Magnetic drive soft robot production equipment and production method

Abstract

The invention relates to the technical field of magnetic drive soft robots, in particular to magnetic drive soft robot production equipment and a production method. Magnetic drive software robot production equipment comprises a computer control system, a visual system, and a laser etching system, a robot processing system, an ultraviolet light source and a magnetic field generation device which are controlled by the computer control system, the robot machining system comprises an XYZ-axis movable machining platform and a scraper system, and a coating template is arranged on the XYZ-axis movable machining platform. According to the method, the laser encoding template is combined with solid-liquid conversion of the magnetic material, so that the problem that magnetic direction encoding is difficult in a template forming method is effectively solved, and the production efficiency of the template forming method during preparation of the anisotropic magnetic-driven soft robot can be greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of magnetically driven soft robots, and in particular to a magnetically driven soft robot production device and a production method. Background Art

[0002] Magnetic-driven soft robots have the characteristics of remote drive, compact structure, softness and large deformation, and can enter narrow confined spaces. They have important application prospects in the field of life and medicine. How to efficiently and cost-effectively realize the production and manufacturing of micro-sized magnetic-driven origami soft robots is the key to promoting the practical application of such robots.

[0003] Template molding is one of the methods for producing magnetically driven soft robots. This method involves filling a prefabricated template with liquid magnetic material, and after it solidifies, demoulding to obtain a magnetically driven soft robot with a fixed structure. Compared with another mainstream production method, 3D printing, this method is more efficient, has lower costs in large-scale production, and has better prospects for industrial production.

[0004] Magnetic-driven soft robots can be divided into two types according to the magnetization direction: isotropic and anisotropic. Isotropy means that the magnetization directions of all regions of the magnetic-driven soft robot are the same, while anisotropy means that the magnetization directions of different regions are different. The template molding method can prepare an isotropic magnetic-driven soft robot by simply applying a strong magnetic field with a fixed direction to it after the magnetic material is solidified, so that isotropic magnetization can be achieved.

[0005] It is difficult to prepare anisotropic magnetically driven soft robots using template molding. There are currently two mainstream magnetic encoding strategies. One is to fold and bend the solidified magnetic soft material into a specific structure, magnetize the material under a strong magnetic field, and the unfolded material can obtain different magnetization directions depending on the folding method. However, this strategy lacks encoding freedom, and it is difficult for micro-robots to achieve complex folding. Another strategy is to encode during the preparation process. After pre-magnetizing the liquid magnetic soft material, the magnetic particles will rotate and reorient in the polymer solution under the action of the encoding magnetic field. Local magnetization distribution is achieved by selectively solidifying the solution. In order to adopt this strategy, the template molding method needs to be combined with laser reconstruction technology. The solidified magnetic material is heated by laser to make it reliquefied, and then magnetic encoding is performed on it. However, this method first requires the preparation of a special magnetic solvent, and secondly, the encoding area needs to be continuously irradiated to maintain the temperature during encoding, which will undoubtedly greatly reduce the production efficiency of the template molding method. Summary of the invention

[0006] In order to improve the production efficiency of the template molding method in preparing anisotropic magnetic-driven soft robots, the present application provides a magnetic-driven soft robot production device and a production method.

[0007] In the first aspect, the present application provides a magnetic drive soft robot production device, which adopts the following technical solution: A magnetically driven soft robot production equipment comprises a computer control system, a visual system, a laser etching system controlled by the computer control system, a robot processing system, an ultraviolet light source, and a magnetic field generating device; the robot processing system comprises an XYZ axis moving processing platform and a scraper system, and a coating template is arranged on the XYZ axis moving processing platform; the visual system is used for the computer control system to obtain the position information of the coating template, and the ultraviolet light source is used for providing a curing light source; the magnetic field generating device is used for providing a coded magnetic field; the laser etching system is used for performing laser coding etching processing, and the scraper system is used for performing coating processing.

[0008] By adopting the above technical solution, first, multiple processing batches are divided according to the magnetization direction of each magnetic drive unit on the magnetic drive soft robot to be produced. Secondly, a laser etching system is used to etch grooves at the positions where magnetization filling is required on the surface of the coating template. Then, a scraper system is used to cooperate with the laser etching system, the magnetic field generating device, and the ultraviolet light source to fill and solidify the pre-modulated liquid magnetic material in the grooves in turn according to the divided batches to obtain the magnetic drive units, and the magnetic drive units are combined to obtain the desired magnetic drive soft robot. This laser-encodable template combined with the solid-liquid conversion of magnetic materials effectively solves the problem of difficulty in magnetic encoding in the template molding method, and can greatly improve the production efficiency of the template molding method in the preparation of anisotropic magnetic drive soft robots.

