A method for fabricating multimorphic helical robots based on laser processing

Abstract

A multi-morphological spiral robot fabrication system based on laser processing belongs to the field of spiral robot fabrication technology. This invention addresses the problem that existing spiral robots are limited by the processing materials and morphological structures, affecting their driving capabilities. The system includes: using a spiral robot positioning platform to fix a carrier horizontally; forming a uniform coating of pre-configured material on the carrier by rotating the carrier and cooperating with a hot air blower; adjusting the spiral robot positioning platform so that the area to be processed by the coating is within the processing range of the laser processor, and focusing the laser beam on the area to be processed; synchronously controlling the rotation speed of the laser processor and the carrier according to pre-set robot structural parameters to perform material reduction processing on the area to be processed, obtaining an initial spiral robot on the carrier; and removing the initial spiral robot from the carrier in anhydrous ethanol via ultrasound and magnetizing it to obtain a spiral robot of the desired morphology. This invention is used for the fabrication of spiral robots.

Description

Technical Field

[0001] This invention relates to a method for fabricating multi-morphological helical robots based on laser processing, belonging to the field of helical robot fabrication technology. Background Technology

[0002] Currently, the mainstream methods for fabricating helical robots include self-rolling, grazing angle deposition, laser direct writing, and template-assisted methods. Self-rolling utilizes the anisotropy of materials or combinations of materials to achieve the self-rolling behavior of the processed material, thus fabricating the helical robot. However, the reliance on self-rolling limits the types of materials that can be used, preventing the use of some materials with excellent properties. Furthermore, self-rolling can only fabricate relatively simple helical robots, limiting the complexity of the fabricated structures. Grazing angle deposition is an extension of angle deposition, using a substrate placed at an angle to the vapor flow direction of the coating, while the substrate is rotated or manipulated to control the characteristics and growth of the helical tail. This method is still being optimized, and the morphology of the fabricated helical robots is relatively limited, with certain requirements for the processed materials. Laser direct writing also uses lasers to fabricate helical robots, but as an additive manufacturing method based on laser processing, it also has certain limitations on the selection of processed materials. Template-assisted methods utilize naturally occurring helical structures, depositing the processed material onto the surface of the helical structure to complete the fabrication of the helical robot. Since the templates come from nature, the shape of the helical robot is limited by the helical mechanisms already discovered in nature, making it difficult to fabricate more customized helical robots.

[0003] As a branch of micro-nano robotics, helical robots play a crucial role in targeted therapy, biosensoring, and tissue engineering. Appropriate material selection and structural design can significantly improve the actuation capabilities of helical robots, enabling them to respond to external stimuli and exhibit good functionality. However, current methods for fabricating helical robots are limited by the availability of suitable materials and morphological structures, severely impacting their actuation capabilities and consequently affecting the realization of various functions. Summary of the Invention

[0004] To address the limitations of existing spiral robot processing materials and morphological structures that affect their driving capabilities, this invention provides a method for fabricating multi-morphological spiral robots based on laser processing.

[0005] The present invention provides a method for fabricating a multi-morphological helical robot based on laser processing, comprising:

[0006] A spiral robot positioning platform is used to fix the carrier, keeping it in a horizontal position. A uniform coating of pre-mixed material is formed on the carrier by rotating the carrier and cooperating with a hot air blower.

[0007] Adjust the positioning platform of the spiral robot so that the area to be processed with uniform coating is within the processing range of the laser processor, and focus the output beam of the laser processor on the area to be processed.

[0008] Based on the preset robot structure parameters, the rotation speed of the laser processor and the carrier is synchronously controlled to perform material reduction manufacturing on the area to be processed, and the initial helical robot is obtained on the carrier.

[0009] The initial helical robot was removed from the carrier by ultrasound in anhydrous ethanol and then magnetized to obtain the helical robot with the desired morphology.

[0010] According to the method for fabricating a multi-morphological helical robot based on laser processing of the present invention, the helical robot positioning platform includes an optical breadboard, an adapter plate, a three-degree-of-freedom sub-millimeter coarse positioning platform, a platform support, a two-degree-of-freedom sub-millimeter coarse positioning platform, a limiting groove, a limiting slider, a motor support platform, a motor fixing vertical plate, a stepper motor, and a carrier clamp.

