Controllable printing device and printing method of polymorphic swimming robot

Abstract

The invention discloses a controllable printing device and printing method of a polymorphic swimming robot, and belongs to the technical field of preparation of swimming robots. The invention aims to solve the problem that the micro swimming robot cannot be quickly and controllably manufactured. The device comprises three needle tubes of different specifications, the three needle tubes are connected in a nested mode, and the nested needle head part forms an inner-layer needle head, a middle-layer needle head and an outer-layer needle head which are arranged in a stepped mode from long to short; the middle-layer needle tube and the outer-layer needle tube of the three needle tubes are respectively provided with auxiliary injection tubes which are correspondingly communicated; the method performs controllable printing of the swimming robot based on the printing device. The manufacturing method is used for manufacturing the swimming robot.

Description

Technical Field

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

[0002] At present, the preparation system based on coaxial needles is mainly used in electrospinning and filament extrusion printing, and there are relatively few studies on the preparation of polymorphic robots. Although the existing preparation system of polymorphic robots based on coaxial needles can realize the preparation of various robots, it has significant limitations: the size of the prepared robot lacks effective controllability, and its size adjustment mainly depends on replacing the needle model that makes up the coaxial needle. Therefore, every time the size of the robot is changed, it is often necessary to redesign the preparation of the coaxial needle, or modify or even replace the printing material, lacking flexible means of size control. Therefore, the existing technology cannot achieve rapid and controllable manufacturing in the preparation of polymorphic robots, limiting its practical application potential.

[0003] As an emerging interdisciplinary subject, micro-swimming robot technology can achieve precise control and high-efficiency swimming in liquid environments, and can achieve precise drug delivery. In addition, micro-swimming robots 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, it is urgent to develop a device and method that can efficiently and controllably print multi-morphological swimming robots. Summary of the invention

[0004] In view of the problem that a micro-swimming robot cannot be manufactured quickly and controllably, the present invention provides a controllable printing device and a printing method for a multi-morphological swimming robot.

[0005] A controllable printing device for a polymorphic swimming robot of the present invention comprises three needle tubes of different specifications, the three needle tubes are nested and connected, and the needle parts after the nesting form an inner layer needle, a middle layer needle and an outer layer needle arranged in a stepped manner from long to short;

[0006] The middle needle tube and the outer needle tube of the three needle tubes are respectively provided with corresponding connected auxiliary injection tubes.

[0007] According to the controllable printing device of the polymorphic swimming robot of the present invention, the inner needle tube has the smallest diameter and the inner needle is the thinnest and longest, while the outer needle tube has the largest diameter and the corresponding outer needle is the thickest and shortest.

[0008] According to the controllable printing device of the polymorphic swimming robot of the present invention, the auxiliary injection tube is vertically connected to the corresponding needle tube.

[0009] The present invention also provides a printing method of a controllable printing device of a multi-morphological swimming robot, and the controllable printing of the swimming robot is performed based on the controllable printing device of the multi-morphological swimming robot, comprising:

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

[0011] Gas is injected into the outer needle tube to squeeze the middle needle tube, and airflow blowing is used to control the middle needle tube to output droplets through the middle needle head; the inner needle tube is controlled to output droplets through the inner needle head; by controlling the size and timing of the droplets output by the middle needle and the inner needle head, the output droplets form a swimming robot in the reaction liquid.

[0012] According to the printing method of the controllable printing device of the polymorphic swimming robot of the present invention, the swimming robots include bacteria-mimicking swimming robots, yin-yang ball robots, double-tail swimming robots and ball-line structure robots.

[0013] According to the printing method of the controllable printing device of the polymorphic swimming robot of the present invention, the printing method of the bacteria-mimicking swimming robot comprises:

[0014] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube;

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

[0016] First, squeeze the inner needle tube and output the droplet to the reaction liquid through the inner needle head to form a liquid bridge and cross-link to form the tail of the robot;

[0017] Then, the middle layer needle tube is extruded by air blowing through the outer layer needle tube according to the size of the target robot head, so that the droplets output by the middle layer needle head are combined with the tail and cross-linked with the reaction liquid to form the robot head, thereby obtaining a bacterial swimming robot connected head to tail.

[0018] According to the printing method of the controllable printing device of the polymorphic swimming robot of the present invention, the printing method of the yin-yang ball robot comprises:

[0019] The inner needle tube is injected with a preparation solution containing platinum particles, and the middle needle tube is injected with a preparation solution containing magnetic powder;

[0020] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0021] The inner needle tube is squeezed and droplets are output through the inner needle head. At the same time, the middle needle tube is squeezed by air flow through the outer needle tube according to the preset ratio of yin and yang balls, so that the middle needle head outputs droplets. Through timing control, the droplets output by the inner needle head and the droplets output by the middle needle head are combined during the falling process, and then dropped into the reaction to cross-link with the reaction liquid to form a yin and yang ball robot with the required ratio.