[0009] Optionally, the laser etching system includes a laser, a beam reduction filter group, a beam expander, a height adjustment mirror group, a scanning galvanometer, and an f-θ field mirror.

[0010] By adopting the above technical solution, when working, after the laser emits the laser, it is filtered out edge stray light and reduced in beam through the beam reduction filter group, then expanded through the beam expander, and then transmitted through the height adjustment mirror. Finally, after adjustment by the scanning galvanometer and the f-θ field mirror, the coating template is grooved.

[0011] Optionally, the beam reduction filter group includes a first plano-convex lens, a precision pinhole, and a second plano-convex lens which are optically connected in sequence; The focal length of the first plano-convex lens is f1, the focal length of the second plano-convex lens is f2, and the distance L between the two lenses satisfies the relationship: L = |f1|+ |f2|; The magnification M of the beam reduction filter group is determined by the focal lengths of the two lenses, satisfying the relationship: M = |f2| / |f1|; The specific value of M is determined by the output beam diameter of the laser and the incident beam diameter of the beam expander, and the value of M is less than 1, that is, the focal lengths of the two lenses must satisfy |f2|<|f1|; The position of the precision pinhole should be between the two lenses and at the focus of the two lenses; the diameter d of the precision pinhole is determined by the wavelength λ of the laser, the beam diameter D and the focal length f1 of the plano-convex lens, and satisfies the following relationship: d=1.27λf1 / D.

[0012] By adopting the above technical solution, the value of M is set to be less than 1 to achieve the beam reduction effect. At the same time, with the cooperation of the plano-convex lens, the precision pinhole and the plano-convex lens, the edge stray light can be filtered to improve the quality of the light spot.

[0013] Optionally, the height-adjustable mirror group includes a first reflector and a second reflector connected in sequence in an optical path; the first reflector, the beam reduction filter group, and the beam expander are installed on the same optical platform, and the platform is fixed on a frame; the second reflector, the scanning galvanometer, and the f-θ field mirror are installed on another optical platform, and the platform can be raised and lowered.

[0014] By adopting the above technical solution, the distance between the f-θ field mirror and the processing plane can be adjusted by lifting and lowering the optical platform where the f-θ field mirror is located. By adjusting the position and angle of the two reflectors, the laser emitted by the beam expander can be directly injected into the light entrance hole of the scanning galvanometer.

[0015] Optionally, the ultraviolet light source should be a ring-shaped light source.

[0016] By adopting the above technical solution and using a ring-shaped light source, uniform illumination is ensured while the transmission of the laser beam is not affected.

[0017] Optionally, the magnetic field generating device should be a three-dimensional Helmholtz coil.

[0018] By adopting the above technical solution and utilizing the three-dimensional Helmholtz coil, a three-dimensional magnetic field can be generated, and the direction and intensity of the magnetic field can be controlled by a computer control system.

[0019] Optionally, the visual system consists of an industrial camera and a light source.

[0020] In a second aspect, the present application provides a method for producing a magnetically driven soft robot, which adopts the following technical solution: A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production device described above, comprises the following steps: Step 1, dividing a plurality of processing batches according to the magnetization direction of each magnetic drive unit on the magnetic drive soft robot to be produced; Step 2, preparing a coating template, the coating template is made of optical glass, and grooves are prepared on the surface of the coating template using picosecond or femtosecond laser etching technology; Step 3, using a scraper system, fill the photosensitive resin into all the grooves on the upper surface of the coating template, and control the ultraviolet light source to irradiate so that the photosensitive resin is quickly cured; Step 4, control the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin in the groove in the scanning area is heated and gasified, and the groove after scanning is completed returns to a state where it can be filled with materials; Step 5, using a scraper system to apply the pre-modulated liquid magnetic material to the entire coating template. At this time, the area not scanned by the laser cannot be filled due to the presence of the photosensitive resin filling block. Therefore, the magnetic material will only be filled into the grooves within the laser scanning area. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template to solidify the liquid magnetic material in the groove to obtain a magnetic drive unit; Repeat steps 4 to 7 until all processing batches are completed before moving to the next stage; Step 8, using a scraper system to apply photosensitive resin to the surface of the coating template, and applying ultraviolet light to cure the coated photosensitive resin to form a film, and the film will be bonded to the magnetic drive unit; Step 9, peel the photosensitive resin film together with the magnetic drive unit from the coating template, and then place the film on the front of the coating template with the magnetic drive unit facing upward, and control the laser to scan and cut the film. The scanning path of the laser is the same as the outer contour of the robot; if the robot is designed with creases, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

