PH responsive miniature end effector and manufacturing method thereof

Abstract

The invention discloses a pH responsive miniature end effector and a manufacturing method thereof, and relates to the field of robots, an effector body comprises a pH responsive layer and a soft non-pH responsive layer which are connected, and the pH responsive layer can generate expansion deformation or contraction deformation when pH changes; the pH response layer can enable the manipulator body to generate curling deformation around a first reference line through shrinkage deformation of the pH response layer; the expansion deformation capacity of the side, close to the soft non-pH response layer, of the pH response layer is smaller than that of the side, away from the soft non-pH response layer, of the pH response layer; along the first datum line, the expansion deformation capacity of the two ends of the pH response layer is larger than that of the middle of the pH response layer; the pH response layer can enable the manipulator body to generate curling deformation around a second reference line through expansion deformation of the pH response layer; the included angle between the first datum line and the second datum line is larger than 0. The pH-responsive miniature end effector can cope with complex changing environments, provides a basis for functional expansion of the pH-responsive miniature end effector, and is wider in adaptability.

Description

Technical Field

[0001] The invention relates to the field of robot technology, in particular to a pH responsive micro end effector and a manufacturing method thereof. Background Art

[0002] Micromanipulators have broad application prospects in medical treatment, environmental monitoring, micromanipulation and other fields. For example, in the medical field, micromanipulators can be used for minimally invasive surgery, drug delivery and in vivo diagnosis; in the field of environmental monitoring, micromanipulators can be used to detect pollutants and monitor environmental conditions.

[0003] Existing micromanipulators can only perform simple deformation in a single direction, which is difficult to meet the needs of complex applications. In addition, micromanipulators usually rely on external forces or electromagnetic fields to control their movement, which further limits the application of micromanipulators in complex environments. Summary of the invention

[0004] The purpose of the present invention is to provide a pH-responsive micro end effector and a manufacturing method thereof, so as to solve the problems existing in the prior art, enable the pH-responsive micro end effector to have more deformation capabilities, cope with complex and changing environments, provide a basis for the functional expansion of the pH-responsive micro end effector, and have wider adaptability.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a pH-responsive micro end-operator, comprising an operator body, wherein the operator body comprises a pH response layer and a soft non-pH response layer connected to each other, wherein the pH response layer can generate expansion deformation or contraction deformation when pH changes; the pH response layer can cause the operator body to generate curling deformation around a first reference line through its own contraction deformation; the expansion deformation capacity of the pH response layer on a side close to the soft non-pH response layer is smaller than the expansion deformation capacity of the pH response layer on a side away from the soft non-pH response layer; along the first reference line, the expansion deformation capacity at both ends of the pH response layer is larger than the expansion deformation capacity of the middle part of the pH response layer; the pH response layer can cause the operator body to generate curling deformation around a second reference line through its own expansion deformation; and the angle between the first reference line and the second reference line is larger than 0.

[0007] Preferably, the pH responsive layer and the soft non-pH responsive layer are both in the shape of long strips, the first reference line is parallel to the length direction of the operator body, and the second reference line is parallel to the width direction of the operator body.

[0008] Preferably, the pH responsive layer is a pH responsive photocurable polymer layer, and the soft non-pH responsive layer is a soft non-pH responsive photocurable polymer layer.

[0009] Preferably, the crosslinking density of the pH responsive layer on the side close to the soft non-pH responsive layer is greater than the crosslinking density of the pH responsive layer on the side away from the soft non-pH responsive layer; along the first reference line, the crosslinking density on both sides of the pH responsive layer is less than the crosslinking density in the middle of the pH responsive layer.