[0022] According to the printing method of the controllable printing device of the multi-morphological swimming robot of the present invention, the printing method of the double-tail swimming robot comprises:

[0023] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube;

[0024] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0025] First, the inner layer needle tube is squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form a tail of the robot; then, the middle layer needle tube is squeezed quantitatively by air flow blowing according to the preset head size through the outer layer needle tube, so that the droplets output by the middle layer needle head are combined with the one tail and cross-linked with the reaction liquid to form the head of the robot; the inner layer needle tube is continued to be squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form the other tail of the robot, and connected with the head to obtain a double-tail swimming robot.

[0026] According to the printing method of the controllable printing device of the multi-morphological swimming robot of the present invention, the prepared solution is a sodium alginate solution.

[0027] According to the printing method of the controllable printing device of the multi-morphological swimming robot of the present invention, the reaction liquid is a calcium chloride solution.

[0028] Beneficial effects of the present invention: The printing device of the present invention is composed of three coaxial needle tubes, and the corresponding needle lengths decrease from the inner layer to the outer layer. By adjusting the liquid materials in the middle layer needle tube and the inner layer needle tube and the extrusion timing, etc., the preparation of multi-morphological robots including bacterial swimming robots, yin-yang ball robots, and double-tail swimming robots can be realized. Among them, the outer layer needle tube uses airflow to control the process of squeezing droplets by the middle needle tube, so as to achieve precise adjustment of the droplet size and provide support for the controllable manufacturing of the robot shape and size.

[0029] The method of the present invention can realize the preparation of a multi-morphological swimming robot, and the prepared robot has the ability to perform efficient three-dimensional motion in a complex liquid environment. Compared with the existing method, the method of the present invention has lower requirements on the coaxiality of the needle tube during the robot preparation process, and the preparation process is simple. The efficient preparation of multi-size swimming robots can be achieved without changing the needle tube size and squeezing the solution, further improving the flexibility and controllability of the preparation.

[0030] The present invention provides a simple and practical solution for the controllable and efficient preparation of a multi-morphological swimming robot by optimizing the design of a coaxial needle tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the structure of the controllable printing device of the multi-morphological swimming robot of the present invention;

[0032] Figure 2 yes Figure 1 A top view of

[0033] Figure 3 It is a schematic diagram of the three-dimensional structure of the controllable printing device of the multi-morphological swimming robot of the present invention;

[0034] Figure 4 This is a schematic diagram of the preparation process of the bacteria-mimicking swimming robot;

[0035] Figure 5 It is a schematic diagram of the preparation process of the Yin-Yang ball robot;

[0036] Figure 6 It is a schematic diagram of the preparation process of the double-tailed swimming robot;

[0037] Figure 7 This is a schematic diagram of a bacteria-like swimming robot; in the figure, A represents the head and B represents the tail;

[0038] Figure 8 This is a schematic diagram of a Yin-Yang ball robot; in the figure, A represents the Yin hemisphere, and B represents the Yang hemisphere;

[0039] Fig. 9 is a schematic diagram of a dual-tailed swimming robot;

[0040] Fig.10 This is a schematic diagram of a ball-and-string structure robot. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Specific implementation method 1. Combination Figures 1 to 3 As shown, the present invention provides a controllable printing device for a polymorphic swimming robot, comprising three needle tubes of different specifications, the three needle tubes are nested and connected, and the needle parts after the nesting form an inner layer needle, a middle layer needle and an outer layer needle arranged in a stepped manner from long to short;

[0045] The middle needle tube 200 and the outer needle tube 300 of the three needle tubes have corresponding connected auxiliary injection tubes respectively.

[0046] In this embodiment, the inner needle tube 100 has the smallest diameter and the inner needle head is the thinnest and longest, the outer needle tube 300 has the largest diameter and the corresponding outer needle head is the thickest and shortest, and the middle needle tube has a middle diameter and a middle length.

[0047] like Figures 1 to 3 As shown, the changes in diameter and length of the three needles can be seen.

[0048] Furthermore, the auxiliary injection tube is vertically connected to the corresponding needle tube.

[0049] During the printing process using the printing device described in this embodiment, it is necessary to adjust the distance between the inner needle and the reaction liquid surface in the reaction container, as well as the solution in the middle needle tube 200 and the inner needle tube 100 and the extrusion printing timing. The outer needle tube 300 is used to blow airflow on the droplets formed by the extrusion of the middle needle tube 200, so as to control the size of the droplets. Ultimately, the preparation of multi-morphological robots such as bacterial swimming robots, yin-yang ball robots, and double-tail swimming robots with various size combinations can be achieved.