[0021] In a third aspect, the present application provides a method for producing a magnetically driven soft robot, which adopts the following technical solution: A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production device described above, comprises the following steps: Step 1, preparing a coating template, using a general-purpose glass template, and using picosecond or femtosecond laser etching technology to prepare grooves on the surface of the coating template, wherein a large number of grooves of the same size are prepared on the surface of the coating template, the grooves are neatly arranged, and the spacing between the grooves is consistent; Step 2, planning the processing sequence of the magnetic drive units, and classifying the magnetic drive units with the same magnetization direction in all processing areas into the same processing batch; Step 3, using a scraper system, fill the photosensitive resin into all the grooves on the upper surface of the coating template, and control the ultraviolet light source to irradiate so that the photosensitive resin is quickly cured; Step 4, control the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin in the groove in the scanning area is heated and gasified, and the groove after scanning is completed returns to a state where it can be filled with materials; Step 5: Use a scraper system to apply the pre-modulated liquid magnetic material to the entire coating template. At this time, the area that has not been scanned by the laser cannot be filled due to the presence of the photosensitive resin filling block. Therefore, the liquid magnetic material will only be filled into the grooves within the laser scanning area. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template to solidify the liquid magnetic material in the groove to obtain a magnetic drive unit; Repeat steps 4 to 7 until all processing batches are completed before proceeding to the next stage;.

[0022] Step 8, using a scraper system to apply photosensitive resin to the surface of the coating template, and applying ultraviolet light to cure the coated photosensitive resin to form a film, and the film will be bonded to the magnetic drive unit; Step 9, peel the photosensitive resin film together with the magnetic drive unit from the coating template, and then place the film on the front of the coating template with the magnetic drive unit facing upward, and control the laser to scan and cut the film. The scanning path of the laser is the same as the outer contour of the robot; if the robot is designed with creases, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

[0023] In a fourth aspect, the present application provides a method for producing a magnetically driven soft robot, which adopts the following technical solution: A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production device described above, comprises the following steps: Step 1: divide the processing platform into multiple processing areas according to the size of the magnetically driven soft robot and the number of robots to be produced, and produce one robot in each processing area, without interfering with each other; Step 2, planning the processing sequence of the magnetic drive units, and classifying the magnetic drive units with the same magnetization direction in all processing areas into the same processing batch; Step 3, coating and curing with a photosensitive resin to obtain a soft skeleton film to serve as a coating template; Step 4, using laser etching technology to process grooves corresponding to the magnetic drive units of this batch on the surface of the coating template; Step 5, filling the etched groove with liquid magnetic material by using a scraping process; Step 6, using a magnetic field generating device to apply an orientation magnetic field to magnetize and orient the liquid magnetic material in the groove; Step 7, using an ultraviolet light source to irradiate the material in the groove to solidify the liquid magnetic material, thereby obtaining a magnetic drive unit; Repeat steps 4 to 7 until the production of magnetic drive units of all processing batches is completed; Step 8: Use a laser etching system to peel off the magnetically driven soft robot.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. During operation, first, multiple processing batches are divided according to the magnetization direction of each magnetic drive unit on the magnetic drive soft robot to be produced. Secondly, a laser etching system is used to etch grooves at the positions where magnetization filling is required on the surface of the coating template. Then, a scraper system is used to cooperate with the laser etching system, the magnetic field generating device, and the ultraviolet light source to fill and solidify the pre-modulated liquid magnetic material in the grooves in turn according to the divided batches to obtain the magnetic drive units. After the magnetic drive units are combined, the desired magnetic drive soft robot is obtained. This combination of a laser-encodable template and the solid-liquid conversion of magnetic materials effectively solves the problem of difficulty in magnetic encoding in the template molding method, and can greatly improve the production efficiency of the template molding method in the preparation of anisotropic magnetic drive soft robots; 2. When working, after the laser emits the laser, it is filtered by the beam reduction filter group to filter the edge stray light and reduce the beam, then expanded by the beam expander, and then transmitted by the height adjustment mirror. Finally, after the adjustment of the scanning galvanometer and f-θ field mirror, the coating template is grooved; 3. Set the value of M to less than 1 to achieve the effect of beam reduction. At the same time, with the help of the combination of plano-convex lens, precision pinhole and plano-convex lens, it is possible to filter the edge stray light and improve the quality of the light spot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a magnetically driven soft robot production device of the present application.