[0011] An optical breadboard is connected to a three-degree-of-freedom (DOF) sub-millimeter coarse positioning platform via an adapter plate. A platform bracket is fixed to the three-DOF sub-millimeter coarse positioning platform, and a two-DOF sub-millimeter coarse positioning platform is fixed on the platform bracket. The positioning output end on one side of the two-DOF sub-millimeter coarse positioning platform is connected to a limiting groove, which is connected to a limiting slider. A motor support platform is fixed to the other side of the two-DOF sub-millimeter coarse positioning platform. The motor support platform is vertically connected to the motor fixing vertical plate to form a receiving space for fixing a stepper motor and ensuring that the axis of the stepper motor is parallel to the sliding direction of the limiting groove. A carrier chuck is installed on the output shaft of the stepper motor to hold one end of the carrier. The other end of the carrier is connected to the limiting hole of the limiting slider, keeping the carrier in a horizontal position.

[0012] According to the method for manufacturing a multi-morphological spiral robot based on laser processing of the present invention, a controller is used to synchronously control the laser processor and the stepper motor driver;

[0013] The laser processor processes the uniformly coated area according to the preset robot structural parameters.

[0014] According to the method for preparing a multi-morphological spiral robot based on laser processing of the present invention, during the process of forming a uniform coating on the carrier, the rotation of the output shaft of the stepper motor is used to make the pre-configured material radially uniform on the carrier, and the wind speed control of the hot air blower is used to make the pre-configured material axially uniform on the carrier, thereby obtaining a uniform coating.

[0015] According to the method for fabricating a multi-morphological helical robot based on laser processing according to the present invention, the robot structural parameters include:

[0016] Inner diameter: Achieved by selecting the outer diameter of the carrier;

[0017] Outer diameter: Achieved by controlling the thickness of a uniform coating;

[0018] Spiral angle: Achieved by controlling the tilt angle of the spiral cutting the rectangle;

[0019] Pitch: Determined based on inner diameter, outer diameter, and helix angle;

[0020] Length: Based on the initial helical robot obtained on the carrier, it is determined by the distance between the two opposite sides of a pair of length-cutting rectangles.

[0021] According to the laser processing-based method for fabricating multimorphic helical robots of the present invention, the axial single-segment width... for:

[0022] ,

[0023] In the formula outer diameter The helix angle, This is the axial width of the spiral-cut rectangle.

[0024] According to the laser-processed multimorphic helical robot fabrication method of the present invention, the method for forming a uniform coating of pre-configured material on the carrier is as follows:

[0025] One end of the carrier is passed through the clamp and fixed; the limiting slider is moved from the side away from the stepper motor along the limiting groove to approach the stepper motor, so that the other end of the carrier is fixed in the limiting hole of the limiting slider; the two-degree-of-freedom sub-millimeter coarse positioning platform is adjusted to align the limiting slider with the clamp so that the carrier is in a horizontal state, thereby determining the target position of the limiting slider; then the limiting slider is returned to its original position, detached from the carrier, and the other end of the carrier becomes the free end;

[0026] A controller is used to control the stepper motor to rotate continuously. A syringe is used to feed the pre-mixed material from the free end of the carrier to the outer surface of the carrier. Then, the limiting slider is moved to the target position to limit the free end of the carrier. A hot air blower is used to blow away the excess pre-mixed material on the carrier and complete the curing of the pre-mixed material to obtain a uniform coating.

[0027] According to the laser-processed multimorphic helical robot preparation method of the present invention, the initial helical robot is removed from the carrier by ultrasonication in anhydrous ethanol for 2-3 minutes.

[0028] According to the laser-processed multimorphic spiral robot fabrication method of the present invention, the expected morphological spiral robots include conventional spiral robots, combined spiral robots with different helix angles, and spiral robots with tails.

