Preparation method and application of intelligent liquid metal shape memory robot

Abstract

The invention discloses a preparation method and application of an intelligent liquid metal shape memory robot. According to the method, an internal framework formed by compounding polyurethane foam and a shape memory polymer is constructed, interface bonding is enhanced through organic molecule bridging, liquid metal is injected under the capillary action, and controllable shaping and reversible shape recovery without mold assistance are achieved by means of high surface tension of the liquid metal and good affinity of the liquid metal and the framework. The manufactured robot is endowed with a machine body, a sensing-decision-execution closed-loop control framework is constructed, and the robot has excellent shape memory performance and intelligent characteristics and shows huge application potential in the fields of pipeline transportation, nuclear waste treatment, disaster response and the like.

Description

Technical Field

[0001] This invention relates to a method for fabricating a liquid metal shape memory robot with embodied intelligence and its application, belonging to the fields of intelligent materials and soft robotics. Background Technology

[0002] Compared to traditional rigid robots, liquid metal robots, thanks to the unique properties of liquid metal, have shown enormous application potential in many fields such as flexible electronics and environmental engineering. These robots combine the flexible adaptability of traditional soft robots with the excellent conductivity, deformability, interface affinity, and functional modifiability of liquid metal itself, achieving a synergistic improvement in multi-dimensional performance. In particular, if a liquid metal robot with shape memory capabilities can be realized, it can autonomously adjust its shape according to actual task requirements and return to its initial configuration after task completion, opening up a completely new direction for related research in the field of intelligent soft robots.

[0003] However, achieving the aforementioned ideal application effects still requires overcoming several key technological bottlenecks: how to achieve precise and controllable shape control of liquid metal, how to ensure stable and reliable shape recovery performance, and how to enable the robot to respond to external commands to complete specific tasks. Current research largely relies on the solid-liquid phase transition mechanism of liquid metal for shape control, or requires the assistance of external molds to complete shape recovery. These methods significantly limit the autonomous operation capabilities and structural reconfigurability of liquid metal robots. To date, no liquid metal robot capable of spontaneous, reversible, and autonomous deformation has been developed. Therefore, developing a liquid metal shape memory robot with both programmable deformation capabilities and autonomous shape transformation characteristics has become a core technological challenge that urgently needs to be overcome in this field. Summary of the Invention

[0004] To address the technical shortcomings of existing liquid metal robots, such as insufficient precision in shape control, reliance on external molds for shape recovery, limited autonomous reconfigurability, and low level of intelligent integration, this invention aims to provide a method for fabricating a liquid metal shape memory robot with built-in intelligence and its application. The robot has programmable deformation, autonomous and reversible shape recovery, and intelligent response characteristics in external fields, and has outstanding application value in complex and extreme working scenarios.

[0005] This invention, based on the concept of "giving machines a body," constructs a closed-loop control architecture integrating perception, decision-making, and execution functions, enabling robots to achieve intelligent responses based on the intrinsic properties of materials. By designing a three-dimensional porous framework composed of shape memory polymers and polyurethane foam, and combining it with an interface molecular bridging strategy, the interfacial compatibility between the liquid metal and the framework is improved. Utilizing the shape memory driving force of the framework, the capillary force of the pores, and the high surface tension of the liquid metal itself, spontaneous and reversible shape control without mold assistance is achieved. Simultaneously, by integrating external field sensing components, the robot can respond to external fields such as heat, magnetism, light, and electricity, completing directional movements and complex tasks.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: This invention first provides a method for fabricating a liquid metal shape memory robot with embodied intelligence, comprising the following steps: 1) Shape memory polymer is composited onto the surface of polyurethane foam, and after full bonding, a three-dimensional porous internal framework is obtained; 2) On the surface of the internal framework obtained in step 1), organic molecules with double-ended affinity are bridged to enhance the interfacial bonding ability between the internal framework and the liquid metal. 3) Inject liquid metal into the skeleton that has good affinity with liquid metal after step 2) to obtain liquid metal shape memory composite material; 4) Assemble external field sensing components inside the liquid metal shape memory composite material obtained in step 3) to give the robot the ability to perceive external stimuli and obtain a liquid metal shape memory robot. Furthermore, the preferred technical solutions for each step in the preparation method are as follows: In step 1), the polyurethane foam is a commercially available flexible polyurethane foam with a pore size of 1 to 5 mm, preferably 1 mm; the shape memory polymer is selected from any one of epoxy resin, polyurethane, and polyester shape memory polymers, preferably epoxy resin shape memory polymers.

