Device and method for manufacturing swimming robot

Abstract

The invention discloses a swimming robot preparation device and method, and belongs to the technical field of swimming robot preparation. The coaxial needle head device aims at solving the problems that an existing coaxial needle head device for printing of the swimming robot is high in coaxiality requirement and low in printing efficiency. The device comprises an inner-layer needle tube and an outer-layer needle tube, the inner-layer needle tube and the outer-layer needle tube are coaxially connected in a nested mode, and an inner-layer needle head of the inner-layer needle tube extends outwards from an outer-layer needle head of the outer-layer needle tube till the inner-layer needle head extends out of an outer-layer needle head; the outer-layer needle tube is provided with a communicated auxiliary injection tube; the method comprises the steps that corresponding preparation solutions are injected into the inner-layer needle tube and the outer-layer needle tube respectively, and the distance between the tail end of the inner-layer needle head and the reaction liquid level is adjusted; and the inner-layer needle tube and the outer-layer needle tube are extruded to enable the inner-layer needle head and the outer-layer needle head to output liquid drops, the dripping time sequence of the two liquid drops is controlled, fusion of the two liquid drops and the reaction liquid is achieved, and the swimming robot is obtained. The manufacturing method is used for manufacturing the swimming robot.

Description

Technical Field

[0001] The invention relates to a swimming robot preparation device and method, and belongs to the technical field of swimming robot preparation. Background Art

[0002] At present, the preparation system based on coaxial needles is usually electrospinning and filament extrusion printing, and the coaxial needle is the core structure of the system. This coaxial needle has problems in design and preparation, such as complex structure and high preparation cost. In addition, during the printing process, the printing system based on the coaxial needle is easily affected by the coaxiality of the needle during preparation, resulting in unstable printing effect. Moreover, since the bottom of the needle is flat or the length difference is not large, the inner and outer tubes affect each other in the process of extruding the solution to form droplets. Therefore, the printing structure of this method is relatively single, which limits its application potential.

[0003] Since traditional coaxial needles are mainly used for electrospinning, filament extrusion printing or preparation of cell microspheres, there is still much room for research and development in robot printing and preparation. As an emerging interdisciplinary subject, microswimming robot technology can achieve precise control and high-efficiency swimming in a liquid environment, and can achieve precise transportation of drugs. In addition, microswimming robots prepared based on hydrogel materials have the advantages of good biocompatibility, can be naturally degraded after completing the task, and are pollution-free to the environment. Therefore, there is an urgent need to develop a preparation device and method that can efficiently print multi-morphological swimming robots. Summary of the invention

[0004] In view of the problem that the existing coaxial needle device used for swimming robot printing has high coaxiality requirements and low printing efficiency, the present invention provides a swimming robot preparation device and method.

[0005] A swimming robot preparation device of the present invention comprises an inner needle tube and an outer needle tube, wherein the inner needle tube and the outer needle tube are coaxially nested and connected, and an inner needle head of the inner needle tube extends outward from the outer needle head of the outer needle tube until it protrudes out of the outer needle head;

[0006] The outer needle tube has a connected auxiliary injection tube.

[0007] According to the swimming robot manufacturing device of the present invention, the diameter of the outer needle tube and the diameter of the outer needle head are greater than the diameter of the inner needle tube and the diameter of the inner needle head.

[0008] According to the swimming robot preparation device of the present invention, the outer needle tube is vertically connected to the auxiliary injection tube.

[0009] The present invention also provides a method for preparing a swimming robot, and the swimming robot is prepared based on the swimming robot preparation device, comprising:

[0010] Inject the corresponding preparation solutions into the inner needle tube and the outer needle tube respectively, and adjust the distance between the end of the inner needle and the reaction liquid surface;

[0011] The inner needle tube and the outer needle tube are squeezed to make the inner needle head and the outer needle head output droplets, and the dripping sequence of the two droplets is controlled to realize the fusion of the two droplets and the reaction liquid to obtain a swimming robot.

[0012] According to the swimming robot preparation method of the present invention, the swimming robots obtained by printing include yin-yang ball robots, bacteria-mimicking swimming robots and double-tail swimming robots.