[0010] The present invention provides a method for manufacturing a pH-responsive micro end effector, comprising the following steps:

[0011] S1, obtaining a soft non-pH responsive layer;

[0012] S2, forming a pH responsive layer on the soft non-pH responsive layer, or obtaining the pH responsive layer and connecting the pH responsive layer with the soft non-pH responsive layer; enabling the obtained pH responsive layer to expand or contract when the pH changes, so that the expansion deformation capacity of the pH responsive layer close to the soft non-pH responsive layer is smaller than the expansion deformation capacity of the pH responsive layer away from the soft non-pH responsive layer; along the first reference line, the expansion deformation capacity of the two ends of the pH responsive layer is greater than the expansion deformation capacity of the middle part of the pH responsive layer; when the pH responsive layer contracts, the pH responsive layer and the soft non-pH responsive layer can curl around the first reference line; when the pH responsive layer expands, the pH responsive layer and the soft non-pH responsive layer can curl around the second reference line; the angle between the first reference line and the second reference line is greater than 0.

[0013] Preferably, S2 also includes: the method for making the pH responsive layer includes: injecting a pH responsive prepolymer solution into a first forming cavity, irradiating the pH responsive prepolymer solution with a first light source, polymerizing, cross-linking and curing the pH responsive prepolymer solution into the pH responsive layer, and making the cross-linking density of the pH responsive layer close to the soft non-pH responsive layer greater than the cross-linking density of the pH responsive layer away from the soft non-pH responsive layer; along the first baseline, the cross-linking density on both sides of the pH responsive layer is less than the cross-linking density in the middle of the pH responsive layer.

[0014] Preferably, S2 includes: the method for manufacturing the pH response layer includes: the illumination intensity of the light from the first light source along the first reference line is the same; along the second reference line, the illumination intensity of the first light source gradually decreases from the middle to both sides.

[0015] Preferably, S1 also includes: the method for obtaining the soft non-pH responsive layer includes: obtaining a first microchannel, injecting a soft non-pH responsive layer gel solution into the first microchannel by capillary force, setting a mask above the first microchannel, using a second light source to irradiate the soft non-pH responsive layer gel solution downward from above the mask to solidify the soft non-pH responsive layer gel solution, removing the unsolidified soft non-pH responsive layer gel solution, and forming the soft non-pH responsive layer of a set shape; the second light source is a parallel light source; the method for obtaining the first microchannel includes: bonding the bottom plate and the transparent top plate by a first adhesive layer of a set thickness, and forming the first microchannel between the bottom plate and the transparent top plate;

[0016] S2 includes: the method for making the pH responsive layer includes: bonding the bottom plate and the transparent top plate through a second adhesive layer of set thickness, the thickness of the second adhesive layer is greater than the thickness of the first adhesive layer, so that a second microchannel is formed between the bottom plate and the transparent top plate; injecting the pH responsive prepolymer solution into the second microchannel, setting the mask above the transparent top plate, using the first light source to irradiate the pH responsive prepolymer solution downward from above the mask, so that the pH responsive prepolymer solution is solidified on the soft non-pH responsive layer, removing the unsolidified pH responsive prepolymer solution, and forming the pH responsive layer of a set shape.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] The present invention provides a pH-responsive micro end-operator and a manufacturing method thereof, comprising an operator body, wherein the operator body comprises a pH-responsive layer and a soft non-pH-responsive layer connected to each other, wherein the pH-responsive layer can generate expansion deformation or contraction deformation when the pH changes; the pH-responsive layer can cause the operator body to generate curling deformation around a first reference line through its own contraction deformation; the expansion deformation capacity of the pH-responsive layer close to the soft non-pH-responsive layer is smaller than the expansion deformation capacity of the pH-responsive layer away from the soft non-pH-responsive layer; along the first reference line, the expansion deformation capacity of the two ends of the pH-responsive layer is larger than the expansion deformation capacity of the middle part of the pH-responsive layer; the pH-responsive layer can cause the operator body to generate curling deformation around a second reference line through its own expansion deformation; and the angle between the first reference line and the second reference line is larger than 0.

