A pH-responsive microgripper and a manufacturing method thereof

Abstract

The application discloses a pH-responsive micro end effector and a manufacturing method thereof, and relates to the field of robots. The effector body comprises a connected pH-responsive layer and a soft non-pH-responsive layer. The pH-responsive layer can generate swelling deformation or shrinkage deformation when the pH changes. The pH-responsive layer can make the effector body generate curling deformation around a first reference line through its own shrinkage deformation. The swelling deformation capacity of the pH-responsive layer on the side close to the soft non-pH-responsive layer is smaller than that on the side away from the soft non-pH-responsive layer. Along the first reference line, the swelling deformation capacity of the pH-responsive layer at both ends is greater than that in the middle. The pH-responsive layer can make the effector body generate curling deformation around a second reference line through its own swelling deformation. The included angle between the first reference line and the second reference line is greater than 0. The application can cope with complex changes in the environment, provide a basis for the functional expansion of the pH-responsive micro end effector, and is more widely adaptable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a pH-responsive micro end effector and a manufacturing method thereof. BACKGROUND

[0002] Micro end effectors have wide application prospects in medical treatment, environmental monitoring, micro operation and other fields. For example, in the medical field, micro end effectors can be used for minimally invasive surgery, drug delivery and in-vivo diagnosis; in the field of environmental monitoring, micro end effectors can be used for detecting pollutants and monitoring environmental conditions.

[0003] Existing micro end effectors can only deform in a simple mode in a single direction, which cannot meet the needs of complex applications. Moreover, micro end effectors usually rely on external forces or electromagnetic fields to control their movement, which further limits the application of micro end effectors in complex environments. SUMMARY

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

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0006] The present application provides a pH-responsive micro end effector, comprising an end effector body, the end effector body comprising a pH-responsive layer and a soft non-pH-responsive layer connected to each other, the pH-responsive layer and the soft non-pH-responsive layer being long strips, a first reference line being parallel to the length direction of the end effector body, and a second reference line being parallel to the width direction of the end effector body.

[0007] The pH-responsive layer can produce swelling deformation or shrinkage deformation when the pH changes; the pH-responsive layer can produce curling deformation in the length direction of the end effector body through its own shrinkage deformation; the swelling deformation capacity of the pH-responsive layer near the soft non-pH-responsive layer side is smaller than that of the pH-responsive layer away from the soft non-pH-responsive layer side; along the second reference line, the swelling deformation capacity of the both ends of the pH-responsive layer is greater than that of the middle part of the pH-responsive layer; the pH-responsive layer can produce curling deformation in the width direction of the end effector body through its own swelling deformation; the first reference line and the second reference line are perpendicular to each other.

[0008] The pH response layer is a pH-responsive light-cured polymer layer, and the soft non-pH response layer is a soft non-pH-responsive light-cured polymer layer.

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

[0010] The present application provides a pH-responsive micro-end effector manufacturing method based on the pH-responsive micro-end effector.

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

[0012] S2, forming a pH response layer on the soft non-pH response layer, or obtaining the pH response layer and coupling the pH response layer with the soft non-pH response layer; the obtained pH response layer can produce swelling deformation or shrinkage deformation when the pH changes; the swelling deformation capacity of the pH response layer on the side close to the soft non-pH response layer is less than the swelling deformation capacity of the pH response layer on the side away from the soft non-pH response layer; along the second reference line, the swelling deformation capacity of the pH response layer on both sides is greater than the swelling deformation capacity of the pH response layer in the middle; when the pH response layer produces shrinkage deformation, the pH response layer and the soft non-pH response layer can produce curl deformation in the length direction; when the pH response layer produces swelling deformation, the pH response layer and the soft non-pH response layer can produce curl deformation in the width direction; the first reference line and the second reference line are perpendicular to each other.

[0013] Preferably, S2 further comprises: the manufacturing method of the pH response layer comprises: injecting a pH-responsive prepolymer solution into a first forming cavity, and irradiating the pH-responsive prepolymer solution with a first light source to make the pH-responsive prepolymer solution polymerize, crosslink and solidify into the pH response layer, and the crosslinking density of the pH response layer on the side close to the soft non-pH response layer is greater than the crosslinking density of the pH response layer on the side away from the soft non-pH response layer; along the second reference line, the crosslinking density of the pH response layer on both sides is less than the crosslinking density of the pH response layer in the middle.