[0029] According to the laser-processed multi-morphological helical robot fabrication method of the present invention, the combined helical robot with different helix angles includes one with a helix angle of 30°. The front section and the helix angle are 45°. The rear section, the front section and the rear section have the same axial single-section width.

[0030] The beneficial effects of the present invention are as follows: The system of the present invention utilizes laser processing to realize the addition and subtraction of materials to fabricate the spiral robot structure. It can precisely control the shape and structural parameters of the spiral robot through the design of spiral robot structural parameters in laser processing, so as to realize the fabrication of spiral robots with completely controllable parameters and free shape design.

[0031] The materials used in this invention are not limited: because it employs a subtractive manufacturing method, it does not require materials to achieve special structures, and therefore there are no requirements regarding the properties of the materials themselves. To complete the processing, it is only necessary to consider how to obtain a rotating body based on the composition of the processing material, which can be used for subsequent processing; any material whose shape can be controlled can be used for processing.

[0032] The spiral robot offers freedom in shape and structure design: By controlling the shape of the uniform coating and setting structural parameters, spiral robots of any shape can be manufactured without being limited by the properties of the material itself or by the processing method. Custom special structures can be added to the spiral robot to improve its various performance characteristics. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the process for obtaining a uniform coating of pre-configured material using the laser processing-based multi-morphological spiral robot fabrication method described in this invention.

[0034] Figure 2 This is a schematic diagram of the spiral robot positioning platform;

[0035] Figure 3 This is a schematic diagram of the helix angle in the robot's structural parameters;

[0036] Figure 4 This is a schematic diagram of the axial single-segment width and the axial width of the helical cutting rectangle in the robot's structural parameters;

[0037] Figure 5 This is a schematic diagram of the length in the robot's structural parameters;

[0038] Figure 6 This is a schematic diagram of a conventional spiral robot with controllable parameters;

[0039] Figure 7 This is a schematic diagram of a combined spiral robot with different helical lift angles;

[0040] Figure 8 This is a schematic diagram of a spiral robot with a tail. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0044] Specific Implementation Method 1: Combination Figure 1 and Figure 2 As shown, this invention provides a method for fabricating a multi-morphological helical robot based on laser processing, comprising:

[0045] A spiral robot positioning platform is used to fix the carrier, keeping it in a horizontal position. A uniform coating of pre-mixed material is formed on the carrier by rotating the carrier and cooperating with a hot air blower.

[0046] Adjust the positioning platform of the spiral robot so that the area to be processed with uniform coating is within the processing range of the laser processor 12, and focus the output beam of the laser processor 12 on the area to be processed.

[0047] Based on the preset robot structure parameters, the rotation speed of the laser processor 12 and the carrier is synchronously controlled to perform material reduction manufacturing on the area to be processed, and the initial helical robot is obtained on the carrier.

[0048] The initial helical robot was removed from the carrier by ultrasound in anhydrous ethanol and then magnetized to obtain the helical robot with the desired morphology.

[0049] Furthermore, combined with Figure 2 As shown, the spiral robot positioning platform includes an optical breadboard 1, an adapter plate 2, a three-degree-of-freedom sub-millimeter coarse positioning platform 3, a platform support 4, a two-degree-of-freedom sub-millimeter coarse positioning platform 5, a limiting groove 6, a limiting slider 7, a motor support platform 8, a motor fixing vertical plate 9, a stepper motor 10, and a carrier clamp 11.

[0050] Optical breadboard 1 is connected to a three-degree-of-freedom sub-millimeter coarse positioning platform 3 via an adapter plate 2. Platform bracket 4 is fixed on the three-degree-of-freedom sub-millimeter coarse positioning platform 3. Two-degree-of-freedom sub-millimeter coarse positioning platforms 5 are fixed on platform bracket 4. The positioning output end on one side of the upper surface of the two-degree-of-freedom sub-millimeter coarse positioning platform 5 is connected to a limiting groove 6. The limiting groove 6 is connected to a limiting slider 7. A motor support platform 8 is fixed on the other side of the upper surface of the two-degree-of-freedom sub-millimeter coarse positioning platform 5. The motor support platform 8 is vertically connected to the motor fixing vertical plate 9 to form a receiving space for fixing a stepper motor 10 and making the axis of the stepper motor 10 parallel to the sliding direction of the limiting groove 6. A carrier chuck 11 is installed on the output shaft of the stepper motor 10 to hold one end of the carrier. The other end of the carrier is connected to the limiting hole of the limiting slider 7 and the carrier is in a horizontal state.