[0019] Since the expansion deformation capacity of the side of the pH response layer close to the soft non-pH response layer is less than the expansion deformation capacity of the side of the pH response layer away from the soft non-pH response layer, when the pH value changes and causes the pH response layer to absorb water and expand, the deformation degree of the part of the pH response layer away from the soft non-pH response layer is larger, and the deformation degree of the pH response layer on both sides along the second reference line is larger, so that the pH response layer can drive the soft non-pH response layer to curl and deform toward one side of the soft non-pH response layer, resulting in curling deformation around the second reference line; when the pH value changes and causes the pH response layer to dehydrate and shrink, the effect of the pH response layer is weakened, the pH response layer and the soft non-pH response layer squeeze and deform each other, and the contraction degree of the pH response layer is greater than that of the soft non-pH response layer, which can produce curling deformation around the first reference line. By making the pH-responsive micro terminal manipulator produce curling deformation around two different directions, the pH-responsive micro terminal manipulator can have more deformation capabilities, cope with complex and changing environments, provide a basis for the functional expansion of the pH-responsive micro terminal manipulator, and have wider adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure of the pH-responsive micro end effector provided in Example 1;

[0022] Figure 2 Schematic diagram of the preparation of the first microchannel in Example 2;

[0023] Figure 3 This is a schematic diagram of injecting the soft non-pH responsive layer gel solution into the first microchannel in Example 2;

[0024] Figure 4 This is a schematic diagram of curing the soft non-pH responsive layer in Example 2;

[0025] Figure 5 This is a schematic diagram of the structure of the soft non-pH responsive layer after curing in Example 2;

[0026] Figure 6 Schematic diagram of the preparation of the second microchannel in Example 2;

[0027] Figure 7 Schematic diagram of injecting the pH responsive prepolymer solution into the second microchannel in Example 2;

[0028] Figure 8This is a schematic diagram of curing the pH response layer in Example 2;

[0029] Fig. 9 This is a schematic diagram of the structure of the pH response layer after solidification in Example 2;

[0030] Fig.10 A schematic diagram of the pH-responsive micro end effector provided in Example 1 after deformation along the first reference line;

[0031] Fig.11 A schematic diagram of the pH-responsive micro end effector provided in Example 1 after deformation along the second reference line;

[0032] In the figure: 100, pH-responsive micro end effector; 1, pH-responsive layer; 101, pH-responsive prepolymer solution; 2, soft non-pH-responsive layer; 201, soft non-pH-responsive layer gel solution; 3, first light source; 4, mask; 5, second light source; 6, bottom plate; 7, transparent top plate; 8, first adhesive layer; 9, second adhesive layer. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide a pH-responsive micro end effector and a manufacturing method thereof, so as to solve the problems existing in the prior art, enable the pH-responsive micro end effector to have more deformation capabilities, cope with complex and changing environments, provide a basis for the functional expansion of the pH-responsive micro end effector, and have wider adaptability.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Example 1

[0037] like Figures 1 to 11As shown, this embodiment provides a pH-responsive micro end effector 100, including an effector body, the effector body including a pH-responsive layer 1 and a soft non-pH-responsive layer 2 connected to each other, the pH-responsive layer 1 being capable of expansion deformation or contraction deformation when the pH changes; the pH-responsive layer 1 being capable of causing the effector body to curl around a first reference line through its own contraction deformation; the expansion deformation capacity of the pH-responsive layer 1 on the side close to the soft non-pH-responsive layer 2 is smaller than the expansion deformation capacity of the pH-responsive layer 1 on the side away from the soft non-pH-responsive layer 2; along the first reference line, the expansion deformation capacity at both ends of the pH-responsive layer 1 is greater than the expansion deformation capacity at the middle of the pH-responsive layer 1; the pH-responsive layer 1 being capable of causing the effector body to curl around a second reference line through its own expansion deformation; and the angle between the first reference line and the second reference line is greater than 0. Since the expansion and deformation capacity of the side of the pH responsive layer 1 close to the soft non-pH responsive layer 2 is smaller than the expansion and deformation capacity of the side of the pH responsive layer 1 away from the soft non-pH responsive layer 2, when the pH value changes and causes the pH responsive layer 1 to absorb water and expand, the deformation degree of the part of the pH responsive layer 1 away from the soft non-pH responsive layer 2 is larger, and the deformation degree of the pH responsive layer 1 on both sides along the second reference line is larger, so that the pH responsive layer 1 can drive the soft non-pH responsive layer 2 to curl toward one side of the soft non-pH responsive layer 2, resulting in curling deformation around the second reference line; when the pH value changes and causes the pH responsive layer 1 to dehydrate and shrink, the effect of the pH responsive layer 1 is weakened, the pH responsive layer 1 and the soft non-pH responsive layer 2 squeeze and deform each other, and the contraction degree of the pH responsive layer 1 is greater than that of the soft non-pH responsive layer 2, which can produce curling deformation around the first reference line. By making the pH-responsive micro end effector 100 curl and deform in two different directions, the pH-responsive micro end effector 100 can have more deformation capabilities and cope with complex and changing environments, providing a basis for the functional expansion of the pH-responsive micro end effector 100 and making it more adaptable.

