Porous hollow thin-wall magnetic control soft robot, mold and preparation method

Abstract

The invention discloses a preparation method of a porous hollow thin-wall magnetic control soft robot. The preparation method comprises the following steps: mixing magnetic particles and an elastomer according to a certain mass ratio, and stirring to obtain a magnetic response soft material; preparing a mold, injecting the magnetic response soft material into the mold, and then curing to obtain the soft robot; heating is conducted while the soft robot is magnetized, and a magnetic control soft robot is obtained; and after the magnetic control soft robot is cooled to the room temperature, the mold is opened, the magnetic control soft robot is taken out, the supporting model in the magnetic control soft robot is removed, and the porous hollow thin-wall magnetic control soft robot is obtained. The invention further discloses the porous hollow thin-wall magnetic control soft robot and a mold. A porous and hollow thin-wall structure is achieved through one-time forming and in-situ magnetization, complex assembly is not needed, structural integrity and performance are improved, cost and efficiency are both considered, magnetization programmability is high, production procedures are simplified, the manufacturing period is shortened, and the overall cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a porous hollow thin-walled magnetically controlled soft robot, a mold and a preparation method thereof. Background Art

[0002] Soft robots have been widely used in the fields of medicine, exploration, manufacturing, environmental monitoring, etc. due to their flexibility, deformability and adaptability to complex environments. Compared with traditional rigid robots, soft robots can move efficiently in irregular environments and have good adaptability. Magnetically controlled soft robots have become one of the research hotspots in the field of soft robots. Magnetic drive technology has the advantages of no physical contact, easy control, and precise adjustment, and is particularly suitable for robots that require high-precision control.

[0003] In order to improve the motion performance and adaptability of soft robots, researchers have begun to explore structural designs with more flexible deformation in recent years. For example, hollow spherical thin-walled structures have gradually attracted attention in soft robots due to their excellent flexibility and lightweight properties. By optimizing the structural design and driving mode, hollow thin-walled magnetically controlled soft robots are expected to achieve more efficient movement and stronger adaptability in complex environments. However, the existing technology lacks an effective design and manufacturing method, and there are great challenges in the manufacture of high-precision, hollow thin-walled magnetically controlled soft robots. It is difficult to simultaneously meet the flexibility of hollow thin-walled structures, precise control of magnetic drive, and improvement of the overall motion performance of robots. Existing magnetically driven soft robots directly printed by 3D printing technology are prone to structural deformation under the influence of external magnetic fields, and it is difficult to add support structures to flexible materials and print complex hollow structures. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide a porous hollow thin-walled magnetically controlled soft robot, a mold and a preparation method.

[0005] In order to achieve the above purpose, the technical solution provided by an embodiment of the present invention is as follows:

[0006] A method for preparing a porous hollow thin-walled magnetically controlled soft robot comprises the following steps:

[0007] (1) mixing magnetic particles and elastomer in a certain mass ratio and stirring to obtain a magnetically responsive soft material;

[0008] (2) preparing a male mold, a female mold and a supporting model, assembling the male mold, the female mold and the supporting model to form a mold, injecting the magnetic responsive soft material into the mold, and then curing the magnetic responsive soft material to obtain a soft robot;

[0009] (3) magnetizing the soft robot and heating it at the same time to obtain a magnetically controlled soft robot;

[0010] (4) After cooling to room temperature, the mold is opened, the magnetically controlled soft robot is taken out, and the supporting model inside the magnetically controlled soft robot is removed to obtain a porous hollow thin-walled magnetically controlled soft robot.

[0011] As a further improvement of the present invention, the elastomer is one of silicone rubber, polyurethane, and acrylate, or one of silicone rubber modified compound, polyurethane modified compound, and acrylate modified compound.

[0012] As a further improvement of the present invention, the magnetic particles are one of Fe3O4, NdFeB, and FeCo alloy, or one of Fe3O4 surface-modified nano / micron powder, NdFeB surface-modified nano / micron powder, and FeCo alloy surface-modified nano / micron powder.

[0013] As a further improvement of the present invention, the curing temperature is 80-150° C., and during the curing process, vacuum or inert atmosphere treatment is simultaneously performed.

[0014] As a further improvement of the present invention, two permanent magnets are respectively placed in the male mold and the female mold to magnetize the magnetic responsive soft material, and the two opposite magnetic poles of the two permanent magnets are the same; the heating temperature is 80-150°C.