[0013] According to the method for preparing a swimming robot of the present invention, the method for preparing a yin-yang ball robot comprises:

[0014] The inner needle tube is injected with a preparation solution containing platinum particles, and the outer needle tube is injected with a preparation solution containing magnetic powder;

[0015] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0016] The inner needle tube and the outer needle tube are squeezed so that the droplets output by the inner needle and the outer needle are combined before being dropped into the reaction liquid, and then dropped into the reaction liquid after being combined, thereby forming a yin-yang ball robot with a target ratio.

[0017] According to the method for preparing a swimming robot of the present invention, the method for preparing a bacteria-mimicking swimming robot comprises:

[0018] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube;

[0019] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0020] The inner needle tube is squeezed to make the inner needle output droplets and drip into the reaction liquid to form a liquid bridge and cross-link to form a tail; then the outer needle tube is squeezed to make the outer needle output droplets connect with the tail in the reaction liquid to form a head, thereby obtaining a bacteria-mimicking swimming robot.

[0021] According to the swimming robot preparation method of the present invention, the preparation method of the double-tail swimming robot comprises:

[0022] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube;

[0023] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0024] The inner layer needle tube is squeezed and liquid droplets are output to the reaction liquid through the inner layer needle to form a liquid bridge and cross-link to form a tail of the robot; then the outer layer needle tube is squeezed and liquid droplets are output to the reaction liquid through the outer layer needle to combine with the one tail, and cross-link with the reaction liquid to form a head of the robot; the inner layer needle tube is continued to be squeezed and liquid droplets are output to the reaction liquid through the inner layer needle to form a liquid bridge and cross-link to form another tail of the robot, and connected with the head to obtain a double-tail swimming robot.

[0025] According to the method for preparing a swimming robot of the present invention, the preparation solution is a sodium alginate solution.

[0026] According to the method for preparing a swimming robot of the present invention, the reaction liquid is a calcium chloride solution.

[0027] Beneficial effects of the present invention: The bottom of the needle of the preparation device of the present invention is stepped, the inner needle is longer, the inner and outer needle tubes are coaxially sleeved, and the inner needle has a significant extension compared to the bottom of the outer needle. By adjusting the liquid material in the inner and outer needle tubes and the extrusion sequence, etc., the preparation of multi-morphological robots including bacterial swimming robots, yin-yang ball robots, and double-tail swimming robots can be realized.

[0028] The polymorphic robot prepared by the method of the present invention can perform efficient three-dimensional motion in a complex liquid environment; the coaxial needle tube thereof has lower coaxiality requirements than other types of coaxial needle tubes during the robot preparation process and is simple to prepare.

[0029] The present invention provides a simple and practical solution for the efficient preparation of a multi-morphological swimming robot by optimizing the design of a coaxial needle tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of the swimming robot preparation device of the present invention;

[0031] Figure 2 yes Figure 1 A top view of

[0032] Figure 3 It is a schematic diagram of the three-dimensional structure of the swimming robot preparation device of the present invention;

[0033] Figure 4 It is a schematic diagram of the preparation process of the Yin-Yang ball robot;

[0034] Figure 5 This is a schematic diagram of the preparation process of the bacteria-mimicking swimming robot;

[0035] Figure 6 It is a schematic diagram of the preparation process of the double-tailed swimming robot;

[0036] Figure 7Schematic diagram of a yin-yang ball robot prepared by the method of the present invention; in the figure, A represents the yin hemisphere, and B represents the yang hemisphere;

[0037] Figure 8 Schematic diagram of a bacteria-like swimming robot prepared by the method of the present invention; in the figure, A represents the head, and B represents the tail;

[0038] Fig. 9 Schematic diagram of a double-tail swimming robot prepared by the method of the present invention; in the figure, A represents the head, and B represents the tail;

[0039] Fig.10 The figure is a schematic diagram of a ball-wire structure robot prepared by the method of the present invention; in the figure, A represents the head, and B represents the tail. DETAILED DESCRIPTION

[0040] 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.

[0041] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0042] The present invention will be further described below in conjunction with the accompanying drawings, but is not intended to be a limitation of the present invention.

[0043] Specific implementation method 1. Combination Figures 1 to 3 As shown, the present invention provides a swimming robot preparation device, comprising an inner needle tube 100 and an outer needle tube 200, wherein the inner needle tube 100 and the outer needle tube 200 are coaxially nested and connected, and the inner needle head of the inner needle tube extends outward from the outer needle head of the outer needle tube until it protrudes out of the outer needle head;

[0044] The outer needle tube has a connected auxiliary injection tube.