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

[0015] Preferably, S1 further 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 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 with a first adhesive layer of a set thickness, so that the first microchannel is formed between the bottom plate and the transparent top plate;

[0016] S2 includes: the method for manufacturing 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 being 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, and removing the unsolidified pH responsive prepolymer solution to form 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 effector and a manufacturing method thereof, comprising an end effector body, wherein the end effector 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 end effector body to generate curling deformation in the length direction through its own contraction deformation; the expansion deformation capacity of the pH-responsive layer on the side close to the soft non-pH-responsive layer is smaller than the expansion deformation capacity of the pH-responsive layer on the side away from the soft non-pH-responsive layer; along a second reference line, the expansion deformation capacity at both ends of the pH-responsive layer is greater than the expansion deformation capacity of the middle portion of the pH-responsive layer; the pH-responsive layer can cause the end effector body to generate curling deformation in the width direction through its own expansion deformation; and the first reference line and the second reference line are perpendicular to each other.

[0019] Because the expansion and deformation capacity of the pH-responsive layer on the side closest to the soft non-pH-responsive layer is smaller than that on the side away from the soft non-pH-responsive layer, when the pH value changes and causes the pH-responsive layer to absorb water and expand, the portion of the pH-responsive layer away from the soft non-pH-responsive layer deforms more significantly, and the pH-responsive layer deforms more significantly on both sides of the second reference line, enabling the pH-responsive layer to drive the soft non-pH-responsive layer to curl toward the side of the soft non-pH-responsive layer, resulting in curling deformation in the width direction. When the pH value changes and causes the pH-responsive layer to dehydrate and shrink, the effect of the pH-responsive layer is weakened, and the pH-responsive layer and the soft non-pH-responsive layer squeeze and deform against each other. The pH-responsive layer shrinks more than the soft non-pH-responsive layer, resulting in curling deformation in the length direction. By enabling the pH-responsive micro-end effector to curl in two different directions, the pH-responsive micro-end effector has more deformation capacity, can cope with complex and changing environments, and provides a basis for functional expansion of the pH-responsive micro-end effector, with 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 following briefly introduces the drawings required for use in the embodiments. 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 any creative work.

[0021] Figure 1 This is a schematic structural diagram 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 Schematic diagram of the soft non-pH responsive layer gel solution injected into the first microchannel in Example 2;

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

[0025] Figure 5 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 the curing of the pH response layer in Example 2;

[0029] Figure 9 Schematic diagram of the structure of the pH response layer after curing in Example 2;

[0030] Figure 10 This is a schematic diagram of the pH-responsive micro end effector provided in Example 1 after deformation along the first reference line;

[0031] Figure 11 This is 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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 to solve the problems existing in the prior art, so that the pH-responsive micro end effector can have more deformation capabilities and 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 end effector body, which includes a pH-responsive layer 1 and a soft non-pH-responsive layer 2 connected to each other. The pH-responsive layer 1 and the soft non-pH-responsive layer 2 are both elongated, with a first reference line parallel to the length direction of the end effector body and a second reference line parallel to the width direction of the end effector body. The pH-responsive layer 1 can expand or contract when the pH changes. The pH-responsive layer 1 can cause the end effector body to curl in the length direction through its own contraction. 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 second reference line, the expansion deformation capacity at both ends of the pH-responsive layer 1 is greater than the expansion deformation capacity of the middle portion of the pH-responsive layer 1. The pH-responsive layer 1 can cause the end effector body to curl in the width direction through its own expansion deformation. The first reference line and the second reference line are perpendicular to each other. 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 portion of the pH responsive layer 1 away from the soft non-pH responsive layer 2 is greater, and the deformation degree of the pH responsive layer 1 on both sides along the second reference line is greater, so that the pH responsive layer 1 can drive the soft non-pH responsive layer 2 to curl toward the side of the soft non-pH responsive layer 2, resulting in curling deformation in the width direction; 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, and the pH responsive layer 1 and the soft non-pH responsive layer 2 squeeze and deform each other, and the pH responsive layer 1 shrinks more than the soft non-pH responsive layer 2, which can produce curling deformation in the length direction. 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 to cope with complex and changing environments, providing a basis for the functional expansion of the pH-responsive micro end effector 100 and having wider adaptability.

[0038] As a preferred embodiment, the pH responsive layer 1 is integrally formed on the soft non-pH responsive 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, produce 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, produce dehydration and shrinkage deformation when the pH is acidic.