[0038] As a preferred embodiment, the first reference line and the second reference line are perpendicular to each other. The pH response layer 1 is integrally formed on the soft non-pH response layer 2 .

[0039] As a preferred embodiment, the pH responsive layer 1 can produce water absorption and expansion deformation when the pH increases, that is, water absorption and expansion deformation when the pH is alkaline; the pH responsive layer 1 can produce dehydration and shrinkage deformation when the pH decreases, that is, water absorption and expansion deformation when the pH is acidic.

[0040] In this embodiment, the pH response layer 1 and the soft non-pH response layer 2 are both long strips, the first reference line is parallel to the length direction of the manipulator body, and the second reference line is parallel to the width direction of the manipulator body. In an acidic environment, the pH response layer 1 shrinks, and the contraction degree of the pH response layer 1 is greater than that of the soft non-pH response layer 2. The soft non-pH response layer 2 and the pH response layer 1 produce a curling deformation around the second reference line, that is, curling in the length direction of the soft non-pH response layer 2; when the pH increases, the expansion deformation of the pH response layer 1 can change the deformation direction of the manipulator body, so that the manipulator body produces a curling deformation around the first reference line, that is, curling in the width direction of the soft non-pH response layer 2. Through the above two deformations, the pH-responsive micro end manipulator 100 can have two forms, which improves adaptability.

[0041] In this embodiment, along the first reference line, the cross-linking density of the pH responsive layer 1 on the side close to the soft non-pH responsive layer 2 is greater than the cross-linking density of the pH responsive layer 1 on the side away from the soft non-pH responsive layer 2; along the first reference line, the cross-linking density on both sides of the pH responsive layer 1 is less than the cross-linking density in the middle of the pH responsive layer 1.

[0042] In this embodiment, the soft non-pH responsive layer 2 is a magnetic soft non-pH responsive layer 2. The movement of the magnetic soft non-pH responsive layer 2 can be controlled by a magnetic field driving device, thereby controlling the manipulator body to enable it to move in the human body.

[0043] In this embodiment, there are multiple manipulator bodies, and complex morphological deformation can be achieved through the combination of multiple manipulator bodies.

[0044] Example 2

[0045] like Figures 2 to 10 As shown, this embodiment provides a method for manufacturing a pH-responsive micro end effector 100, comprising the following steps:

[0046] S1, obtaining a soft non-pH responsive layer 2;

[0047] S2, forming a pH responsive layer 1 on the soft non-pH responsive layer 2, or obtaining a pH responsive layer 1 and connecting the pH responsive layer 1 to the soft non-pH responsive layer 2; enabling the obtained pH responsive layer 1 to expand or contract when the pH changes, and enabling the expansion deformation capacity of the side of the pH responsive layer 1 close to the soft non-pH responsive layer 2 to be smaller than the expansion deformation capacity of the side of the pH responsive layer 1 away from the soft non-pH responsive layer 2; when the pH responsive layer 1 contracts, the pH responsive layer 1 and the soft non-pH responsive layer 2 can curl around a first reference line; when the pH responsive layer 1 expands, the pH responsive layer 1 and the soft non-pH responsive layer 2 can curl around a second reference line; and the angle between the first reference line and the second reference line is greater than 0.

