Apparatus and Method for Manufacturing Mobile Robots

Abstract

The application relates to a kind of swimming robot preparation device and method, belong to swimming robot preparation technical field.The application aims at the problems of high coaxiality requirement and low printing efficiency of the existing coaxial needle device for swimming robot printing.The device includes inner needle tube and outer needle tube, and the inner needle tube and the outer needle tube are coaxially nested and connected, and the inner needle head of the inner needle tube is extended outward by the outer needle head of the outer needle tube to the outer needle head;The outer needle tube has a communicating auxiliary injection pipe;The method comprises injecting corresponding preparation solution into the inner needle tube and the outer needle tube respectively, adjusting the distance between the inner needle head end and the reaction liquid surface;The inner needle tube and the outer needle tube are extruded, so that the inner needle head and the outer needle head output liquid drops, the dropping time sequence of the two kinds of liquid drops is controlled, the fusion of the two kinds of liquid drops and the reaction liquid is realized, and the swimming robot is obtained.The application is used for the preparation of swimming robot.

Description

Technical Field

[0001] This invention relates to an apparatus and method for manufacturing mobile robots, belonging to the field of mobile robot manufacturing technology. Background Technology

[0002] Currently, fabrication systems based on coaxial needles typically employ electrospinning and filament extrusion printing, with the coaxial needle being the core structure. However, these coaxial needles present challenges in design and fabrication, including structural complexity and high manufacturing costs. Furthermore, during the printing process, the coaxial needle-based system is susceptible to coaxiality issues during needle fabrication, leading to unstable printing results. Additionally, because the needle's base is flush or its length is similar, the inner and outer tubes interfere with each other during droplet formation through extrusion. Therefore, this method results in a relatively simple printed structure, limiting its application potential.

[0003] Traditional coaxial needles are mainly used for electrospinning, filament extrusion printing, or the preparation of cell microspheres, and their application in robotic printing and fabrication remains to be researched and developed. Microrobot technology, as an emerging interdisciplinary field, enables precise control and efficient movement of micro-mobile drug-carrying / cell robots in liquid environments, facilitating accurate drug delivery. Furthermore, microrobots based on hydrogel materials offer advantages such as good biocompatibility, allowing for natural degradation after completion of their tasks without environmental pollution. Therefore, there is an urgent need to develop a fabrication device and method for efficiently printing multi-morphological mobile robots. Summary of the Invention

[0004] To address the issues of high coaxiality requirements and low printing efficiency in existing coaxial needle devices used for printing mobile robots, this invention provides a mobile robot manufacturing device and method.

[0005] The present invention provides a mobile robot manufacturing device, comprising an inner needle tube and an outer needle tube, the inner needle tube and the outer needle tube being coaxially nested and connected, and the inner needle tip of the inner needle tube extending outward from the outer needle tip of the outer needle tube until it protrudes beyond the outer needle tip;

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

[0007] According to the mobile robot manufacturing apparatus of the present invention, the diameter of the outer needle tube and the diameter of the outer needle tip are larger than the diameter of the inner needle tube and the diameter of the inner needle tip.

[0008] In the mobile robot manufacturing apparatus of the present invention, the outer needle tube is vertically connected to the auxiliary injection tube.

[0009] This invention also provides a method for manufacturing a mobile robot, comprising manufacturing the mobile robot based on the aforementioned mobile robot manufacturing apparatus, including:

[0010] Inject the corresponding preparation solutions into the inner and outer needles respectively, and adjust the distance between the tip of the inner needle and the surface of the reaction liquid.

[0011] By squeezing the inner and outer needles, droplets are output from the inner and outer needles. By controlling the timing of the two droplets' fall, the two droplets and the reaction liquid are fused together to obtain a swimming robot.

[0012] According to the method for preparing swimming robots of the present invention, the swimming robots obtained by printing include yin-yang ball robots, bacterial-inspired swimming robots, and dual-tailed swimming robots.

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

[0014] A preparation solution containing platinum particles is injected into the inner needle, and a preparation solution containing magnetic powder is injected into the outer needle.

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

[0016] The inner and outer needles are squeezed to cause the droplets output by the inner and outer needles to combine before being added to the reaction solution, and then added to the reaction solution after combining, forming a yin-yang ball robot with the target ratio.