[0040] In this embodiment, in an acidic environment, the pH-responsive layer 1 contracts more than the soft non-pH-responsive layer 2, causing the soft non-pH-responsive layer 2 and the pH-responsive layer 1 to curl in the length direction, i.e., curl in the length direction of the soft non-pH-responsive layer 2. When the pH increases, the expansion and deformation of the pH-responsive layer 1 can change the deformation direction of the manipulator body, causing the manipulator body to curl in the width direction, i.e., curl in the width direction of the soft non-pH-responsive layer 2. These two deformations allow the pH-responsive micro end effector 100 to have two forms, improving its 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 second 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 magnetic field driving device can control the movement of the magnetic soft non-pH responsive layer 2 , 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 in the length direction; when the pH responsive layer 1 expands, the pH responsive layer 1 and the soft non-pH responsive layer 2 can curl in the width direction; the first reference line and the second reference line are perpendicular to each other.

[0048] In this embodiment, S2 further includes: a method for manufacturing the pH-responsive layer 1, comprising: injecting a pH-responsive prepolymer solution 101 into a first forming cavity, irradiating the pH-responsive prepolymer solution 101 with a first light source 3, causing the pH-responsive prepolymer solution 101 to crosslink and solidify into the pH-responsive layer 1, wherein the crosslinking density of the pH-responsive layer 1 on the side close to the soft non-pH-responsive layer 2 is greater than the crosslinking density of the pH-responsive layer 1 on the side away from the soft non-pH-responsive layer 2; and along a second reference line, the crosslinking density on both sides of the pH-responsive layer 1 is less than the crosslinking density in the middle of the pH-responsive layer 1. When the first light source 3 irradiates the pH-responsive prepolymer solution 101, since the product begins to be generated at the bottom, the bottom irradiation time of the pH-responsive prepolymer solution 101 is long, and the bottom crosslinking density of the pH-responsive layer 1 is high; and the top irradiation time of the pH-responsive prepolymer solution 101 is short, and the top crosslinking density of the pH-responsive layer 1 is low.

[0049] like Figure 9 As shown, in this embodiment, S2 includes: a method for manufacturing the pH responsive layer 1 includes: providing uniform illumination intensity from the first light source 3 along a first reference line; and gradually decreasing illumination intensity from the center toward the sides along a second reference line. By using the first light source 3 with uneven illumination intensity, the cross-linking density of the pH responsive layer 1 varies only along the second reference line, while the cross-linking density of each cross section of the pH responsive layer 1 parallel to the first reference line is uniform. This allows the pH responsive layer 1 to better curl and deform in the width direction 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 can also be used, as long as the crosslinking density of the pH response layer 1 on both sides along the second baseline is smaller than the crosslinking density in the middle.

[0051] In this embodiment, the method for manufacturing the pH responsive layer 1 includes: irradiating the pH responsive prepolymer solution 101 with the first light source 3 for 100 s to 120 s to solidify the pH responsive prepolymer solution 101 into the pH responsive layer 1 .

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

[0053] S2 comprises: the manufacturing method of the pH responsive layer 1 comprises: bonding the bottom plate 6 and the transparent top plate 7 through the second adhesive layer 9 with a set thickness, the thickness of the second adhesive layer 9 is greater than the thickness of the first adhesive layer 8, and the second microchannel is formed between the bottom plate 6 and the transparent top plate 7; injecting the pH responsive pre-polymer solution 101 into the second microchannel, setting the mask 4 above the transparent top plate 7, irradiating the pH responsive pre-polymer solution 101 from top to bottom of the mask 4 by using the first light source 3 to make the pH responsive pre-polymer solution 101 solidify on the soft non-pH responsive layer 2, removing the un-solidified pH responsive pre-polymer solution 101, and forming the pH responsive layer 1 with a set shape.