[0007] In step 2), the organic molecule is a bifunctional molecule with different functional end groups at both ends. One end is a group with affinity for liquid metal, selected from one of thiol, amino, carboxyl, and hydroxyl groups; the other end is a group with affinity for the internal skeleton, selected from one of epoxy groups, hydroxyl groups, ester bonds, aromatic rings, carbamate bonds, urea bonds, and aliphatic segments. Preferably, an organic molecule with a thiol group at one end and a hydroxyl group at the other end (such as (3-mercaptopropyl)triethoxysilane MPTES) is used, wherein the thiol group forms a stable bond with the liquid metal, and the hydroxyl group forms a good interfacial interaction with the internal skeleton.

[0008] The method for bridging organic molecules in step 2) is as follows: the internal framework is immersed in a mixed modification solution containing the organic molecules, solvent and liquid metal. After soaking and drying, the two ends of the organic molecules are respectively bound to the liquid metal and the internal framework, thus completing the interface modification and significantly improving the interface affinity and binding stability between the subsequently infused liquid metal and the framework.

[0009] In step 3), the liquid metal is an alloy formed by any one or more metals selected from gallium, indium, tin, bismuth, and lead, preferably gallium-based, indium-based, tin-based, or their multi-element alloys.

[0010] In step 4), the external field sensing component is a device capable of sensing an external field, which can sense one or more of magnetic fields, light fields, and electric fields, and is preferably a magnetic component capable of responding to magnetic fields.

[0011] This invention further discloses a liquid metal shape memory robot with embodied intelligence, which is prepared using the above-described method. It can achieve controllable shaping and reversible shape recovery of liquid metal, and can autonomously deform and move in response to external stimuli. Applying an external field to the prepared liquid metal shape memory robot can drive it to produce shape deformation and motion response, thus adapting it to complex application scenarios. The external field is selected from any one of thermal, magnetic, optical, and electric fields, or a composite external field formed by a combination of the above fields. Preferably, a composite external field combining thermal and magnetic fields is used, where the thermal field is used to regulate shape memory deformation and recovery, and the magnetic field is used to drive the robot to achieve directional movement. Its core mechanism is as follows: The liquid metal used refers to a low-melting-point metal with a melting point below 200°C, which combines the high fluidity and shape plasticity of liquids with the high electrical and thermal conductivity of metals, and also has a high surface tension.

[0012] The internal skeleton used is a three-dimensional porous structure formed by the composite of shape memory polymer and polyurethane foam. This skeleton serves as the main support of the robot, providing stable mechanical support and a basis for flexible deformation on the one hand, and serving as a carrier for liquid metal on the other, providing space for the distribution and flow of liquid metal.

[0013] At the interfacial level, by immersing the internal framework in a mixture of organic molecules with dual-terminal functional groups and liquid metal, one end of the organic molecule forms a stable coordination bond with the liquid metal, while the other end reacts with the surface groups of the framework to achieve covalent bonding. This is equivalent to building a "molecular bridge" between the framework and the subsequently injected liquid metal. This modification method can introduce liquid metal binding sites on the framework surface in advance, which can significantly enhance the interfacial bonding force compared to simply bridging organic molecules, and avoid the problems of leakage, aggregation or detachment of liquid metal from the framework during deformation and movement.

[0014] In terms of shape memory and recovery mechanism, the reversible deformation recovery force of shape memory polymer is used as the core driving force, combined with the capillary force generated by the three-dimensional porous structure, and the high surface tension and good interfacial affinity of liquid metal itself. After the robot is shaped into a temporary shape under the action of mechanical external force, only a thermal field stimulation is needed to drive the skeleton to drive the liquid metal to synchronously, spontaneously and completely recover to the initial configuration, without the need for any external mold, thus achieving truly autonomous reversible deformation.