[0017] According to the method for preparing a swimming robot of the present invention, the method for preparing a bacterial-inspired swimming robot includes:

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

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

[0020] Squeeze the inner needle to output droplets that drip into the reaction solution to form a liquid bridge and cross-link to form a tail; then squeeze the outer needle to output droplets that connect with the tail in the reaction solution to form a head, thus obtaining a bacterial-like swimming robot.

[0021] According to the method for manufacturing a swimming robot of the present invention, the method for manufacturing a dual-tailed swimming robot includes:

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

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

[0024] The inner needle is squeezed and a droplet is output through the inner needle tip into the reaction solution, forming a liquid bridge and cross-linking to form one tail of the robot; then the outer needle is squeezed and a droplet is output through the outer needle tip into the reaction solution to combine with the one tail, and cross-linking with the reaction solution to form the head of the robot; the inner needle is squeezed and a droplet is output through the inner needle tip into the reaction solution, forming a liquid bridge and cross-linking to form the other tail of the robot, which is then connected to the head to obtain a dual-tailed swimming robot.

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

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

[0027] The beneficial effects of this invention are as follows: The needle bottom of the preparation device described in this invention is stepped, with the inner needle being longer. The inner and outer needle tubes are coaxially sleeved, and the inner needle has a significantly longer bottom compared to the outer needle. By adjusting the liquid material in the inner and outer needle tubes and the extrusion sequence, various types of robots, including bacterial swimming robots, yin-yang ball robots, and dual-tailed swimming robots, can be prepared.

[0028] The multi-morphological robot prepared by the method of this invention can perform efficient three-dimensional motion in complex liquid environments; its coaxial needle has lower coaxiality requirements during robot preparation compared to other types of coaxial needles, and is simple to prepare.

[0029] This invention provides a simple and practical solution for the efficient fabrication of multi-morphological swimming robots through design optimization of coaxial needle tubes. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the mobile robot manufacturing device described in this invention;

[0031] Figure 2 yes Figure 1 Top view;

[0032] Figure 3 This is a three-dimensional structural schematic diagram of the mobile robot manufacturing device described in this invention;

[0033] Figure 4 This is a schematic diagram of the manufacturing process of the Yin-Yang Sphere Robot;

[0034] Figure 5 This is a schematic diagram of the manufacturing process of a bacterial-inspired swimming robot;

[0035] Figure 6 This is a schematic diagram of the manufacturing process of a dual-tailed swimming robot;

[0036] Figure 7This is a schematic diagram of a yin-yang sphere robot prepared using the method of the present invention; in the diagram, A represents the yin hemisphere and B represents the yang hemisphere;

[0037] Figure 8 This is a schematic diagram of a bacterial-inspired swimming robot prepared using the method of this invention; in the diagram, A represents the head and B represents the tail.

[0038] Figure 9 This is a schematic diagram of a dual-tailed swimming robot prepared using the method of the present invention; in the diagram, A represents the head and B represents the tail.

[0039] Figure 10 This is a schematic diagram of a ball-and-wire structure robot prepared using the method of this invention; in the diagram, A represents the head and B represents the tail. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0042] The present invention will be further described below with reference to the accompanying drawings, but this should not be construed as limiting the invention.

[0043] Specific Implementation Method 1: Combination Figures 1 to 3 As shown, the present invention provides a mobile robot manufacturing device, including an inner needle tube 100 and an outer needle tube 200, the inner needle tube 100 and the outer needle tube 200 being coaxially nested and connected, and the inner needle of the inner needle tube extending outward from the outer needle of the outer needle tube until it protrudes beyond the outer needle.

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

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

[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 vessel, and by adjusting the sequence of the solution and extrusion printing in the outer needle tube 200 and the inner needle tube 100, it is possible to ultimately produce various types of robots, such as bacterial swimming robots, yin-yang ball robots, and dual-tailed swimming robots.

[0048] Specific Implementation Method Two: Combination Figures 1 to 10 As shown, the present invention also provides a method for manufacturing a mobile robot, which manufactures the mobile robot based on the mobile robot manufacturing apparatus described in Specific Embodiment 1, including:

[0049] Inject the corresponding preparation solutions into the inner and outer needles respectively, and adjust the distance between the tip of the inner needle and the surface of the reaction liquid.

[0050] By squeezing the inner and outer needles, droplets are output from the inner and outer needles. By controlling the timing of the two droplets' fall, the two droplets and the reaction liquid are fused together to obtain a swimming robot.

[0051] As an example, combined Figures 7 to 10 As shown, the swimming robots obtained by printing include yin-yang ball robots, bacteria-inspired swimming robots, dual-tailed swimming robots, and ball-and-wire structure robots.