[0048] In this embodiment, S2 also includes: the method for making the pH response layer 1 includes: injecting a pH response prepolymer solution 101 into the first forming cavity, irradiating the pH response prepolymer solution 101 through the first light source 3, so that the pH response prepolymer solution 101 is cross-linked and solidified into the pH response layer 1, and the cross-linking density of the pH response layer 1 close to the soft non-pH response layer 2 is greater than the cross-linking density of the pH response layer 1 away from the soft non-pH response layer 2; along the first reference line, the cross-linking density on both sides of the pH response layer 1 is less than the cross-linking density in the middle of the pH response layer 1. When the first light source 3 irradiates the pH response prepolymer solution 101, since the product starts to be generated at the bottom, the bottom irradiation time of the pH response prepolymer solution 101 is long, and the bottom cross-linking density of the pH response layer 1 is large; the top irradiation time of the pH response prepolymer solution 101 is short, and the top cross-linking density of the pH response layer 1 is small.

[0049] like Fig. 9 As shown, in this embodiment, S2 includes: the manufacturing method of the pH response layer 1 includes: the illumination intensity of the light of the first light source 3 along the first reference line is the same; along the second reference line, the illumination intensity of the first light source 3 gradually decreases from the middle to both sides. By irradiating with the first light source 3 with uneven illumination intensity, the cross-linking density of the pH response layer 1 is different only along the second reference line, and the cross-linking density of the pH response layer 1 along each section parallel to the first reference line is the same, so that the pH response layer 1 can better produce curling deformation around the second reference line when it absorbs water and expands.

[0050] It should be noted that the first light source 3 of this embodiment is not limited to the above two types of light sources, and other types of light sources may be used as long as the crosslinking density of the pH response layer 1 on both sides along the first reference line is smaller than the crosslinking density in the middle.

[0051] In this embodiment, the method for manufacturing the pH responsive layer 1 includes: the first light source 3 irradiates the pH responsive prepolymer solution 101 for 100 s to 120 s, so that the pH responsive prepolymer solution 101 is solidified into the pH responsive layer 1 .

[0052] In this embodiment, S1 also includes: a method for obtaining the soft non-pH responsive layer 2 includes: obtaining a first microchannel, injecting a soft non-pH responsive layer gel solution 201 into the first microchannel by capillary force, setting a mask 4 above the first microchannel, and using a second light source 5 to irradiate the soft non-pH responsive layer gel solution 201 downward from above the mask 4 to solidify the soft non-pH responsive layer gel solution 201, and removing the unsolidified soft non-pH responsive layer gel solution 201 to form a soft non-pH responsive layer 2 of a set shape; the second light source 5 is a parallel light source; the method for obtaining the first microchannel includes: bonding the bottom plate 6 and the transparent top plate 7 through a first adhesive layer 8 of a set thickness, and forming a first microchannel between the bottom plate 6 and the transparent top plate 7; as a preferred embodiment, the second light source 5 is a parallel ultraviolet light source with a wavelength of 365nm, the ultraviolet irradiation dose is about 30mJ cm-2, and the irradiation time of the second light source 5 is 10 minutes.

[0053] S2 includes: a method for manufacturing a pH responsive layer 1 includes: bonding a bottom plate 6 and a transparent top plate 7 via a second adhesive layer 9 of set thickness, wherein the thickness of the second adhesive layer 9 is greater than the thickness of the first adhesive layer 8, so that a second microchannel is formed between the bottom plate 6 and the transparent top plate 7; injecting a pH responsive prepolymer solution 101 into the second microchannel, setting a mask 4 above the transparent top plate 7, using a first light source 3 to irradiate the pH responsive prepolymer solution 101 downward from above the mask 4, so that the pH responsive prepolymer solution 101 is solidified on the soft non-pH responsive layer 2, and removing the unsolidified pH responsive prepolymer solution 101 to form a pH responsive layer 1 of a set shape.

