprising a first mold body and a first groove arranged on an upper end surface of the first mold body, the shape and size of the first groove being the same as the flexible main structure (1); S2, injecting the silica gel solution into the first groove of the first mold so that the silica gel solution evenly covers the first groove of the mold; S3, curing the silica gel solution in the first mold into a shape; S4, after the silicone is cured, it is taken out from the first mold to obtain a flexible main structure (1), and then a conductive polymer layer is coated on the surface of the flexible main structure (1), and an electrode is embedded; L1. Using a second mold, the second mold comprises a second mold body and a second groove arranged on the upper end surface of the second mold body, the second groove is for the flexible main structure (1) to be placed in, and the second mold body is provided with pores evenly distributed in the second groove; A slurry consisting of L2, silica gel solution and nano-grade NdFeB powder is fully and evenly stirred to form a uniform magnetic silica gel slurry, which is then injected into the second groove so that the slurry just covers all the pores, and then the flexible main structure (1) is placed in the second groove to fully contact with the slurry; L3, solidifying the slurry in the pores to form microcili (2), and the microcili (2) is fixedly connected to the flexible main structure (1); L4, taking out the flexible robot with a microciliary structure on the surface from the second mold, and modifying the surface of the microciliary structure with specific functional groups for identifying micropollutants; L5. The flexible robot with a microciliary structure on the surface is magnetized by a strong external magnetic field to obtain a cross-scale electro-magnetic coupling driven flexible robot.

10. The method for preparing a cross-scale electro-magnetic coupling driven flexible robot according to claim 9, characterized in that: Specific functional groups that recognize micropollutants are modified onto the surface of the microciliary structure using controlled self-assembly technology, hydrophobic modification, and covalent linkage.

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