[0015] As a further improvement of the present invention, the material of the support model is a water-soluble polymer, a wax material or a thermoplastic material.

[0016] As a further improvement of the present invention, the support model is removed by dissolving or heating to obtain a porous hollow thin-walled magnetically controlled soft robot.

[0017] A porous hollow thin-walled magnetically controlled soft robot is prepared using the method for preparing the porous hollow thin-walled magnetically controlled soft robot, comprising a soft robot body, wherein the inside of the soft robot body is hollow and the soft robot body is provided with a plurality of holes.

[0018] As a further improvement of the present invention, the soft robot body is spherical, and the size of the soft robot body is 5-20 mm; and / or the diameter of the hole is 0.5-5 mm.

[0019] A mold for preparing the porous hollow thin-walled magnetically controlled soft robot, comprising:

[0020] A male mold, wherein a first accommodating cavity and a first mold cavity are formed in the male mold, the openings of the first accommodating cavity and the first mold cavity face opposite directions, and the first accommodating cavity is connected to the first mold cavity through an injection hole;

[0021] A mother mold, wherein a second accommodating cavity and a second mold cavity are formed in the mother mold, and the openings of the second accommodating cavity and the second mold cavity face opposite directions;

[0022] The supporting model is fitted in the space enclosed by the first cavity and the second cavity.

[0023] The beneficial effects of the present invention are:

[0024] (1) The present invention can easily obtain porous structures and hollow thin walls through mold injection molding. By utilizing the flow characteristics during the heating and curing process, the material can evenly fill the complex mold cavity, which has outstanding advantages in reducing manufacturing difficulty and improving structural integrity and functional stability. At the same time, the external magnetic field is used to complete the directional arrangement of magnetic particles and firmly embed them into the matrix during the high-temperature curing stage, thereby realizing overall and local magnetic programming. By simultaneously completing the magnetization process during the mold forming process, the strict requirements of the separate magnetization link on the removal, fixation and alignment of the workpiece are reduced, the assembly error is reduced, and the integrity of the porous hollow thin-walled structure and the accuracy of the magnetic programming are fully guaranteed. At the same time, the preparation process of the porous hollow thin-walled magnetically controlled soft robot is significantly simplified, which can significantly improve the mass production level and high-performance magnetic response characteristics of such magnetically controlled soft robots.

[0025] (2) The present invention eliminates the cumbersome structural assembly and secondary bonding processes by carrying out preparation and magnetization in a unified mold, significantly reducing the difficulty of structural surface alignment and sealing. The porous hollow thin-walled magnetically controlled soft robot has better integrity, and the joints between the components are less likely to leak or have mechanical weaknesses, thereby greatly reducing assembly time and labor costs while improving the overall mechanical strength and reliability.

[0026] (3) The present invention ensures the support and stability of the hollow thin wall during the molding process by dissolving or heating the removable support model, eliminating the process limitations of high-viscosity materials such as uneven flow, collapse, and extrusion obstruction during printing, and avoids the problems of low printing efficiency, difficulty in later removal, and easy damage to the finished product caused by a large number of support structures. It enables the smooth molding of porous hollow thin-walled magnetically controlled soft robots with larger sizes or more complex morphologies. It is highly competitive in scalability, production efficiency, and economy, and can meet the needs of porous hollow thin-walled magnetically controlled soft robots in multiple scenarios.

[0027] (4) The present invention integrates multiple steps such as injection molding, magnetization, and removal of support models into an integrated process, which can complete the preparation of a porous hollow thin-walled magnetically controlled soft robot with porous characteristics and precise magnetic distribution in a relatively short period of time. While reducing complicated operations and error accumulation, it effectively reduces the dependence on skilled operators and high-precision equipment, thereby making technology promotion and industrial application more feasible and economically valuable.