[0015] At the intelligent response level, by assembling external field sensing components, the robot system can build a closed-loop control architecture of "perception-decision-execution", thereby demonstrating the core characteristics of embodied intelligence: after external stimuli such as heat, magnetism, light, and electricity are captured by the sensing components, the robot can autonomously complete deformation switching or directional movement, realizing the transformation from passive deformation to active intelligent operation.

[0016] The robot prepared by this invention has excellent shape memory performance, shape retention and outstanding high-temperature operation stability, as well as the high conductivity and excellent deformation ability of liquid metal. It can be widely used in pipeline transportation, nuclear waste disposal, disaster emergency response and other scenarios, and shows broad application prospects in energy systems, aerospace engineering, biomedical equipment and other fields, especially in dangerous and extreme environment operations.

[0017] Compared with the prior art, the beneficial effects of the present invention are reflected in: 1. This invention proposes a liquid metal shape memory robot with embodied intelligence, its preparation method, and its application, realizing the reversible shape recovery of liquid metal. Using the shape recovery force of the internal skeleton as the driving force, combined with capillary action and strong interfacial bonding, the liquid metal is driven to synchronously and completely recover to the programmed shape along with the skeleton, overcoming the limitation of traditional methods that require mold assistance.

[0018] 2. The robot of the present invention has excellent shape memory performance, and has ultra-high deformation capacity, ultra-long cycle life, good high temperature resistance and fast response characteristics. Its comprehensive performance far exceeds that of existing liquid metal deformation systems.

[0019] 3. The robot of this invention integrates embodied intelligence and multifunctionality. The material itself has a closed-loop capability of perception-decision-execution, and can be easily integrated with magnetic drive and sensing modules to achieve intelligent operation in multiple scenarios.

[0020] 4. The preparation method of this invention is simple, reliable, and offers diverse options. Based on commercially available raw materials and mature polymer processing and liquid-phase infusion technology, it is easy to scale up the production and customization of robots of different shapes and sizes. Furthermore, the internal skeleton and liquid metal can be customized according to the application scenario, making it easy to customize specific liquid metal shape memory robots for specific application scenarios. Attached Figure Description

[0021] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0022] Figure 1 This is a three-dimensional X-ray micrograph of the liquid metal shape memory robot prepared in Example 1 of the present invention; Figure 2 This is a diagram illustrating the shape memory process of the cubic liquid metal shape memory robot prepared in Example 1 of the present invention. Figure 3 The diagram shows the shape memory cycle performance of the cubic liquid metal shape memory robot prepared in Example 1 and the shape memory polymer foam prepared in Comparative Example 1. Figure 4 This is a diagram illustrating the shape memory process of the triangular prism-shaped liquid metal shape memory robot prepared in Embodiment 2 of the present invention. Figure 5 This is a diagram illustrating the shape memory process of the cylindrical liquid metal shape memory robot prepared in Example 3 of the present invention. Figure 6 This is a diagram illustrating the application field of the simulated liquid metal shape memory robot adapted to pipeline transportation in Application 1 of Embodiment 4 of the present invention; Figure 7 This is a diagram illustrating the application field of the simulated liquid metal shape memory robot adapted for nuclear waste treatment in Application 2 of Embodiment 4 of the present invention. Figure 8 This is a diagram illustrating the application field of the simulated liquid metal shape memory robot adapted for disaster response in Embodiment 4 of the present invention. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0024] Comparative Example 1 1) Epoxy resin (E-44) and polyetheramine (D-230) were uniformly mixed at a mass ratio of 4:1 to obtain an epoxy resin-based shape memory polymer. 2 g of the above shape memory polymer was uniformly injected into a cubic salt template (pore size 1 mm) with a length of 2 cm, a width of 2 cm, and a height of 3.2 cm. After curing at 80℃ and 130℃ for 2 hours respectively, the resulting material was immersed in water and ultrasonically removed for 24 hours to obtain shape memory polymer foam.