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

[0053] Because magnetic fields have good biocompatibility and penetrability, they can precisely control the movement of magnetically driven microrobots, and therefore magnetic field drive is often chosen as the driving method for robots. In addition, the yin-yang ball robot with dual-mode drive of chemical drive and magnetic drive can not only generate oxygen through chemical reaction to accelerate wound healing and inhibit certain anaerobic bacteria, but also significantly improve the robot's controllability by utilizing the advantages of magnetic drive.

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

[0055] A preparation solution containing platinum particles is injected into the inner needle, and a preparation solution containing magnetic powder is injected into the outer needle.

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

[0057] The inner and outer needles are squeezed to cause the droplets output by the inner and outer needles to combine before being added to the reaction solution, and then added to the reaction solution after combining, forming a yin-yang ball robot with the target ratio.

[0058] By adjusting different timing sequences or flow rates, before the droplets formed by the inner needle's extrusion fall, the droplets extruded by the outer needle combine with the droplets output from the inner needle, ultimately forming yin-yang spherical robots with varying proportions in the calcium chloride solution. This robot can achieve dual-mode actuation via chemical and magnetic fields.

[0059] Combination Figure 5 and Figure 8 As shown, the method for preparing the bacterial-inspired swimming robot includes:

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

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

[0062] Squeezing the inner needle causes it to output droplets that fall into the reaction solution, forming a liquid bridge and cross-linking to form a tail. Then, squeezing the outer needle causes it to output droplets that connect with the tail in the reaction solution, forming a head, thus obtaining bacterial-inspired swimming robots of different sizes. This robot can achieve bacterial-inspired movement under a rotating magnetic field.

[0063] Combination Figure 6 and Figure 9 As shown, the fabrication method of the dual-tailed swimming robot includes:

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

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

[0066] The inner needle is squeezed, and droplets are output through the inner needle tip into the reaction liquid, forming a liquid bridge that cross-links to form one tail of the robot. Then, the outer needle is squeezed, and droplets are output through the outer needle tip into the reaction liquid, combining with the first tail and cross-linking with the reaction liquid to form the robot head. The inner needle is then squeezed again, and droplets are output through the inner needle tip into the reaction liquid, forming a liquid bridge that cross-links to form the other tail of the robot, which connects to the head. All three tails are then connected and assembled to obtain dual-tailed swimming robots of different sizes. This robot can rotate under a rotating magnetic field to achieve three-dimensional spatial movement.

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

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

[0069] The coaxial needle used in this invention supports multiple size combinations and is suitable for various solutions, including but not limited to sodium alginate hydrogel solutions containing magnetic powder or platinum particles. It can be used to prepare various anion-element spheres and robots with sphere-wire connection structures.

[0070] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A mobile robot production method of producing a mobile robot based on a mobile robot production device, characterized by, The mobile robot preparation device comprises an inner needle tube and an outer needle tube, the inner needle tube and the outer needle tube are coaxially nested, and the inner needle head of the inner needle tube extends outwardly from the outer needle head of the outer needle tube to the outer needle head; the outer needle tube is provided with a communication auxiliary injection tube; The preparation method comprises: corresponding preparation solutions are injected into the inner needle tube and the outer needle tube respectively, and the distance between the end of the inner needle head and the reaction liquid surface is adjusted; the inner needle tube and the outer needle tube are extruded, so that the inner needle head and the outer needle head output liquid drops, the dropping time sequence of the two kinds of liquid drops is controlled, the fusion of the two kinds of liquid drops and the reaction liquid is realized, and the mobile robot is obtained; the mobile robot is a yin-yang ball robot, and the preparation method of the yin-yang ball robot comprises: a preparation solution containing platinum particles is injected into the inner needle tube, and a preparation solution containing magnetic powder is injected into the outer needle tube; the distance between the end of the inner needle head and the reaction liquid surface is adjusted; the inner needle tube and the outer needle tube are extruded, so that the liquid drops output by the inner needle head and the outer needle head are combined before being dropped into the reaction liquid, and after being combined, the liquid drops are dropped into the reaction liquid to form the target proportion of the yin-yang ball robot.

2. The mobile robot preparation method according to claim 1, wherein 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 mobile robot preparation method according to claim 1 or 2, wherein the outer needle tube is in vertical communication with the auxiliary injection tube.

4. The mobile robot preparation method according to claim 1, wherein the reaction liquid is a calcium chloride solution.

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