[0054] As a preferred embodiment, the bottom plate 6 is a glass slide of 250 mm×750 mm×100 μm, the transparent top plate 7 is a top cover glass of 180 mm×180 mm×100 μm, the first adhesive layer 8 is a double-sided tape with a thickness of 50 μm, and the second adhesive layer 9 is a double-sided tape with a thickness of 100 μm. Accordingly, the thickness of the obtained manipulator body is 150 μm. The heights of the first microchannel and the second microchannel are controlled by the thicknesses of the first adhesive layer 8 and the second adhesive layer 9, respectively.

[0055] As a preferred embodiment, the material of the soft non-pH responsive layer 2 is PEGDA copolymer hydrogel, and the soft non-pH responsive layer gel solution 201 includes polyethylene glycol diacrylate solution (PEGDA 700), water or polybutylene succinate (PBS), and a photoinitiator, wherein the mass proportion of PEGDA 700 is preferably 18.4%, the mass proportion of the photoinitiator is preferably 0.2%, and the mass proportion of water or polybutylene succinate is 81.4%. The photoinitiator is diphenyl (2,4,6,-trimethylbenzoyl) phosphine oxide.

[0056] As a preferred embodiment, the material of the pH response layer 1 is pHEMA copolymer (polyhydroxyethyl methacrylate), and the pH responsive prepolymer solution 101 includes hydroxyethyl methacrylate (HEMA, 2-hydroxyethyl methacrylate), a cross-linking agent and acrylic acid (acrylic acid (AA)) and a photoinitiator, wherein hydroxyethyl methacrylate is the main component and acrylic acid is the pH response component; the cross-linking agent is preferably 2-(methacryloyloxy)ethyl-trimethylammonium chloride (EDGMA), and the photoinitiator is preferably dimethyl benzoate (DMPA, 2,2-Dimethoxy-2-pHenylacetopHenone) 。 The mass proportion of hydroxyethyl methacrylate is about 65%, the mass proportion of the crosslinker is about 1%, the mass proportion of acrylic acid is about 32%, and the mass proportion of the photoinitiator is about 2%.

[0057] As a preferred embodiment, the uncured soft non-pH responsive layer gel solution 201 is removed by washing with deionized water. After the pH responsive prepolymer solution 101 is cured on the soft non-pH responsive layer 2, the uncured pH responsive prepolymer solution 101 in the second microchannel is washed with isopropyl alcohol (IPA), methanol and deionized water in sequence to remove the uncured pH responsive prepolymer solution 101. Afterwards, the integrated soft non-pH responsive layer 2 and pH responsive layer 1 are soaked in deionized water to dissolve and remove the unpolymerized monomers and initiators, thereby obtaining the final operator body.

[0058] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pH-responsive micro end effector, characterized in that: The operator body includes a pH response layer and a soft non-pH response layer connected to each other, wherein the pH response layer can produce expansion deformation or contraction deformation when the pH changes; The pH response layer can cause the operator body to curl around a first baseline through its own contraction deformation; the expansion deformation capacity of the pH response layer close to the soft non-pH response layer is smaller than the expansion deformation capacity of the pH response layer away from the soft non-pH response layer; along the first baseline, the expansion deformation capacity of the two ends of the pH response layer is greater than the expansion deformation capacity of the middle part of the pH response layer; the pH response layer can cause the operator body to curl around a second baseline through its own expansion deformation; and the angle between the first baseline and the second baseline is greater than 0.

2. The pH-responsive micro end effector according to claim 1, characterized in that: The pH response layer and the soft non-pH response layer are both in the shape of long strips, the first reference line is parallel to the length direction of the operator body, and the second reference line is parallel to the width direction of the operator body.