[0028] (5) The present invention integrates the magnetization process into the heat-assisted curing stage, which can accurately control the magnetic field strength, direction and distribution area, reduce particle sedimentation or random arrangement, and ultimately obtain a more stable and reliable magnetic function, achieve high-quality local or overall magnetic performance regulation, and have relatively low manufacturing costs and cycles, and are easy to mass produce in conventional laboratories or industrial environments. By applying a controllable magnetic field and thermal field during the curing stage of the workpiece, the present invention further improves the orientation and distribution uniformity of the magnetic particles in the matrix material, thereby obtaining a more controllable magnetic response behavior and more efficient functional scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 A flow chart of a method for preparing a porous hollow thin-walled magnetically controlled soft robot according to an embodiment of the present invention;

[0031] Figure 2 A schematic structural diagram of a porous hollow thin-walled magnetically controlled soft robot according to an embodiment of the present invention;

[0032] Figure 3 for Figure 2 The main view;

[0033] Figure 4 for Figure 2 A top view of

[0034] Figure 5 A schematic diagram of an external magnetic field applied during the magnetization process of a porous hollow thin-walled magnetically controlled soft robot according to an embodiment of the present invention;

[0035] Figure 6 A simulation diagram of the magnetic field generated in the middle region when the same magnetic poles of two permanent magnets of an embodiment of the present invention are placed opposite to each other;

[0036] Figure 7 This is a state diagram of the porous hollow thin-walled magnetically controlled soft robot of an embodiment of the present invention before and after an external magnetic field is applied;

[0037] Figure 8 A diagram showing the liquid transport and release process performed by a porous hollow thin-walled magnetically controlled soft robot according to an embodiment of the present invention;

[0038] Fig. 9 is a schematic structural diagram of a male mold of an embodiment of the present invention;

[0039] Fig.10 for Fig. 9 The main view;

[0040] Fig.11 is a top view of 9;

[0041] Fig.12 It is a schematic structural diagram of a master mold according to an embodiment of the present invention;

[0042] Fig.13 for Fig.12 The main view;

[0043] Fig.14 for Fig.12 A top view of

[0044] Fig.15 A schematic diagram of the structure of a support model according to an embodiment of the present invention;

[0045] Fig.16 for Fig.15 The main view;

[0046] Fig.17 for Fig.15 A top view of

[0047] In the figure: 1. Porous hollow thin-walled magnetically controlled soft robot, 2. Soft robot body, 21. Holes, 3. Mold, 4. Male mold, 41. First accommodating cavity, 42. First cavity, 43. Injection hole, 44. Positioning hole, 5. Female mold, 51. First accommodating cavity, 52. Second cavity, 53. Positioning column, 6. Support model, 61. Spherical body, 62. Support column, 7. Permanent magnet. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0049] The present application discloses a method for preparing a porous hollow thin-walled magnetically controlled soft robot, comprising the following steps:

[0050] (1) mixing magnetic particles and elastomer in a certain mass ratio and stirring to obtain a magnetically responsive soft material;

[0051] (2) preparing a male mold, a female mold and a supporting model, assembling the male mold, the female mold and the supporting model to form a mold, injecting the magnetic responsive soft material into the mold, and then curing the magnetic responsive soft material to obtain a soft robot;

[0052] (3) magnetizing the soft robot and heating it at the same time to obtain a magnetically controlled soft robot;

[0053] (4) After cooling to room temperature, the mold is opened, the magnetically controlled soft robot is taken out, and the supporting model inside the magnetically controlled soft robot is removed to obtain a porous hollow thin-walled magnetically controlled soft robot.

[0054] The preparation method of the porous hollow thin-walled magnetically controlled soft robot provided by the present invention is directly injection molded, without the need for layer-by-layer stacking or subsequent assembly, thus avoiding stress concentration and alignment errors at the structural interface, and reducing the dependence of assembly on precision and manpower. The support model is subsequently removed by dissolving or heating, thereby ensuring the support and stability of the hollow thin wall during the molding process, eliminating process limitations, and avoiding problems such as low printing efficiency, difficulty in later dismantling, and easy damage to the finished product. Moreover, the method can be combined with a high-temperature magnetization process, and complex three-dimensional structures and magnetization programming can be completed in the same process. The integration of magnetization and curing shortens the process and improves the stability of the finished product, thereby achieving high-quality manufacturing. The preparation process is simple and easy, and the overall preparation cost and process difficulty are low, which is conducive to large-scale production and cost control. The prepared porous hollow thin-walled magnetically controlled soft robot simultaneously meets the requirements of high strength, light weight and complex structure, thereby achieving the flexibility of the hollow thin-walled structure, precise control of the magnetic drive, and improvement of the overall motion performance of the robot.

[0055] In this embodiment, the elastomer in step (1) is one of silicone rubber, polyurethane, acrylate, or one of silicone rubber modified compound, polyurethane modified compound, acrylate modified compound.