[0051] In this embodiment, the spiral robot positioning platform can adjust the position of the motor output shaft to achieve higher precision machining of the robot; by using the rotation of the motor output shaft to generate a uniform coating on the carrier, and then using a laser processor to process it according to the preset robot structural parameters, a spiral robot with no material or shape restrictions can be obtained.

[0052] In this embodiment, a controller is used to synchronously control the laser processor 12 and the stepper motor 10. The stepper motor control line in the processing platform is connected to the corresponding port of the stepper motor driver, the power port of the stepper motor driver is connected to the switching power supply, and the signal input port of the stepper motor driver is connected to the circuit board. The circuit board is mounted on the mainboard and operates synchronously under the control of the controller.

[0053] The laser processor 12 processes the uniformly coated area according to the preset robot structural parameters.

[0054] The fabrication of the helical robot involves four steps: material preparation, formation of a uniform coating, helical processing, and magnetization. The process of forming a uniform coating involves attaching a pre-prepared material to a carrier, which, in conjunction with the rotation of the motor output shaft, completes subsequent processing. The processing method can be selected as needed. This embodiment employs a uniform coating formation method that is compatible with the motor shaft.

[0055] During the process of forming a uniform coating on the carrier, the rotation of the output shaft of the stepper motor 10 is used to make the pre-prepared material radially uniform on the carrier, and the wind speed control of the hot air blower is used to make the pre-prepared material axially uniform on the carrier, thereby obtaining a uniform coating.

[0056] In terms of spiral processing, some parameters of the spiral shape and structure are controlled by the processing pattern drawn in the laser processing software (another part of the parameters is related to the selected processing material carrier), and the preparation is completed by the cooperation of the rotating axis and the laser processor.

[0057] Regarding the preparation of materials and magnetization, since subtractive manufacturing is used, as long as a uniform coating for laser processing can be obtained and the material can ultimately be driven in a magnetic field (generally using magnetic powder and magnetization), the required material is usable. The specific process can be adjusted according to the selected material.

[0058] The parameter determination method involved in achieving free control of the morphological and structural parameters of the helical robot is as follows:

[0059] For the structural design of the helical robot, the rotating structure is unfolded, and the three-dimensional structural design is converted into a two-dimensional structural design.

[0060] Combination Figures 3 to 5 As shown, the robot's structural parameters include:

[0061] Inner diameter: The inner diameter of the helical robot is controlled by appropriately selecting the outer diameter of the carrier;

[0062] Outer diameter: Achieved by controlling the thickness of the uniform coating; the outer diameter of the spiral robot can be controlled by the fixed rotation speed of the carrier, the distance between the hot air blower and the coating of the processed material, and the wind speed used by the hot air blower.

[0063] Helix angle: Achieved by controlling the tilt angle of the helical cut rectangle; the tilt angle of the helical cut rectangle. The helix angle is the angle between the long side of the helical cutting rectangle and the radial direction of the helical robot. ;

[0064] Pitch: Determined based on inner diameter, outer diameter, and helix angle; the pitch is the sum of the axial single-piece width and the axial width of the helical cutting rectangle (width along the axis of the helical robot), and the axial single-piece width and the axial width of the helical cutting rectangle are complementary.

[0065] Length: Based on the initial helical robot obtained on the carrier, the length is determined by the distance between the two opposite sides of a pair of length-cutting rectangles. The length-cutting rectangles are used in pairs, and the distance between the two length-cutting rectangles minus the axial width of the length-cutting rectangles is the length of the helical robot.

[0066] By controlling the above parameters, all parameters of the helical robot can be fully controlled. Based on the controllability of these parameters, the free helical robot structural design considers subtracting the usable rotary plane machining portion from the desired structure to obtain the machining pattern of the desired structure.