[0050] In this embodiment, the three needle tubes support a variety of size combinations.

[0051] Specific implementation method 2: Combination Figures 1 to 10 As shown, the present invention also provides a printing method of a controllable printing device of a multi-morphological swimming robot, based on the controllable printing device of the multi-morphological swimming robot described in the specific embodiment 1, the swimming robot is controlled to print, comprising:

[0052] Inject the corresponding solution into the inner needle tube 100 and the middle needle tube 200, and adjust the distance between the inner needle tip and the reaction liquid surface;

[0053] Gas is injected into the outer needle tube 300 to squeeze the middle needle tube, and airflow blowing is used to control the middle needle tube to output droplets through the middle needle head; the inner needle tube is controlled to output droplets through the inner needle head; by controlling the size and timing of the droplets output by the middle needle and the inner needle head, the output droplets form a swimming robot in the reaction liquid.

[0054] As examples, the swimming robots include bacteria-mimicking swimming robots, yin-yang ball robots, double-tail swimming robots, and ball-line structure robots.

[0055] 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.

[0056] Magnetic fields have good biocompatibility and penetration, and can accurately control the movement of magnetically driven microrobots, so 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 accelerate wound healing and inhibit certain anaerobic bacteria by producing oxygen through chemical reactions, but also significantly improve the controllability of the robot by taking advantage of magnetic drive. The robot prepared in this embodiment has built-in magnetic powder and can be controlled by magnetic drive.

[0057] Further, the printing method of the bacteria-mimicking swimming robot includes:

[0058] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube;

[0059] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0060] First, squeeze the inner needle tube and output the droplet to the reaction liquid through the inner needle head to form a liquid bridge and cross-link to form the tail of the robot;

[0061] Then, the middle layer needle tube is extruded by air blowing through the outer layer needle tube according to the size of the target robot head, so that the droplets output by the middle layer needle head are combined with the tail and cross-linked with the reaction liquid to form the robot head, thereby obtaining a bacterial swimming robot connected head to tail.

[0062] The inner needle tube starts to squeeze the preparation solution first, and the droplets fall into the calcium chloride liquid surface to form a liquid bridge and quickly cross-link to form a tail. Subsequently, the middle needle tube squeezes the preparation solution with magnetic powder, and the outer needle tube squeezes gas in time according to the preset robot head size, so that the droplets squeezed by the middle needle tube fall and combine with the tail. The combined droplets cross-link in the calcium chloride solution to form a robot head-to-tail connection, and finally form a bacterial-like swimming robot of the required size. The robot can achieve bacterial-like movement under a rotating magnetic field.

[0063] Further, the printing method of the Yin-Yang ball robot includes:

[0064] The inner needle tube is injected with a preparation solution containing platinum particles, and the middle needle tube is injected with a preparation solution containing magnetic powder;

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

[0066] The inner needle tube is squeezed and droplets are output through the inner needle head. At the same time, the middle needle tube is squeezed by air flow through the outer needle tube according to the preset ratio of yin and yang balls, so that the middle needle head outputs droplets. Through timing control, the droplets output by the inner needle head and the droplets output by the middle needle head are combined during the falling process, and then dropped into the reaction to cross-link with the reaction liquid to form a yin and yang ball robot with the required ratio.

[0067] As an example, the preparation solution of the inner layer needle tube is a sodium alginate solution with platinum particles, and the preparation solution of the middle layer needle tube is a sodium alginate solution with magnetic powder.

[0068] The outer needle tube controls the extrusion gas. During the printing process, by adjusting different timings or flow rates, the droplets output by the two needle tubes are combined before dripping into the reaction solution, and finally cross-linked in the calcium chloride solution to form a Yin-Yang ball robot with the required ratio. The Yin-Yang ball robot can achieve chemical and magnetic field dual-mode drive.

[0069] Further, the printing method of the double-tail swimming robot includes:

[0070] The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube;

[0071] Adjust the distance between the end of the inner needle and the reaction liquid surface;

[0072] First, the inner layer needle tube is squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form a tail of the robot; then, the middle layer needle tube is squeezed quantitatively by air flow blowing according to the preset head size through the outer layer needle tube, so that the droplets output by the middle layer needle head are combined with the one tail and cross-linked with the reaction liquid to form the head of the robot; the inner layer needle tube is continued to be squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form the other tail of the robot, and connected with the head to obtain a double-tail swimming robot.

[0073] A tail, a head and another tail are connected and assembled to form a double-tailed swimming robot of different sizes. The robot can rotate in a rotating magnetic field to achieve three-dimensional movement in space.