[0026] Figure 2 yes Figure 1 Schematic diagram of the positional relationship between the magnetic field generating device, ultraviolet light source and robot processing system.

[0027] Figure 3 It is a schematic diagram of the principle flow of Example 1 in a magnetic-driven soft robot production method of the present application.

[0028] Figure 4 It is a schematic diagram of the principle flow of Example 2 in a magnetic-driven soft robot production method of the present application.

[0029] Figure 5 It is a schematic diagram of the principle flow of Example 3 of a magnetically driven soft robot production method of the present application.

[0030] Description of reference numerals: 1. Laser; 2. First plano-convex lens; 3. Precision pinhole; 4. Second plano-convex lens; 5. Beam expander; 6. First reflector; 7. Second reflector; 8. Scanning galvanometer; 9. f-θ field mirror; 10. Scraper system; 11. Coating template; 12. Processing platform; 13. Groove; 14. Photosensitive resin; 15. Liquid magnetic material; 16. Magnetic drive unit. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-5 This application is described in further detail.

[0032] The embodiment of the present application discloses a magnetically driven soft robot production device.

[0033] Reference Figure 1 and Figure 2 , a magnetic drive soft robot production equipment, including a computer control system, a visual system, a laser etching system controlled by the computer control system, a robot processing system, an ultraviolet light source, and a magnetic field generating device; wherein the robot processing system includes an XYZ axis moving processing platform 12 and a scraper system 10, the XYZ axis moving processing platform 12 and the scraper system 10 are controlled by the computer control system, and a coating template 11 is arranged on the XYZ axis moving processing platform 12. The visual system is used by the computer control system to obtain the position information of the coating template 11, the ultraviolet light source is used to provide a curing light source; the magnetic field generating device is used to provide a coded magnetic field; the laser etching system is used to perform laser coding etching processing, and the scraper system 10 is used to perform coating processing.

[0034] Specifically, the laser etching system includes a laser 1, a beam reduction filter group, a beam expander 5, a height adjustment mirror group, a scanning galvanometer 8, and an f-θ field mirror 9. When working, after the laser 1 emits laser light, it is filtered by the beam reduction filter group to filter edge stray light and reduce the beam, then expanded by the beam expander 5, and then transmitted by the height adjustment mirror, and finally, after adjustment by the scanning galvanometer 8 and the f-θ field mirror 9, the groove 13 is etched on the coating template 11.

[0035] The beam reduction filter group includes a first plano-convex lens 2, a precision pinhole 3, and a second plano-convex lens 4 which are optically connected in sequence; The focal length of the first plano-convex lens 2 is f1, the focal length of the second plano-convex lens 4 is f2, and the distance L between the two lenses satisfies the relationship: L = |f1| + |f2|; The magnification M of the beam reduction filter group is determined by the focal lengths of the two lenses, satisfying the relationship: M = |f2| / |f1|; The specific value of M is determined by the output beam diameter of the laser 1 and the incident beam diameter of the beam expander 5, and the value of M is less than 1, that is, the focal lengths of the two lenses must satisfy |f2|<|f1|; The position of the precision pinhole 3 should be between the two lenses and at the focus of the two lenses; the diameter d of the precision pinhole 3 is determined by the wavelength λ of the laser 1, the beam diameter D and the focal length f1 of the plano-convex lens, and satisfies the following relationship: d=1.27λf1 / D.

[0036] The height adjustment mirror group includes a first reflector 6 and a second reflector 7 which are optically connected in sequence; and the first reflector 6, the beam reduction filter group, and the beam expander 5 are installed on the same optical platform, and the platform is fixed on the frame; the second reflector 7, the scanning galvanometer 8, and the f-θ field mirror 9 are installed on another optical platform, and the platform can be raised and lowered. By controlling the lifting and lowering of the optical platform where the f-θ field mirror 9 is located, the distance from the f-θ field mirror 9 to the processing plane can be adjusted. By adjusting the position and angle of the two reflectors, the laser emitted by the beam expander 5 can be directly injected into the light entrance hole of the scanning galvanometer 8.