[0025] 2) Take 30 μL of (3-mercaptopropyl)triethoxysilane (MPTES), 50 mL of ethanol, and 2 g of liquid gallium metal and mix them evenly by ultrasonication to prepare a mixed modification solution; immerse the shape memory polymer foam prepared in step 1) in the above mixed modification solution for 5 minutes, and then put it in an oven at 60°C for 4 hours to complete the interface modification of the shape memory polymer foam.

[0026] 3) Inject approximately 6 g of liquid gallium into the shape memory polymer foam treated in step 2), ensuring that the liquid metal is uniformly filled into the pores of the skeleton, to obtain liquid metal shape memory polymer foam.

[0027] Example 1 This embodiment provides a method for fabricating a cubic-shaped, intelligent liquid metal shape memory robot, the specific steps of which are as follows: 1) Epoxy resin (E-44) and polyetheramine (D-230) were uniformly mixed at a mass ratio of 4:1 to obtain an epoxy resin-based shape memory polymer. 2 g of the above shape memory polymer was uniformly injected into a cubic polyurethane foam (1 mm pore size) measuring 2 cm in length, 2 cm in width, and 3.2 cm in height. After curing at 80℃ and 130℃ for 2 hours sequentially, a three-dimensional porous internal skeleton for a liquid metal shape memory robot was obtained.

[0028] 2) Take 30 μL of (3-mercaptopropyl)triethoxysilane (MPTES), 50 mL of ethanol, and 2 g of liquid gallium metal and mix them evenly by ultrasonication to prepare a mixed modification solution; immerse the internal framework prepared in step 1) in the above mixed modification solution for 5 minutes, and then put it in an oven at 60°C for 4 hours to complete the interface modification of the internal framework.

[0029] 3) Inject approximately 6 g of liquid gallium metal into the skeleton after step 2) to ensure that the liquid metal is uniformly filled in the pores of the skeleton, thereby obtaining a liquid metal shape memory composite material.

[0030] 4) An 8 mm diameter and 2 mm thick magnet is embedded inside the composite material skeleton obtained in step 3) as a magnetic field sensing component to obtain a liquid metal shape memory robot.

[0031] By combining an external magnetic field source (such as a neodymium iron boron magnet with a surface magnetic flux of 4400 Gs) and a thermal field (such as a heating temperature of 180°C), a composite external field stimulus is applied to the liquid metal shape memory robot obtained in step 4). The thermal field is used to drive the robot to achieve shape deformation and autonomous recovery, while the magnetic field is used to drive it to generate directional movement. The two work together to adapt to a variety of complex work fields.

[0032] Figure 1This is a three-dimensional X-ray micrograph of the liquid metal shape memory composite material prepared in Example 1. As can be seen from the image, the liquid metal is uniformly distributed within the three-dimensional porous framework.

[0033] Figure 2 This is a diagram illustrating the shape memory process of the cubic liquid metal shape memory robot prepared in Example 1. As can be seen from the diagram, under external pressure, the liquid metal shape memory robot is compressed, and the liquid metal flows out. When reheated to the deformation temperature of 180°C, the liquid metal shape memory robot returns to its initial shape, demonstrating excellent shape memory capabilities.

[0034] Figure 3 The graphs show the shape memory cycling performance of the cubic liquid metal shape memory robot prepared in Example 1 and the shape memory polymer foam prepared in Comparative Example 1. The liquid metal shape memory robot, with a height of 3.2 cm, was compressed to 1.5 cm at a deformation temperature of 180°C until it cooled to room temperature to fix its shape. It was then heated back to 180°C, and its height returned to the initial 3.2 cm. This process was repeated multiple times. As can be seen from the graphs, after 100 shape memory cycles, the liquid metal shape memory robot was still able to return to its initial height, exhibiting excellent cycling stability. In contrast, the shape memory polymer foam showed poor cycling stability after only two cycles, with its framework breaking down.