[0056] In this embodiment, the magnetic particles in step (1) are one of Fe3O4, NdFeB, FeCo alloy, or one of Fe3O4 surface-modified nano / micron-sized powder, NdFeB surface-modified nano / micron-sized powder, and FeCo alloy surface-modified nano / micron-sized powder.

[0057] Preferably, in step (2), the curing temperature is 80-150° C., and during the curing process, vacuum or inert atmosphere treatment is simultaneously performed to reduce the influence of bubbles or oxidation on the mechanical properties and magnetization quality of the thin wall.

[0058] In this embodiment, in step (3), two permanent magnets are respectively placed in the male mold and the female mold to magnetize the magnetically responsive soft material, and the two opposite magnetic poles of the two permanent magnets are the same; the heating temperature is 80-150°C.

[0059] In this embodiment, the material of the support model is a water-soluble polymer, a wax material or a thermoplastic material. The water-soluble polymer may be PVC. The support model may be prepared by a fused deposition 3D printer.

[0060] In this embodiment, in step (4), the support model is removed by dissolving or heating to obtain a porous hollow thin-walled magnetically controlled soft robot. This method does not cause damage to the porous hollow thin-walled magnetically controlled soft robot and is easy and quick to remove.

[0061] In order to better illustrate the method for preparing the porous hollow thin-walled magnetically controlled soft robot of this embodiment, the preparation steps are described in detail below. Figure 1 shown.

[0062] Step 1: prepare magnetically responsive soft materials. NdFeB magnetic particles with a diameter of 5±0.5 μm and Ecoflex 00-30 are mixed in a beaker at a mass ratio of 1:1, and stirred at a speed of 1000 r / min for 10 minutes with an electric stirrer to obtain a magnetically responsive soft material. The magnetically responsive soft material is placed in a vacuum dryer and degassed with a vacuum pump. After 10 minutes, no bubbles appear on the surface of the magnetically responsive soft material, and the degassing is considered to be complete.

[0063] Step 2: Prepare the mold of the porous hollow thin-walled magnetically controlled soft robot. The male and female molds are manufactured using a photocurable 3D printer with an accuracy of 0.05mm. The printing material is a high-temperature resistant photosensitive resin to prevent the mold from deforming or cracking during heating. In the slicing step, the mold is rotated 45° clockwise along the x-axis of the 3D printer, and supports are added. At the same time, the exposure time of the overexposure layer is set to 50 seconds, the number of layers is 8, and the exposure time of the cured layer is set to 2s and the layer thickness is 0.05mm to improve the printing quality. Then put the printed mold into alcohol to clean the residual resin, and use ultraviolet light for deep curing to improve the strength and hardness of the mold. Finally, use XTC-3D to brush the mold cavity to eliminate the layer lines, ensure that the cavity is smooth and easy to demold. The support model is made of PVA material that can be dissolved in water and prepared by a fused deposition 3D printer.

[0064] Step three, first assemble the male mold, female mold and support model, and use a syringe to slowly inject the magnetic responsive soft material into the mold. Place the entire mold in an electric constant temperature vacuum drying oven at 120°C and heat and cure for 1 hour to obtain a soft robot, then insert two cylindrical permanent magnets 7 with the same poles into the mold relative to each other, and heat at 120°C for 10 minutes to obtain a magnetically controlled soft robot, wait for it to cool naturally to room temperature, open the mold, place the magnetically controlled soft robot in deionized water at 80°C, dissolve the internal support model, and finally obtain a porous hollow thin-walled magnetically controlled soft robot. Among them, the radius of the permanent magnet 7 is 10mm, the height is 20mm, and the maximum surface magnetic induction intensity is 420mT.

[0065] See also Figure 2-Figure 4 The embodiment of the present application also discloses a porous hollow thin-walled magnetically controlled soft robot 1, which is prepared by the above-mentioned method for preparing a porous hollow thin-walled magnetically controlled soft robot, and includes a soft robot body 2, the inside of which is hollow, and the soft robot body 2 is provided with a plurality of holes 21. The porous hollow thin-walled magnetically controlled soft robot 1 can be used to carry or release fluid, and can realize multi-degree-of-freedom movements such as grasping, creeping, contracting, and unfolding under the action of an external magnetic field.