[0037] In the present embodiment, the coating template 11 is made of optical glass, and is K9 optical glass. The size, shape and positional relationship between the grooves 13 processed on the glass template should be the same as the size, shape and positional relationship of the magnetic drive unit 16 of the pre-prepared robot. A plurality of identical robot processing areas can be divided on the same glass template, and the robot processing area is a square area that can wrap the outline of the robot. To avoid mutual interference in subsequent processing, a certain distance should be maintained between areas. In other embodiments, the coating template 11 can be made of photosensitive resin 14.

[0038] In this embodiment, the ultraviolet light source is a ring-shaped ultraviolet light source, which ensures uniform illumination without affecting the transmission of the laser beam.

[0039] In this embodiment, the magnetic field generating device is a three-dimensional Helmholtz coil, which can generate a three-dimensional magnetic field, and the direction and intensity of the magnetic field can be controlled by a computer control system. The uniform area of ​​the magnetic field generated by the three-dimensional Helmholtz coil can cover the entire coating template 11 and will not hinder the transmission of the laser beam.

[0040] In this embodiment, the visual system is composed of an industrial camera and a light source.

[0041] The implementation principle of a magnetic drive soft robot production device in an embodiment of the present application is as follows: when working, first, a plurality of processing batches are divided according to the magnetization direction of each magnetic drive unit 16 on the magnetic drive soft robot to be produced. Secondly, a laser etching system is used to etch grooves 13 at the positions where magnetization filling is required on the surface of the coating template 11. Then, a scraper system 10 is used to cooperate with a laser etching system, a magnetic field generating device, and an ultraviolet light source, and the pre-modulated liquid magnetic material 15 is filled and solidified in the grooves 13 in turn according to the divided batches to obtain a magnetic drive unit 16, and the magnetic drive unit 16 is combined to obtain the desired magnetic drive soft robot. This laser-encodable template combined with the solid-liquid conversion of the magnetic material effectively solves the problem of difficulty in magnetic encoding in the template molding method, and can greatly improve the production efficiency of the template molding method in the preparation of anisotropic magnetic drive soft robots.

[0042] The embodiment of the present application also discloses a method for producing a magnetically driven soft robot.

[0043] Embodiment 1: Reference Figure 3 A method for producing a magnetically driven soft robot, based on the above-mentioned magnetically driven soft robot production equipment, comprises the following steps: Step 1, dividing a plurality of processing batches according to the magnetization direction of each magnetic drive unit 16 on the magnetic drive soft robot to be produced; in the present application, the robot to be produced includes a total of 4 magnetic drive units 16 with different magnetization directions, and the magnetic drive units 16 with the same magnetization direction are divided into the same processing batch, and a total of 4 processing batches are divided; Step 2: Divide a plurality of robot processing areas on the coating template 11 according to the size of the robot to be produced; prepare the coating template 11 using optical glass, and prepare corresponding grooves 13 on the surface of the coating template 11 using picosecond or femtosecond laser etching technology, wherein the size, shape and position relationship of the grooves 13 are determined by the size, shape and position relationship of the magnetic drive unit 16 of the robot to be produced; Step 3, using the scraper system 10, the photosensitive resin 14 is applied to all the grooves 13 on the upper surface of the coating template 11, and the ultraviolet light source is controlled to irradiate so that the photosensitive resin 14 is quickly cured; Step 4, controlling the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin 14 in the groove 13 in the scanning area is heated and gasified, and the groove 13 after scanning is returned to a state where it can be filled with materials; Step 5, using the scraper system 10 to coat the entire coating template 11 with the pre-modulated liquid magnetic material 15. At this time, the area not scanned by the laser cannot be filled due to the presence of the filling block of the photosensitive resin 14. Therefore, the magnetic material is only filled into the grooves 13 in the area scanned by the laser this time. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template 11 to solidify the liquid magnetic material 15 in the groove 13 to obtain a magnetic drive unit 16; Repeat steps 4 to 7 until all processing batches are completed before moving to the next stage; Step 8, using the scraper system 10 to apply the photosensitive resin 14 to the surface of the coating template 11, and applying ultraviolet light irradiation to cure the coated photosensitive resin 14 to form a film, and the film will be bonded to the magnetic drive unit 16; Step 9, peel off the photosensitive resin 14 film together with the magnetic drive unit 16 from the coating template 11, and then place the film on the front of the coating template 11 with the magnetic drive unit 16 facing upward, and control the laser scanning to cut the film. The scanning path of the laser is the same as the outer contour of the robot; if the robot is designed with creases, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

[0044] In this embodiment, the glass template is K9 optical glass, which is processed by etching grooves 13 on the surface using a picosecond ultraviolet laser 1 .