[0035] Example 2 This embodiment provides a method for fabricating a triangular prism-shaped liquid metal shape memory robot with built-in intelligence. The specific steps are as follows: 1) Epoxy resin (E-44) and polyetheramine (D-230) were uniformly mixed at a mass ratio of 4:1 to obtain an epoxy resin-based shape memory polymer. 2 g of the above shape memory polymer was uniformly injected into a triangular prism-shaped polyurethane foam (1 mm pore size) with a side length of 3 cm and a height of 1 cm. After curing at 80℃ and 130℃ for 2 hours respectively, the internal skeleton of the liquid metal shape memory robot was obtained.

[0036] 2) Take 30 μL of (3-mercaptopropyl)triethoxysilane (MPTES), 50 mL of ethanol and 2 g of gallium and mix them evenly by ultrasonication to prepare a mixed modification solution; immerse the internal skeleton prepared in step 1) in the above mixed modification solution for 5 minutes, and then put it in an oven at 60°C for 4 hours to complete the interface modification of the internal skeleton.

[0037] 3) Inject approximately 4 g of liquid gallium metal into the skeleton after step 2) to ensure that the liquid metal is uniformly filled in the pores of the skeleton, thereby obtaining a liquid metal shape memory composite material.

[0038] 4) An 8 mm diameter and 2 mm thick magnet is embedded inside the composite material skeleton obtained in step 3) as a magnetic field sensing component to obtain a liquid metal shape memory robot.

[0039] By combining an external magnetic field source (such as a neodymium iron boron magnet with a surface magnetic flux of 4400 Gs) and a thermal field (such as a heating temperature of 180°C), a composite external field stimulus is applied to the liquid metal shape memory robot obtained in step 4). The thermal field is used to drive the robot to achieve shape deformation and autonomous recovery, while the magnetic field is used to drive it to generate directional movement. The two work together to adapt to a variety of complex work fields.

[0040] Figure 4 This is a diagram illustrating the shape memory process of the triangular prism-shaped liquid metal shape memory robot prepared in Example 2. As can be seen from the diagram, under external pressure, the liquid metal shape memory robot is compressed, and the liquid metal flows out. When reheated to the deformation temperature of 180°C, the liquid metal shape memory robot returns to its initial shape, demonstrating excellent shape memory capabilities and shape programmability.

[0041] Example 3 This embodiment provides a method for fabricating a cylindrical, intelligent liquid metal shape memory robot, the specific steps of which are as follows: 1) Epoxy resin (E-44) and polyetheramine (D-230) were uniformly mixed at a mass ratio of 4:1 to obtain an epoxy resin-based shape memory polymer. 2 g of the above shape memory polymer was uniformly injected into a cylindrical polyurethane foam (1 mm pore size) with a diameter of 2 cm and a height of 1 cm. After curing at 80℃ and 130℃ for 2 hours sequentially, the internal skeleton of the liquid metal shape memory robot was obtained.

[0042] 2) Take 30 μL of (3-mercaptopropyl)triethoxysilane (MPTES), 50 mL of ethanol, and 2 g of liquid gallium metal and mix them evenly by ultrasonication to prepare a mixed modification solution; immerse the internal framework prepared in step 1) in the above mixed modification solution for 5 minutes, and then put it in an oven at 60°C for 4 hours to complete the interface modification of the internal framework.

[0043] 3) Inject approximately 4 g of liquid gallium metal into the skeleton after step 2) to ensure that the liquid metal is uniformly filled in the pores of the skeleton, thereby obtaining a liquid metal shape memory composite material.

[0044] 4) An 8 mm diameter and 2 mm thick magnet is embedded inside the composite material skeleton obtained in step 3) as a magnetic field sensing component to obtain a liquid metal shape memory robot.

[0045] By combining an external magnetic field source (such as a neodymium iron boron magnet with a surface magnetic flux of 4400 Gs) and a thermal field (such as a heating temperature of 180°C), a composite external field stimulus is applied to the liquid metal shape memory robot obtained in step 4). The thermal field is used to drive the robot to achieve shape deformation and autonomous recovery, while the magnetic field is used to drive it to generate directional movement. The two work together to adapt to a variety of complex work fields.