[0054] As a preferred embodiment, the bottom plate 6 is a glass slide with a size of 250 mm×750 mm×100 μm, the transparent top plate 7 is a top cover glass with a size 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. Correspondingly, the thickness of the obtained operator 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 a PEGDA copolymer hydrogel, the soft non-pH responsive layer gel solution 201 comprises a polyethylene glycol diacrylate solution (PEGDA 700), water or polybutylene succinate (PBS), and a photoinitiator, the mass percentage of PEGDA 700 is preferably 18.4%, the mass percentage of the photoinitiator is preferably 0.2%, and the mass percentage 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-responsive layer 1 is pHEMA copolymer (polyhydroxyethyl methacrylate), the pH-responsive prepolymer solution 101 comprises hydroxyethyl methacrylate (HEMA), a crosslinking agent, acrylic acid (AA), and a photoinitiator, wherein the hydroxyethyl methacrylate is the main body, the acrylic acid is the pH-responsive component; the crosslinking agent is preferably 2-(methacryloyloxy)ethyl-trimethylammonium chloride (EDGMA), and the photoinitiator is preferably dimethylphenylacetophenone (DMPA, 2,2-dimethoxy-2-phenylacetophenone). The mass percentage of the hydroxyethyl methacrylate is about 65%, the mass percentage of the crosslinking agent is about 1%, the mass percentage of the acrylic acid is about 32%, and the mass percentage of the photoinitiator is about 2%.

[0057] As a preferred embodiment, the uncured soft non-pH-responsive layer gel solution 201 is removed by deionized water cleaning. 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 sequentially cleaned with isopropyl alcohol (IPA), methanol, and deionized water to remove the uncured pH-responsive prepolymer solution 101. Then, the integrated soft non-pH-responsive layer 2 and the pH-responsive layer 1 are immersed in deionized water to dissolve and remove the unpolymerized monomers and initiators, thereby obtaining the final operator body.

[0058] The principles and embodiments of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific embodiments and application scope will be changed. In summary, the content of the present specification should not be understood as a limitation of the present application.

Claims

1. A pH-responsive micro end effector, characterized in that: The manipulator comprises a body, wherein the body comprises a pH-responsive layer and a soft non-pH-responsive layer connected to each other, wherein the pH-responsive layer and the soft non-pH-responsive layer are both in the shape of a long strip, wherein a first reference line is parallel to a length direction of the manipulator body, and a second reference line is parallel to a width direction of the manipulator body; The pH responsive layer is capable of expanding or contracting when the pH changes; the pH responsive layer is capable of causing the manipulator body to curl in the length direction through its own contraction; the expansion and deformation capacity of the pH responsive layer on the side close to the soft non-pH responsive layer is smaller than the expansion and deformation capacity of the pH responsive layer on the side away from the soft non-pH responsive layer; Along the second reference line, the expansion and deformation capabilities of the two ends of the pH responsive layer are greater than the expansion and deformation capabilities of the middle portion of the pH responsive layer; the pH responsive layer can cause the operator body to curl in the width direction through its own expansion and deformation; the first reference line and the second reference line are perpendicular to each other; 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; The cross-linking density of the pH responsive layer on the side close to the soft non-pH responsive layer is greater than the cross-linking density of the pH responsive layer on the side away from the soft non-pH responsive layer; Along the second reference line, the cross-linking density at both sides of the pH responsive layer is smaller than the cross-linking density in the middle of the pH responsive layer.

2. A method for manufacturing a pH-responsive micro end effector based on the pH-responsive micro end effector according to claim 1, characterized in that: The steps include: S1, obtaining a soft non-pH responsive layer; 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 to the soft non-pH responsive layer; The obtained pH responsive layer is capable of expansion deformation or contraction deformation when the pH changes, and 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 second reference line, the expansion and deformation capabilities of the two ends of the pH responsive layer are greater than the expansion and deformation capabilities of the middle portion of the pH responsive layer; when the pH responsive layer undergoes contraction deformation, the pH responsive layer and the soft non-pH responsive layer can undergo curling deformation in the length direction; when the pH responsive layer undergoes expansion deformation, the pH responsive layer and the soft non-pH responsive layer can undergo curling deformation in the width direction; the first reference line and the second reference line are perpendicular to each other.

3. The method for manufacturing a pH-responsive micro end effector according to claim 2, wherein: S2 also includes: the method for manufacturing 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 solidifying 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 second 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.

4. The method for manufacturing a pH-responsive micro end effector according to claim 3, wherein: 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.

5. The method for manufacturing a pH-responsive micro end effector according to claim 3, 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 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 with a first adhesive layer of a set thickness, so that the first microchannel is formed between the bottom plate and the transparent top plate; S2 includes: the method for manufacturing 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 being 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, and removing the unsolidified pH responsive prepolymer solution to form the pH responsive layer of a set shape.

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