[0045] In this embodiment, the liquid magnetic material 15 is formed by mixing 2000 mesh NdFeB powder and photosensitive resin 14 liquid, and the mass ratio of the powder to the resin is 1:1.

[0046] Embodiment 2: Reference Figure 4 The difference between this embodiment and embodiment 1 is that the coating template 11 in this application is a general-purpose glass template, which is also made of optical glass. In this application, when etching the grooves 13 on the coating template 11, a large number of grooves 13 of the same size are prepared on the surface of the coating template 11, and the grooves 13 are neatly arranged, and the spacing between the grooves 13 and the grooves 13 is consistent. By selectively filling the grooves 13 on the template, these small square magnetic drive units 16 can be combined into magnetic drive robots of different shapes.

[0047] Specifically, refer to Figure 4 A method for producing a magnetically driven soft robot, based on the above-mentioned magnetically driven soft robot production equipment, comprises the following steps: Step 1, preparing a coating template 11, using a general glass template, and using picosecond or femtosecond laser etching technology to prepare grooves 13 on the surface of the coating template 11; Step 2, according to the shape and size of the magnetic drive soft robot to be produced, the groove 13 required for programming is selected on the coating template 11, and the magnetic drive units 16 with the same magnetization direction in all processing areas are classified into the same processing batch; in this application, the robot to be produced includes 5 magnetic drive units 16 with different magnetization directions, and a total of 5 processing batches are divided; Step 3, using the scraper system 10, the photosensitive resin 14 is applied to all the grooves 13 on the upper surface of the coating template 11, and the ultraviolet light source is controlled to irradiate so that the photosensitive resin 14 is quickly cured; Step 4, controlling the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin 14 in the groove 13 in the scanning area is heated and gasified, and the groove 13 after scanning is returned to a state where it can be filled with materials; Step 5, using the scraper system 10 to coat the entire coating template 11 with the pre-modulated liquid magnetic material 15. At this time, the area not scanned by the laser cannot be filled due to the presence of the filling block of the photosensitive resin 14. Therefore, the liquid magnetic material 15 is only filled into the grooves 13 in the area scanned by the laser this time. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template 11 to solidify the liquid magnetic material 15 in the groove 13 to obtain a magnetic drive unit 16; Repeat steps 4 to 7 until all processing batches are completed before proceeding to the next stage;.

[0048] Step 8, using the scraper system 10 to apply the photosensitive resin 14 to the surface of the coating template 11, and applying ultraviolet light irradiation to cure the coated photosensitive resin 14 to form a film, and the film will be bonded to the magnetic drive unit 16; Step 9, peel off the photosensitive resin 14 film together with the magnetic drive unit 16 from the coating template 11, and then place the film on the front of the coating template 11 with the magnetic drive unit 16 facing upward, and control the laser scanning to cut the film. The scanning path of the laser is the same as the outer contour of the robot; if the robot is designed with creases, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

[0049] Embodiment 3: Reference Figure 5 The difference between the present application and Example 1 is that, in the present application, a photosensitive resin 14 is used to prepare a coating template 11 to form a soft body skeleton, and then the preparation is carried out in batches in different regions.

[0050] Specifically, refer to Figure 5A method for producing a magnetically driven soft robot, based on the above-mentioned magnetically driven soft robot production equipment, comprises the following steps: Step 1, according to the size of the magnetically driven soft robot and the number to be produced, a plurality of processing areas are divided on the processing platform 12, and one robot is produced in each processing area, and the areas will not interfere with each other; Step 2, planning the processing sequence of the magnetic drive units 16, and classifying the magnetic drive units 16 with the same magnetization direction in all processing areas into the same processing batch; Step 3, coating and curing with a photosensitive resin 14 to obtain a soft skeleton film to serve as a coating template 11; Step 4, using laser etching to process the grooves 13 corresponding to the magnetic drive units 16 of this batch on the surface of the coating template 11; Step 5, using a scraping process to fill the liquid magnetic material 15 into the etched groove 13; Step 6, using a magnetic field generating device to apply an orientation magnetic field to magnetize and orient the liquid magnetic material 15 in the groove 13; Step 7, using an ultraviolet light source to irradiate the material in the groove 13 to solidify the liquid magnetic material 15 to obtain a magnetic drive unit 16; Repeat steps 4 to 7 until the production of magnetic drive units of all processing batches is completed; Step 8: Use a laser etching system to peel off the magnetically driven soft robot.