3. The pH-responsive micro end effector according to claim 1, characterized in that: The pH responsive layer is a pH responsive photocurable polymer layer, and the soft non-pH responsive layer is a soft non-pH responsive photocurable polymer layer.

4. The pH-responsive micro end effector according to claim 1, characterized in that: The crosslinking density of the pH responsive layer on the side close to the soft non-pH responsive layer is greater than the crosslinking density of the pH responsive layer on the side away from the soft non-pH responsive layer; Along the first reference line, the cross-linking density at both sides of the pH responsive layer is less than the cross-linking density in the middle of the pH responsive layer.

5. A method for manufacturing a pH-responsive micro end effector, characterized in that: The steps include: S1, obtaining a soft non-pH responsive layer; S2, forming a pH response layer on the soft non-pH response layer, or obtaining the pH response layer and connecting the pH response layer to the soft non-pH response layer; The obtained pH response layer is capable of expansion deformation or contraction deformation when the pH changes, so that the expansion deformation capacity of the pH response layer close to the soft non-pH response layer is smaller than the expansion deformation capacity of the pH response layer away from the soft non-pH response layer; along the first reference line, the expansion deformation capacity of the two ends of the pH response layer is greater than the expansion deformation capacity of the middle part of the pH response layer; when the pH response layer is contracted, the pH response layer and the soft non-pH response layer can be curled around the first reference line; when the pH response layer is expanded, the pH response layer and the soft non-pH response layer can be curled around the second reference line; the angle between the first reference line and the second reference line is greater than 0.

6. The method for manufacturing a pH-responsive micro end effector according to claim 5, characterized in that: S2 also includes: the method for making the pH response layer includes: injecting a pH response prepolymer solution into a first forming cavity, irradiating the pH response prepolymer solution with a first light source, polymerizing, cross-linking and curing the pH response prepolymer solution into the pH response layer, and making the cross-linking density of the pH response layer close to the soft non-pH response layer greater than the cross-linking density of the pH response layer away from the soft non-pH response layer; along the first baseline, the cross-linking density on both sides of the pH response layer is less than the cross-linking density in the middle of the pH response layer.

7. The method for manufacturing a pH-responsive micro end effector according to claim 6, characterized in that: S2 includes: The method for manufacturing the pH response layer comprises: the illumination intensity of the light of the first light source along the first reference line is the same; Along the second reference line, the illumination intensity of the first light source gradually decreases from the middle to both sides.

8. The method for manufacturing a pH-responsive micro end effector according to claim 6, wherein: S1 also includes: the method for obtaining the soft non-pH responsive layer includes: obtaining a first microchannel, injecting a soft non-pH responsive layer gel solution into the first microchannel by capillary force, setting a mask above the first microchannel, using a second light source to irradiate the soft non-pH responsive layer gel solution downward from above the mask to solidify the soft non-pH responsive layer gel solution, removing the unsolidified soft non-pH responsive layer gel solution, and forming the soft non-pH responsive layer of a set shape; the second light source is a parallel light source; the method for obtaining the first microchannel includes: bonding a bottom plate and a transparent top plate by a first adhesive layer of a set thickness, and forming the first microchannel between the bottom plate and the transparent top plate; S2 includes: the method for making the pH responsive layer includes: bonding the bottom plate and the transparent top plate through a second adhesive layer of set thickness, the thickness of the second adhesive layer is greater than the thickness of the first adhesive layer, so that a second microchannel is formed between the bottom plate and the transparent top plate; injecting the pH responsive prepolymer solution into the second microchannel, setting the mask above the transparent top plate, using the first light source to irradiate the pH responsive prepolymer solution downward from above the mask, so that the pH responsive prepolymer solution is solidified on the soft non-pH responsive layer, removing the unsolidified pH responsive prepolymer solution, and forming the pH responsive layer of a set shape.

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