[0067] Combination Figure 4 As shown, the axial single-section width for:

[0068] ,

[0069] In the formula outer diameter The helix angle, This is the axial width of the spiral-cut rectangle.

[0070] Furthermore, combining Figure 1 As shown, the method for forming a uniform coating of pre-configured material on a carrier is as follows:

[0071] One end of the carrier is passed through the clamp 11 and fixed; the limiting slider 7 is moved from the side away from the stepper motor 10 along the limiting groove 6 and closer to the stepper motor 10, so that the other end of the carrier is fixed in the limiting hole of the limiting slider 7; the positions of both ends of the carrier are fixed; the two-degree-of-freedom sub-millimeter coarse positioning platform 5 is adjusted so that the limiting slider 7 is aligned with the clamp 11 so that the carrier is in a horizontal state, thereby determining the target position of the limiting slider 7; then, the clamp 11 is tightened to fix the carrier; then the limiting slider 7 is returned to its original position, detached from the carrier, and the other end of the carrier becomes the free end;

[0072] The controller uses a card to control the stepper motor 10 to rotate continuously. A syringe draws in pre-mixed material, feeding it from the free end of the carrier onto its outer surface. Then, a limiting slider 7 moves to the target position to limit the free end of the carrier. A hot air blower moves left and right at a fixed distance from the material to blow away excess pre-mixed material from the carrier and completes the curing of the pre-mixed material, resulting in a uniform coating. Finally, the stepper motor is stopped rotating.

[0073] Then adjust the three-degree-of-freedom sub-millimeter coarse positioning platform 3 to ensure that the processing material falls within the processing range of the laser processor and that the surface of the processing material can be focused, thereby improving the efficiency of subsequent processing.

[0074] Next, complete the machining of the spiral robot according to the designed machining pattern. After completing the spiral machining, move the limiting slider away from the motor and disengage it from one end of the machining material carrier. At the same time, loosen the clamp at the other end of the machining material carrier and remove the machining material carrier.

[0075] As an example, the initial helical robot can be removed from the carrier by sonication in anhydrous ethanol for 2-3 minutes. Subsequent magnetization allows for the fabrication of a helical robot with controllable morphology and structure.

[0076] As an example, combined Figures 6 to 8 As shown, the expected forms of helical robots include conventional helical robots, combined helical robots with different helix angles, and helical robots with tails.

[0077] The parameters of a conventional helical robot are fully controllable; for example, it can be designed with an outer diameter of 1 mm, an axial segment width of 0.9 mm, a length of 8 mm, and a helix angle of 45 degrees. ,like Figure 6As shown.

[0078] Combination Figure 7 As shown, the combined helical robot with different helix angles includes one with a helix angle of 30°. The front section and the helix angle are 45°. The rear section employs a transition design between the two sections to ensure that the axial single-section width of the front and rear sections is the same.

[0079] Figure 8 As shown, this is a spiral robot with three spiral tails that are coupled together.