[0066] The porous hollow thin-walled magnetically controlled soft robot provided by the present invention is directly injection molded without the need for layer-by-layer stacking or subsequent assembly, thereby avoiding stress concentration and alignment errors at the structural interface, and reducing the dependence of assembly on precision and manpower. The support model is subsequently removed by dissolving or heating, thereby ensuring the support and stability of the hollow thin wall during the molding process, eliminating process limitations, and avoiding problems such as low printing efficiency, difficulty in later dismantling, and easy damage to the finished product. Moreover, the robot can be combined with a high-temperature magnetization process to complete complex three-dimensional structures and magnetization programming within the same process. The integration of magnetization and curing shortens the process and improves the stability of the finished product, thereby achieving high-quality manufacturing. The preparation process is simple and easy, and the overall preparation cost and process difficulty are low, which is conducive to large-scale production and cost control. The porous hollow thin-walled magnetically controlled soft robot 1 simultaneously meets the requirements of high strength, light weight, and complex structure, thereby achieving the flexibility of the hollow thin-walled structure, precise control of the magnetic drive, and improvement of the overall motion performance of the robot.

[0067] The wall thickness of the porous hollow thin-walled magnetically controlled soft robot 1 can be as thin as 1.5 mm. Preferably, the soft robot body 2 is spherical, and the size of the soft robot body 2 is 5-20 mm. The diameter of the hole 21 is 0.5-5 mm.

[0068] Preferably, the number of the holes 21 is five, one of the holes 21 is located on the top wall of the soft robot body 2 , and the other four holes 21 are circumferentially arranged on the peripheral wall of the soft robot body 2 .

[0069] See also Figure 5, showing a schematic diagram of the external magnetic field applied during the magnetization process of the porous hollow thin-walled magnetically controlled soft robot 1. Figure 6 The figure shows a simulation diagram of the magnetic field generated in the middle area when the same poles of two permanent magnets 7 are placed opposite to each other.

[0070] The porous hollow thin-walled magnetically controlled soft robot 1 can exhibit excellent deformation ability. When affected by an external magnetic field in the z direction, the robot 1 exhibits a contraction movement, such as Figure 7 As shown in the figure. The original height of robot 1 is 10mm. Under the influence of the 200mT magnetic field, the height is reduced to 5mm, achieving a shrinkage rate of 50%. After the external magnetic field is removed, the robot 1 returns to its original shape. Based on this feature, robot 1 is able to perform liquid transportation and release tasks. Figure 8 As shown, a syringe is first used to inject red ink from the hole 21 on the surface of the robot 1 into the interior of the soft robot body 2. Under a magnetic field of 50mT, the robot 1 can move smoothly on the horizontal plane with the liquid. When the robot 1 moves to the target location, the external magnetic field is increased to 200mT, and the robot 1 shrinks and deforms, releasing the red ink inside. During the entire movement process, the robot 1 can carry 0.2ml of liquid, and the transportation distance of 50mm and the release process only take 7 seconds, demonstrating efficient fluid handling capabilities.

[0071] See also Figure 1 , Figure 9-Figure 17 The embodiment of the present application also discloses a mold 3 for the above-mentioned porous hollow thin-walled magnetically controlled soft robot 1, including a male mold 4, a female mold 5 and a support model 6. A first accommodating cavity 41 and a first mold cavity 42 are formed in the male mold 4. The openings of the first accommodating cavity 41 and the first mold cavity 42 face opposite directions. The first accommodating cavity 41 and the first mold cavity 42 are connected to each other through an injection hole 43. A second accommodating cavity 51 and a second mold cavity 52 are formed in the female mold 5. The openings of the second accommodating cavity 51 and the second mold cavity 52 face opposite directions. The support model 6 fits in the space enclosed by the first mold cavity 51 and the second mold cavity 52.

[0072] The mold 3 for preparing the porous hollow thin-walled magnetically controlled soft robot 1 provided by the present invention has a simple structure and a simple and easy preparation process, and can achieve uniform orientation and bonding of particles under a thermal magnetic field, which can not only maintain good manufacturing accuracy and flexibility, but also ensure material flow and magnetization effects in large or complex cavities, which is conducive to large-scale production and cost control, and can be combined with a high-temperature magnetization process, and can complete complex three-dimensional structures and magnetization programming in the same process. The integration of magnetization and curing shortens the process and improves the stability of the finished product, achieving high-quality manufacturing, and the preparation process is simple and easy, with low overall preparation cost and process difficulty, which is conducive to large-scale production and cost control, so that the prepared porous hollow thin-walled magnetically controlled soft robot meets the requirements of high strength, light weight and complex structure at the same time, thereby achieving the flexibility of the hollow thin-walled structure, precise control of the magnetic drive and improvement of the overall motion performance of the robot.