[0051] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A magnetic drive soft robot production equipment, characterized in that: The invention comprises a computer control system, a visual system, a laser etching system controlled by the computer control system, a robot processing system, an ultraviolet light source, and a magnetic field generating device; the robot processing system comprises an XYZ axis movable processing platform (12) and a scraper system (10), and a coating template (11) is arranged on the XYZ axis movable processing platform (12); the visual system is used for the computer control system to obtain the position information of the coating template (11), the ultraviolet light source is used for providing a curing light source; the magnetic field generating device is used for providing a coded magnetic field; the laser etching system is used for performing laser coding etching processing, and the scraper system (10) is used for performing coating processing.

2. The magnetic drive soft robot production equipment according to claim 1, characterized in that: The laser etching system comprises a laser (1), a beam reduction filter lens group, a beam expander (5), a height adjustment lens group, a scanning galvanometer (8), and an f-θ field lens (9).

3. The magnetic drive soft robot production equipment according to claim 2, characterized in that: The beam reduction filter group comprises a first plano-convex lens (2), a precision pinhole (3), and a second plano-convex lens (4) which are optically connected in sequence; The focal length of the first plano-convex lens (2) is f1, the focal length of the second plano-convex lens (4) is f2, and the distance L between the two lenses satisfies the relationship: L = |f1| + |f2|; The magnification M of the beam reduction filter group is determined by the focal lengths of the two lenses, satisfying the relationship: M = |f2| / |f1|; The specific value of M is determined by the diameter of the output beam of the laser (1) and the diameter of the incident beam of the beam expander (5), and the value of M is less than 1, that is, the focal lengths of the two lenses must satisfy |f2| < |f1|; The position of the precision pinhole (3) should be between the two lenses and at the focal point of the two lenses; the diameter d of the precision pinhole (3) is determined by the wavelength λ of the laser (1), the beam diameter D and the focal length f1 of the plano-convex lens, and satisfies the following relationship: d=1.27λf1 / D.

4. The magnetic drive soft robot production equipment according to claim 2, characterized in that: The height-adjustable mirror group comprises a first reflector (6) and a second reflector (7) which are optically connected in sequence; the first reflector (6) is mounted on the same optical platform as the beam reduction filter group and the beam expander (5), and the platform is fixed on a frame; the second reflector (7) is mounted on another optical platform as well as the scanning galvanometer (8) and the f-θ field mirror (9), and the platform can be raised and lowered.

5. The magnetic drive soft robot production equipment according to claim 1, characterized in that: The ultraviolet light source should be a ring-shaped light source.

6. The magnetic drive soft robot production equipment according to claim 1, characterized in that: The magnetic field generating device should be a three-dimensional Helmholtz coil.

7. The magnetic drive soft robot production equipment according to claim 1, characterized in that: The visual system consists of an industrial camera and a light source.

8. A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production equipment according to any one of claims 1 to 7, characterized in that: The steps include: Step 1, dividing the processing batches according to the magnetization direction of each magnetic drive unit (16) on the magnetic drive soft robot to be produced; Step 2, preparing a coating template (11), wherein the coating template (11) is made of optical glass, and using picosecond or femtosecond laser etching technology to prepare a groove (13) on the surface of the coating template (11); Step 3, using a scraper system (10), the photosensitive resin (14) is applied to all the grooves (13) on the upper surface of the coating template (11), and the ultraviolet light source is controlled to irradiate so that the photosensitive resin (14) is quickly cured; Step 4, controlling the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin (14) in the groove (13) in the scanning area is heated and gasified, and the groove (13) after scanning is completed returns to a state where it can be filled with materials; Step 5, using a scraper system (10) to coat the entire coating template (11) with the pre-modulated liquid magnetic material (15). At this time, the area not scanned by the laser cannot be filled due to the presence of the photosensitive resin (14) filling block. Therefore, the magnetic material is only filled into the groove (13) within the laser scanning area. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template (11) to solidify the liquid magnetic material (15) in the groove (13), thereby obtaining a magnetic drive unit (16); Repeat steps 4 to 7 until all processing batches are completed before moving to the next stage; Step 8, using a scraper system (10) to apply a photosensitive resin (14) to the surface of the coating template (11), and applying ultraviolet light irradiation to cure the coated photosensitive resin (14) to form a thin film, and the thin film will be bonded to the magnetic drive unit (16); Step 9, peeling the photosensitive resin (14) film together with the magnetic drive unit (16) from the coating template (11), and then placing the film on the front of the coating template (11) with the magnetic drive unit (16) facing upward, and controlling the laser to scan and cut the film, the laser scanning path being the same as the outer contour of the robot; if the robot is designed with folds, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