[0046] Figure 5 This is a diagram illustrating the shape memory process of the cylindrical liquid metal shape memory robot prepared in Example 3. As can be seen from the diagram, under external pressure, the liquid metal shape memory robot is compressed, and the liquid metal flows out. When reheated to the deformation temperature of 180°C, the liquid metal shape memory robot returns to its initial shape, demonstrating excellent shape memory capabilities and shape programmability.

[0047] Example 4 This embodiment provides a method for fabricating a cubic, intelligent liquid metal shape memory robot, and applies the sample from this embodiment. The specific steps are as follows: 1) Epoxy resin (E-44) and polyetheramine (D-230) were uniformly mixed at a mass ratio of 4:1 to obtain an epoxy resin-based shape memory polymer. 2 g of the above shape memory polymer was uniformly injected into a cubic polyurethane foam (1 mm pore size) measuring 1.5 cm in length, 1.5 cm in width, and 2 cm in height. After curing at 80℃ and 130℃ for 2 hours respectively, a three-dimensional porous internal skeleton for a liquid metal shape memory robot was obtained.

[0048] 2) Take 30 μL of (3-mercaptopropyl)triethoxysilane (MPTES), 50 mL of ethanol and 2 g of gallium and mix them evenly by ultrasonication to prepare a mixed modification solution; immerse the internal skeleton prepared in step 1) in the above mixed modification solution for 5 minutes, and then put it in an oven at 60°C for 4 hours to complete the interface modification of the internal skeleton.

[0049] 3) Inject approximately 4 g of liquid gallium metal into the skeleton after step 2) to ensure that the liquid metal is uniformly filled in the pores of the skeleton, thereby obtaining a liquid metal shape memory composite material.

[0050] 4) An 8 mm diameter and 2 mm thick magnet is embedded inside the composite material skeleton obtained in step 3) as a magnetic field sensing component to obtain a liquid metal shape memory robot.

[0051] The samples from Example 4 were used in pipeline transportation, nuclear waste disposal, and disaster response applications, as detailed below: Application 1: Pipeline transportation To verify the application potential of the liquid metal shape memory robot of the present invention in the field of pipeline transportation, a cubic robot prepared in Example 4 was used for simulation verification. The specific process is as follows: like Figure 6 As shown, the liquid metal shape memory robot was placed at the entrance of an "LM"-shaped pipe, which is 1.5 cm wide and 1.5 cm high. Initially, the robot could not pass directly through the narrow section of the pipe due to its height limitation. A 70°C thermal field was then applied to the robot, causing it to deform to fit the pipe's inner diameter. Subsequently, an external magnetic field was applied, and the robot quickly passed through the narrow pipe within 20 seconds. After passing through the pipe, a 180°C thermal field was applied again, and the robot spontaneously returned to its initial cubic shape, verifying its good adaptability and application potential in the field of pipe transportation.

[0052] Application 2: Nuclear waste treatment To verify the application potential of the liquid metal shape memory robot of the present invention in the field of nuclear waste treatment, a cubic robot prepared in Example 4 was used for simulation verification. The specific process is as follows: like Figure 7 As shown, given that zinc shares some physical properties with nuclear waste metals such as uranium and plutonium, and both can undergo alloying reactions with liquid metals, zinc foil was chosen to simulate nuclear waste, constructing a simulated nuclear waste processing scenario in a complex and confined space. The robot was placed at the entrance of a narrow pipe, 2.5 cm wide and 1.5 cm high. Initially, the robot could not pass directly through the narrow pipe area due to its height limitations. Further stimulation with a 70°C external heat field caused the robot to deform to fit the pipe's inner diameter. Then, an external magnetic field was applied, allowing the robot to quickly pass through the narrow pipe. After passing through the pipe and moving to the simulated waste (zinc foil), a 180°C heat field was applied again, causing the robot to spontaneously return to its initial cubic shape. Simultaneously, the simulated waste was efficiently removed through an alloying reaction, resulting in extremely low waste residue, fully demonstrating the robot's promising application potential in the field of nuclear waste processing.