[0080] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A method for fabricating a multi-morphological helical robot based on laser processing, characterized in that, include: A spiral robot positioning platform is used to fix the carrier, keeping it in a horizontal position. A uniform coating of pre-mixed material is formed on the carrier by rotating the carrier and cooperating with a hot air blower. Adjust the positioning platform of the spiral robot so that the area to be processed with uniform coating is within the processing range of the laser processor (12) and focus the output beam of the laser processor (12) on the area to be processed; According to the preset robot structure parameters, the laser processor (12) and the carrier rotation speed are synchronously controlled to perform material reduction manufacturing processing on the area to be processed, and the initial spiral robot is obtained on the carrier. The initial helical robot was removed from the carrier by ultrasound in anhydrous ethanol and then magnetized to obtain the helical robot with the desired morphology. The spiral robot positioning platform includes an optical breadboard (1), an adapter plate (2), a three-degree-of-freedom sub-millimeter coarse positioning platform (3), a platform support (4), a two-degree-of-freedom sub-millimeter coarse positioning platform (5), a limiting slide (6), a limiting slider (7), a motor support platform (8), a motor fixing vertical plate (9), a stepper motor (10), and a carrier clamp (11). An optical breadboard (1) is connected to a three-degree-of-freedom sub-millimeter coarse positioning platform (3) via an adapter plate (2). A platform bracket (4) is fixed on the three-degree-of-freedom sub-millimeter coarse positioning platform (3). A two-degree-of-freedom sub-millimeter coarse positioning platform (5) is fixed on the platform bracket (4). The positioning output end on one side of the two-degree-of-freedom sub-millimeter coarse positioning platform (5) is connected to a limiting groove (6). The limiting groove (6) is connected to a limiting slider (7). A motor support platform (8) is fixed on the other side of the two-degree-of-freedom sub-millimeter coarse positioning platform (5). The motor support platform (8) is vertically connected to the motor fixing vertical plate (9) to form a receiving space for fixing a stepper motor (10) and making the axial direction of the stepper motor (10) parallel to the sliding direction of the limiting groove (6). A carrier chuck (11) is installed on the output shaft of the stepper motor (10) to hold one end of the carrier. The other end of the carrier is connected to the limiting hole of the limiting slider (7) and the carrier is in a horizontal state. During the process of forming a uniform coating on the carrier, the rotation of the output shaft of the stepper motor (10) is used to make the pre-configured material radially uniform on the carrier, and the wind speed control of the hot air blower is used to make the pre-configured material axially uniform on the carrier, thereby obtaining a uniform coating. Axial single section width for: ， In the formula outer diameter, The helix angle, The axial width of the spiral-cut rectangle; The method for forming a uniform coating of pre-configured material on a carrier is as follows: One end of the carrier is fixed by passing it through the clamp (11); the limiting slider (7) is moved from the side away from the stepper motor (10) along the limiting groove (6) to approach the stepper motor (10) so that the other end of the carrier is fixed in the limiting hole of the limiting slider (7); the two-degree-of-freedom sub-millimeter coarse positioning platform (5) is adjusted so that the limiting slider (7) is aligned with the clamp (11) so that the carrier is in a horizontal state, thereby determining the target position of the limiting slider (7); then the limiting slider (7) is returned to its original position, detached from the carrier, and the other end of the carrier becomes the free end; The stepper motor (10) is continuously rotated by a controller. The pre-configured material is fed from the free end of the carrier to the outer surface of the carrier using a syringe. Then, the limiting slider (7) is moved to the target position to limit the free end of the carrier. The excess pre-configured material on the carrier is blown off by a hot air blower, and the pre-configured material is cured to obtain a uniform coating. The anticipated forms of helical robots include conventional helical robots, combined helical robots with different helix angles, and helical robots with tails.

2. The method for fabricating a multi-morphological helical robot based on laser processing according to claim 1, characterized in that, A controller is used to synchronously control the laser processor (12) and the driver of the stepper motor (10); The laser processor (12) processes the uniformly coated area according to the preset robot structure parameters.

3. The method for fabricating a multi-morphological helical robot based on laser processing according to claim 2, characterized in that, Robot structural parameters include: Inner diameter: Achieved by selecting the outer diameter of the carrier; Outer diameter: Achieved by controlling the thickness of the uniform coating; Spiral angle: Achieved by controlling the tilt angle of the spiral cutting the rectangle; Pitch: Determined based on inner diameter, outer diameter, and helix angle; Length: Based on the initial spiral robot obtained on the carrier, it is determined by the distance between the two opposite sides of a pair of length-cutting rectangles.

4. The method for fabricating a multi-morphological helical robot based on laser processing according to claim 3, characterized in that, The initial helical robot was removed from the carrier by ultrasound for 2-3 minutes in anhydrous ethanol.

5. The method for fabricating a multi-morphological helical robot based on laser processing according to claim 4, characterized in that, The combined helical robots with different helix angles include those with a helix angle of 30°. The front section and the helix angle are 45°. The rear section, the front section and the rear section have the same axial single-section width.

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