9. A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production equipment according to any one of claims 1 to 7, characterized in that: The steps include: Step 1, preparing a coating template (11), using a general glass template, and using picosecond or femtosecond laser etching technology to prepare grooves (13) on the surface of the coating template (11), wherein a large number of grooves (13) of the same size are prepared on the surface of the coating template (11), the grooves (13) are neatly arranged, and the spacing between the grooves (13) and the grooves (13) is consistent; Step 2, planning the processing sequence of the magnetic drive units (16), and classifying the magnetic drive units (16) with the same magnetization direction in all processing areas into the same processing batch; Step 3, using a scraper system (10), the photosensitive resin (14) is applied to all the grooves (13) on the upper surface of the coating template (11), and the ultraviolet light source is controlled to irradiate so that the photosensitive resin (14) is quickly cured; Step 4, controlling the laser etching system to scan the processing area of ​​this batch, so that the photosensitive resin (14) in the groove (13) in the scanning area is heated and gasified, and the groove (13) after scanning is completed returns to a state where it can be filled with materials; Step 5, using the scraper system (10) to coat the entire coating template (11) with the pre-modulated liquid magnetic material (15). At this time, the area not scanned by the laser cannot be filled due to the presence of the photosensitive resin (14) filling block. Therefore, the liquid magnetic material (15) is only filled into the grooves (13) in the laser scanning area. Step 6, controlling the magnetic field generating device to apply a magnetic field in a direction required for processing this batch; Step 7, controlling the ultraviolet light source to irradiate the coating template (11) to solidify the liquid magnetic material (15) in the groove (13), thereby obtaining a magnetic drive unit (16); Repeat steps 4 to 7 until all processing batches are completed before moving to the next stage; Step 8, using a scraper system (10) to apply a photosensitive resin (14) to the surface of the coating template (11), and applying ultraviolet light irradiation to cure the coated photosensitive resin (14) to form a thin film, and the thin film will be bonded to the magnetic drive unit (16); Step 9, peeling the photosensitive resin (14) film together with the magnetic drive unit (16) from the coating template (11), and then placing the film on the front of the coating template (11) with the magnetic drive unit (16) facing upward, and controlling the laser to scan and cut the film, the laser scanning path being the same as the outer contour of the robot; if the robot is designed with folds, it can also be processed by laser etching; Step 10, peeling the cut soft robot from the film, and the production of the magnetically driven soft robot is now completed.

10. A method for producing a magnetically driven soft robot, based on the magnetically driven soft robot production equipment according to any one of claims 1 to 7, characterized in that: The steps include: Step 1, dividing a processing platform (12) into a plurality of processing areas according to the size of the magnetically driven soft robot and the number of robots to be produced, each processing area producing one robot, and the areas will not interfere with each other; Step 2, planning the processing sequence of the magnetic drive units (16), and classifying the magnetic drive units (16) with the same magnetization direction in all processing areas into the same processing batch; Step 3, coating and curing with a photosensitive resin (14) to obtain a soft skeleton film to serve as a coating template (11); Step 4, using laser etching technology to process grooves (13) corresponding to the magnetic drive units (16) of this batch on the surface of the coating template (11); Step 5, using a scraping process to fill the liquid magnetic material (15) into the etched groove (13); Step 6, using a magnetic field generating device to apply an orientation magnetic field to magnetize and orient the liquid magnetic material (15) in the groove (13); Step 7, using an ultraviolet light source to irradiate the material in the groove (13) to solidify the liquid magnetic material (15) to obtain a magnetic drive unit (16); Repeat steps 4 to 7 until the production of magnetic drive units of all processing batches is completed; Step 8: Use a laser etching system to peel off the magnetically driven soft robot.

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