[0045] Furthermore, the diameter of the outer needle tube and the diameter of the outer needle head are greater than the diameter of the inner needle tube and the diameter of the inner needle head.

[0046] As an example, the outer needle tube is vertically connected to the auxiliary injection tube.

[0047] During the printing process, by adjusting the distance between the inner needle and the liquid surface of the reaction container, and adjusting the solution in the outer needle tube 200 and the inner needle tube 100 and the extrusion printing timing, it is ultimately possible to prepare multi-morphological robots such as bacterial swimming robots, yin-yang ball robots, and double-tail swimming robots.

[0048] Specific implementation method 2: Combination Figures 1 to 10 As shown, the present invention also provides a method for preparing a swimming robot, which prepares a swimming robot based on the swimming robot preparation device described in the specific embodiment 1, including:

[0049] Inject the corresponding preparation solutions into the inner needle tube and the outer needle tube respectively, and adjust the distance between the end of the inner needle and the reaction liquid surface;

[0050] The inner needle tube and the outer needle tube are squeezed to make the inner needle head and the outer needle head output droplets, and the dripping sequence of the two droplets is controlled to realize the fusion of the two droplets and the reaction liquid to obtain a swimming robot.

[0051] As an example, combining Figures 7 to 10 As shown, the swimming robots obtained by printing include a yin-yang ball robot, a bacteria-mimicking swimming robot, a double-tail swimming robot and a ball-line structure robot.

[0052] In nature, organisms have evolved structures that are highly adaptable to the environment, thereby improving their own functions such as perception and movement, and being able to better adapt to the environment and survive. Since the human body is mostly a liquid environment with complex terrain, robots can be designed bionic in terms of structure and movement mode to enable them to have efficient movement capabilities so as to better adapt to the dynamic three-dimensional complex environment inside the body.

[0053] Since magnetic fields have good biocompatibility and penetration, and can accurately control the movement of magnetically driven micro-robots, magnetic field drive is often used as the driving mode of robots. In addition, the Yin-Yang ball robot driven by chemical drive and magnetic drive can not only produce oxygen through chemical reactions to accelerate wound healing and inhibit certain anaerobic bacteria, but also can use the advantages of magnetic drive to significantly improve the controllability of the robot.

[0054] Further, combined with Figure 4 and Figure 7 As shown, the preparation method of the Yin-Yang ball robot includes:

[0055] The inner needle tube is injected with a preparation solution containing platinum particles, and the outer needle tube is injected with a preparation solution containing magnetic powder;

[0056] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0057] The inner needle tube and the outer needle tube are squeezed so that the droplets output by the inner needle and the outer needle are combined before being dropped into the reaction liquid, and then dropped into the reaction liquid after being combined, thereby forming a yin-yang ball robot with a target ratio.

[0058] By adjusting different timings or flow rates, before the droplets squeezed by the inner needle tube fall, the droplets squeezed by the outer needle tube fall and combine with the droplets output by the inner needle tube, and finally form yin-yang ball robots with different proportions in the calcium chloride solution. The robot can realize chemical and magnetic field dual-mode drive.

[0059] Combination Figure 5 and Figure 8 As shown, the preparation method of the bacteria-mimicking swimming robot includes:

[0060] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube;

[0061] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0062] The inner needle tube is squeezed to make the inner needle output droplets and drip into the reaction liquid to form a liquid bridge and cross-link to form a tail; then the outer needle tube is squeezed to make the outer needle output droplets connect with the tail in the reaction liquid and form a head, thereby obtaining bacteria-like swimming robots of different sizes. The robot can realize bacteria-like movement under a rotating magnetic field.

[0063] Combination Figure 6 and Fig. 9 As shown, the preparation method of the double-tail swimming robot includes:

[0064] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube;

[0065] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0066] The inner needle tube is squeezed and the liquid droplets are outputted to the reaction liquid through the inner needle head to form a liquid bridge and cross-link to form a tail of the robot; then the outer needle tube is squeezed and the liquid droplets are outputted to the reaction liquid through the outer needle head to combine with the one tail, and cross-link with the reaction liquid to form the head of the robot; the inner needle tube is continued to be squeezed and the liquid droplets are outputted to the reaction liquid through the inner needle head to form a liquid bridge and cross-link to form another tail of the robot, and connected with the head, and the three are connected and assembled to obtain a double-tail swimming robot of different sizes. The robot can rotate under a rotating magnetic field to achieve three-dimensional motion in space.