[0074] As an example, the prepared solution is a sodium alginate solution.

[0075] As an example, the reaction solution is a calcium chloride solution.

[0076] In this embodiment, a variety of solutions can be selected for preparing the solution, including but not limited to sodium alginate hydrogel solution with magnetic powder or platinum particles, and a variety of yin-yang balls and robots with ball-line connection structures can be prepared;

[0077] The present invention can realize controllable adjustment of the size of a multi-form robot without changing the size of a coaxial needle tube or the type of a solution.

[0078] 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 controllable printing device for a polymorphic swimming robot, characterized in that: It comprises three needle tubes of different specifications, which are nested and connected, and the needle parts after nesting form an inner layer needle, a middle layer needle and an outer layer needle arranged in a stepped manner from long to short; The middle needle tube and the outer needle tube of the three needle tubes are respectively provided with corresponding connected auxiliary injection tubes.

2. The controllable printing device of the polymorphic swimming robot according to claim 1, characterized in that: The inner needle tube has the smallest diameter and the inner needle is the thinnest and longest, while the outer needle tube has the largest diameter and the corresponding outer needle is the thickest and shortest.

3. The controllable printing device of the polymorphic swimming robot according to claim 2, characterized in that: The auxiliary injection tube is vertically connected to the corresponding needle tube.

4. A printing method of a controllable printing device for a polymorphic swimming robot, which performs controllable printing of a swimming robot based on the controllable printing device for a polymorphic swimming robot according to claim 1, characterized in that: include, Inject the corresponding solutions into the inner needle tube and the middle needle tube, and adjust the distance between the end of the inner needle and the reaction liquid surface; Gas is injected into the outer needle tube to squeeze the middle needle tube, and airflow blowing is used to control the middle needle tube to output droplets through the middle needle head; the inner needle tube is controlled to output droplets through the inner needle head; by controlling the size and timing of the droplets output by the middle needle and the inner needle head, the output droplets form a swimming robot in the reaction liquid.

5. The printing method of the controllable printing device of the polymorphic swimming robot according to claim 4, characterized in that: The swimming robots include bacteria-imitating swimming robots, yin-yang ball robots, double-tail swimming robots and ball-line structure robots.

6. The printing method of the controllable printing device of the polymorphic swimming robot according to claim 5, characterized in that: The printing method of the bacterial swimming robot includes: The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube; Adjust the distance between the end of the inner needle and the reaction liquid surface; First, squeeze the inner needle tube and output the droplet to the reaction liquid through the inner needle head to form a liquid bridge and cross-link to form the tail of the robot; Then, the middle layer needle tube is extruded by air blowing through the outer layer needle tube according to the size of the target robot head, so that the droplets output by the middle layer needle head are combined with the tail and cross-linked with the reaction liquid to form the robot head, thereby obtaining a bacterial swimming robot connected head to tail.

7. The printing method of the controllable printing device of the polymorphic swimming robot according to claim 5, characterized in that: The printing method of the Yin-Yang ball robot includes: The inner needle tube is injected with a preparation solution containing platinum particles, and the middle 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 is squeezed and droplets are output through the inner needle head. At the same time, the middle needle tube is squeezed by air flow through the outer needle tube according to the preset ratio of yin and yang balls, so that the middle needle head outputs droplets. Through timing control, the droplets output by the inner needle head and the droplets output by the middle needle head are combined during the falling process, and then dropped into the reaction to cross-link with the reaction liquid to form a yin and yang ball robot with the required ratio.

8. The printing method of the controllable printing device of the polymorphic swimming robot according to claim 5, characterized in that: The printing method of the double-tail swimming robot includes: The preparation solution is injected into the inner needle tube, and the preparation solution containing magnetic powder is injected into the middle needle tube; Adjust the distance between the end of the inner needle and the reaction liquid surface; First, the inner layer needle tube is squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form a tail of the robot; then, the middle layer needle tube is squeezed quantitatively by air flow blowing according to the preset head size through the outer layer needle tube, so that the droplets output by the middle layer needle head are combined with the one tail and cross-linked with the reaction liquid to form the head of the robot; the inner layer needle tube is continued to be squeezed and the droplets are output to the reaction liquid through the inner layer needle head to form a liquid bridge and cross-link to form the other tail of the robot, and connected with the head to obtain a double-tail swimming robot.

9. The printing method of the controllable printing device of the polymorphic swimming robot according to claim 6, 7 or 8, characterized in that: The prepared solution is a sodium alginate solution.

10. The printing method of the controllable printing device of the multi-morphological swimming robot according to claim 6, 7 or 8, characterized in that: The reaction solution is a calcium chloride solution.

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