[0053] Application 3: Disaster Response To verify the application potential of the liquid metal shape memory robot of the present invention in the field of disaster response, a cubic robot prepared in Example 4 was used for simulation verification. The specific process is as follows: like Figure 8As shown, an LED light was used as a high-temperature fire alarm simulation device to construct a disaster response simulation scenario of a stepped narrow pipe. The robot was placed at the entrance of the stepped narrow pipe, with the following dimensions: 3 cm wide and 2 cm high; 2.5 cm wide and 1.5 cm high; and 2 cm wide and 1 cm high. Initially, the robot could not pass directly through the narrow pipe area due to its height limitation. Further, a 70°C external heat field was gradually applied to the robot, causing it to gradually melt and deform, reducing its height to fit the pipe's inner diameter. Subsequently, an external magnetic field was applied, and the robot quickly passed through the stepped pipe. After passing through the pipe and moving to the simulation device position, a 180°C heat field was applied again, and the robot spontaneously returned to its initial cubic shape, thus connecting the LED light circuit and triggering an alarm signal. This fully demonstrates the robot's good application potential in the field of disaster response, such as fires.

[0054] The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of the present invention.

Claims

1. A method for fabricating a liquid metal shape memory robot with embodied intelligence, characterized in that, Includes the following steps: 1) A three-dimensional porous internal framework is prepared by composite shape memory polymer onto the surface of polyurethane foam; 2) On the surface of the internal framework obtained in step 1), bridge organic molecules with double-ended affinity; 3) Inject liquid metal into the skeleton processed in step 2) to obtain a liquid metal shape memory composite material; 4) Assemble an external field sensing component inside the liquid metal shape memory composite material obtained in step 3) to obtain a liquid metal shape memory robot.

2. The preparation method according to claim 1, characterized in that, The pore size of the polyurethane foam mentioned in step 1) is 1 to 5 mm.

3. The preparation method according to claim 1, characterized in that, The shape memory polymer mentioned in step 1) is selected from any one of epoxy resin, polyurethane, and polyester shape memory polymers.

4. The preparation method according to claim 1, characterized in that, The organic molecule described in step 2) is a biterminal functional molecule, with one end being a functional group that is affinity for liquid metals and the other end being a functional group that is affinity for the internal skeleton; the functional group that is affinity for liquid metals is selected from any one of thiol, amino, carboxyl, and hydroxyl groups; the functional group that is affinity for the internal skeleton is selected from any one of epoxy groups, hydroxyl groups, ester bonds, aromatic rings, carbamate bonds, urea bonds, and aliphatic segments.

5. The preparation method according to claim 4, characterized in that, The organic molecule is a bifunctional molecule containing a thiol group at one end and a hydroxyl group at the other end. The thiol group binds to the liquid metal, and the hydroxyl group binds to the internal skeleton.

6. The preparation method according to claim 1 or 4, characterized in that, The method for bridging organic molecules in step 2) is as follows: the internal framework is immersed in a mixed modification solution containing the organic molecules, solvent and liquid metal, and after soaking and drying, the two ends of the organic molecules are respectively combined with the liquid metal and the internal framework to complete the interface modification.

7. The preparation method according to claim 1, characterized in that, The liquid metal mentioned in step 3) is a low-melting-point alloy with a melting point below 200°C, and is selected from any one or more metals formed by combining gallium, indium, tin, bismuth, and lead.

8. The preparation method according to claim 1, characterized in that, The external field sensing component mentioned in step 4) is a device that can sense at least one of the external fields: magnetic field, light field, and electric field.

9. A liquid metal shape memory robot with embodied intelligence, characterized in that, It is prepared by any of the preparation methods described in claims 1 to 8.

10. The liquid metal shape memory robot with embodied intelligence according to claim 9, characterized in that, An external field is applied to the prepared liquid metal shape memory robot to drive it to generate shape deformation and motion response, thereby adapting it to complex application scenarios; the external field is selected from any one of thermal field, magnetic field, light field, electric field, or a composite external field formed by a combination of the above fields.

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