[0067] As an example, the prepared solution is a sodium alginate solution.

[0068] As an example, the reaction solution is a calcium chloride solution.

[0069] The coaxial needle tube used in the present invention supports various size combinations and is suitable for various solutions, including but not limited to sodium alginate hydrogel solutions with magnetic powder or platinum particles, and can be used to prepare various yin-yang balls and robots with ball-wire connection structures.

[0070] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A swimming robot preparation device, characterized in that: The inner needle tube and the outer needle tube are coaxially nested and connected, and the inner needle head of the inner needle tube extends outward from the outer needle head of the outer needle tube until it protrudes out of the outer needle head; The outer needle tube has a connected auxiliary injection tube.

2. The swimming robot preparation device according to claim 1, characterized in that: The diameter of the outer needle tube and the diameter of the outer needle head are greater than the diameter of the inner needle tube and the diameter of the inner needle head.

3. The swimming robot preparation device according to claim 1 or 2, characterized in that: The outer needle tube is vertically connected with the auxiliary injection tube.

4. A method for preparing a swimming robot, comprising preparing a swimming robot based on the swimming robot preparation device according to claim 1, characterized in that: include, Inject the corresponding preparation solutions into the inner needle tube and the outer needle tube respectively, and adjust the distance between the end of the inner needle and the reaction liquid surface; The inner needle tube and the outer needle tube are squeezed to make the inner needle head and the outer needle head output droplets, and the dripping sequence of the two droplets is controlled to realize the fusion of the two droplets and the reaction liquid to obtain a swimming robot.

5. The method for preparing a swimming robot according to claim 4, characterized in that: The printed swimming robots include the Yin-Yang ball robot, the bacteria-mimicking swimming robot and the double-tailed swimming robot.

6. The method for preparing a swimming robot according to claim 5, characterized in that: The preparation method of the yin-yang ball robot comprises: The inner needle tube is injected with a preparation solution containing platinum particles, and the outer needle tube is injected with a preparation solution containing magnetic powder; Adjust the distance between the end of the inner needle and the reaction liquid surface; The inner needle tube and the outer needle tube are squeezed so that the droplets output by the inner needle and the outer needle are combined before being dropped into the reaction liquid, and then dropped into the reaction liquid after being combined, thereby forming a yin-yang ball robot with a target ratio.

7. The method for preparing a swimming robot according to claim 5, characterized in that: The preparation method of the bacteria-mimicking swimming robot comprises: The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube; Adjust the distance between the end of the inner needle and the reaction liquid surface; The inner needle tube is squeezed to make the inner needle output droplets and drip into the reaction liquid to form a liquid bridge and cross-link to form a tail; then the outer needle tube is squeezed to make the outer needle output droplets connect with the tail in the reaction liquid to form a head, thereby obtaining a bacteria-mimicking swimming robot.

8. The method for preparing a swimming robot according to claim 5, characterized in that: The preparation method of the double-tail swimming robot comprises: The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the outer needle tube; Adjust the distance between the end of the inner needle and the reaction liquid surface; The inner layer needle tube is squeezed and liquid droplets are output to the reaction liquid through the inner layer needle to form a liquid bridge and cross-link to form a tail of the robot; then the outer layer needle tube is squeezed and liquid droplets are output to the reaction liquid through the outer layer needle to combine with the one tail, and cross-link with the reaction liquid to form a head of the robot; the inner layer needle tube is continued to be squeezed and liquid droplets are output to the reaction liquid through the inner layer needle to form a liquid bridge and cross-link to form another tail of the robot, and connected with the head to obtain a double-tail swimming robot.

9. The method for preparing a swimming robot according to claim 6, 7 or 8, characterized in that: The prepared solution is a sodium alginate solution.

10. The method for preparing a swimming robot according to claim 6, 7 or 8, characterized in that: The reaction solution is a calcium chloride solution.

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