[0073] Preferably, the support model 6 includes a spherical body 61 and a plurality of support columns 62 disposed on the spherical body 61. The number of the support columns 62 is the same as the number of the holes 21. In this embodiment, the number of the support columns 62 is five. Preferably, the second cavity 52 is connected to the second accommodating cavity 51 to facilitate the placement of one of the support columns 62.

[0074] In order to improve the convenience and stability of assembling the male mold 4 and the female mold 5, it is preferred that the male mold 4 is provided with a plurality of positioning holes 44, and the female mold 5 is provided with a plurality of positioning posts 53, and the plurality of positioning posts 53 can be fitted in the plurality of positioning holes 44. It is understandable that the positioning holes 44 can also be provided on the female mold 5, and the positioning posts 53 can be provided on the male mold 4.

[0075] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0076] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A method for preparing a porous hollow thin-walled magnetically controlled soft robot, characterized in that: The following steps are involved: (1) mixing magnetic particles and elastomer in a certain mass ratio and stirring to obtain a magnetically responsive soft material; (2) preparing a male mold, a female mold and a supporting model, assembling the male mold, the female mold and the supporting model to form a mold, injecting the magnetic responsive soft material into the mold, and then curing the magnetic responsive soft material to obtain a soft robot; (3) magnetizing the soft robot and heating it at the same time to obtain a magnetically controlled soft robot; (4) After cooling to room temperature, the mold is opened, the magnetically controlled soft robot is taken out, and the supporting model inside the magnetically controlled soft robot is removed to obtain a porous hollow thin-walled magnetically controlled soft robot.

2. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 1, characterized in that: The elastomer is one of silicone rubber, polyurethane, and acrylate, or one of silicone rubber modified compound, polyurethane modified compound, and acrylate modified compound.

3. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 1, characterized in that: The magnetic particles are one of Fe3O4, NdFeB, and FeCo alloy, or one of Fe3O4 surface-modified nano / micron powder, NdFeB surface-modified nano / micron powder, and FeCo alloy surface-modified nano / micron powder.

4. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 1, characterized in that: The curing temperature is 80-150°C, and during the curing process, vacuum or inert atmosphere treatment is carried out simultaneously.

5. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 1, characterized in that: Two permanent magnets are placed in a male mold and a female mold respectively to magnetize the magnetically responsive soft material, and the two opposite magnetic poles of the two permanent magnets are the same; the heating temperature is 80-150°C.

6. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 1, characterized in that: The material of the support model is a water-soluble polymer, a wax material or a thermoplastic material.

7. The method for preparing a porous hollow thin-walled magnetically controlled soft robot according to claim 6, characterized in that: The supporting model is removed by dissolving or heating to obtain a porous hollow thin-walled magnetically controlled soft robot.

8. A porous hollow thin-walled magnetically controlled soft robot, characterized in that: The porous hollow thin-walled magnetically controlled soft robot is prepared using the preparation method of any one of claims 1-7, comprising a soft robot body, wherein the interior of the soft robot body is hollow and the soft robot body is provided with a plurality of holes.

9. The porous hollow thin-walled magnetically controlled soft robot according to claim 8, characterized in that: The soft robot body is spherical, and the size of the soft robot body is 5-20 mm; and / or The diameter of the hole is 0.5-5 mm.

10. A mold, characterized in that: For preparing a porous hollow thin-walled magnetically controlled soft robot as claimed in any one of claims 8 to 9, comprising: A male mold, wherein a first accommodating cavity and a first mold cavity are formed in the male mold, the openings of the first accommodating cavity and the first mold cavity face opposite directions, and the first accommodating cavity is connected to the first mold cavity through an injection hole; A mother mold, wherein a second accommodating cavity and a second mold cavity are formed in the mother mold, and the openings of the second accommodating cavity and the second mold cavity face opposite directions; The supporting model is fitted in the space enclosed by the first cavity and the second cavity.

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