CN106363603B - A kind of miniature toter of liquid metal driving - Google Patents
A kind of miniature toter of liquid metal driving Download PDFInfo
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- CN106363603B CN106363603B CN201611022585.2A CN201611022585A CN106363603B CN 106363603 B CN106363603 B CN 106363603B CN 201611022585 A CN201611022585 A CN 201611022585A CN 106363603 B CN106363603 B CN 106363603B
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- liquid metal
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- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of miniature toter of liquid metal driving, including delivery structure, delivery structure are connected with attaching structure, and liquid metal wheel is connected on attaching structure by infiltration；Liquid metal wheel submerges in the electrolytic solution, when power supply acts on electrolyte, electric field is formed in the electrolytic solution, liquid metal wheel can be driven to move, and then pull delivery structure, power of different sizes can be generated on different liquid metal wheels using control circuit, so that miniature toter forward-reverse or steering；The present invention has structure simple, feature low in cost, the design of different delivery structures and the adjusting of liquid metal wheel injection volume can also be passed through, realize different size of miniature toter, simultaneously because the feature of liquid metal wheel flexibility, it will not be stuck when can produce deformation by external force and restore to the original state, thus being run in track or lead to structural damage because of collision；Present invention could apply to microfluid, the fields such as biochip and microrobot.
Description
Technical field
The invention belongs to micro-fluidic technologies field, in particular to a kind of miniature toter of liquid metal driving.
Background technique
Liquid metal is a kind of metal material of fusing point within the scope of room temperature, be presented solid metal character at low temperature and
Liquid form is presented under room temperature or high temperature.Liquid metal is usually based on gallium metal and its alloy, including gallium-indium alloy and gallium
Indium stannum alloy etc..It has good conductive property and heating conduction, while having metallic luster, has in a liquid state
The characteristics such as good mobile performance and surface tension.Liquid metal has certain wellability can using liquid metal ink
Flexible mechanics sensor or electronic printable circuit is made.Can also be made in conjunction with its electric conductivity and mobile performance can be straight
It connects using the electromagnetic pump being driven by electricity.Tsinghua University Liu Jing research team finds in recent years, when liquid metal droplet is in solution
When in environment, surface potential gradient can be generated under DC Electric Field, and the surface tension of drop different location is caused to have difference
It is different, and then flowing is formed, push drop to move in the solution to positive pole.
It, can be as driving structure, to manufacture and design miniature carrier using this movement characteristic of liquid metal.
In biochip, the fields such as microfluid and microrobot, it is often necessary to carry special article, such as biological sample.It is existing
Mechanical handing structure need to use the rigid structures such as lead screw gear, flexibility is poor, and in the design of miniature toter,
Due to the scale problem of machining, tend not to realize that miniature toter or processing cost are high.Liquid metal conduct
A kind of fluent material, can produce certain deformation when by external force, and then absorbs energy and formed to being carried object
The protection of matter.The size of adjustable liquid metal droplet by way of injection, to realize flexible design.In conjunction with liquid
The physicochemical characteristics of metal and the demand in microfluid and microrobot, the invention proposes the drives of this liquid metal
Dynamic miniature toter design.
Summary of the invention
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide a kind of the miniature of liquid metal driving
Toter can be by electric field driven and the spy moved to positive pole in conjunction with liquid metal droplet under a variety of solution environmentals
Point can carry the object of certain mass in solution environmental and be transported as needed using liquid metal as driving structure
It carries, can be applied in the design of microfluid and microrobot, there is flexibility and reliability, structure is simple, low-cost excellent
Point.
To achieve the goals above, the technical solution adopted by the present invention is that：
A kind of miniature toter of liquid metal driving, including delivery structure 6, delivery structure 6 are connected to liquid metal
On wheel 8, liquid metal wheel 8 is immersed in electrolyte 2, is acted on electrolyte 2 using power supply 5 and is formed electric field wherein, drives liquid
State metal wheel 8 moves, and then pulls delivery structure 6.
The delivery structure 6 can be the hollow structure of 3D printing production, can carry other substances for needing to be carried
Or power supply 5 and control circuit 4 needed for driving.
The delivery structure 6 is swum on electrolyte 2, is not in contact to reduce the resistance of motion with container.Deliver structure 6
It is connect with attaching structure 7, attaching structure 7 uses metal material such as copper, silver or the gold that can mutually infiltrate with liquid metal material
Deng composition, it is connected on liquid metal wheel 8 by immersional wetting.And with certain stability is able to maintain after liquid metal contacts and
Do not corroded by electrochemical action.
The liquid metal wheel 8 is the spherical liquid metal droplet formed using liquid metal calibrated shot, liquid used
Metal is gallium metal or gallium-base alloy of the fusing point within the scope of room temperature, including gallium-indium alloy and gallium-indium-tin alloy.Liquid metal
Wheel 8 is immersed in electrolyte 2, can generate movement to positive pole direction under extraneous electric field action.The quantity of liquid metal wheel 8
It can be one or more.
The power supply 5 is connected with control circuit 4, is generated on different liquid metal wheels 8 using control circuit 4 of different sizes
Power so that delivery structure 6 advance, retreat or turn to.
The control circuit 4 passes through wired or remote control side on delivering except structure 6 or being integrated in delivery structure 6
Formula adjusts voltage value of the load on liquid metal wheel 8, to adjust the direction of motion and speed of delivery structure 6.
The power supply 5 is D.C. regulated power supply, for external source of stable pressure input power or is mounted in miniature in delivery structure 6
Battery.
The electrolyte 2 is alkaline electrolyte, neutral electrolyte or acidic electrolysis bath, can be formed after accessing power supply
Electric field and corresponding electric current.
In conclusion the invention proposes a kind of miniature toters of liquid metal driving, compared to tradition machinery plus
Work, with the delivery structure of the realizations such as screw rod, gear, the present invention has that structure is simple, feature low in cost.It can also be by not
With the design of delivery structure and the adjusting of liquid metal wheel injection volume, different size of miniature toter is realized, for not
With the delivery demand of occasion.Simultaneously because the feature of liquid metal wheel flexibility, can produce deformation by external force and restores
Original state, thus will not be stuck when operation in track or lead to structural damage because of collision.It can be applied to microfluid, it is raw
The fields such as object chip and microrobot.The material mass delivered can pass through the delivery structure of design different specification size
It is adapted to.The present invention can be driven by external power supply, battery and control circuit can also be placed on carrier with delivery
Body moves together, cooperates wired or wireless remote control mode, realizes that forward-reverse and steering of toter etc. move.
Detailed description of the invention
Fig. 1 is that a kind of miniature toter of liquid metal driving proposed by the present invention passes through external power supply and control circuit
The side view schematic diagram driven.
Fig. 2 is that a kind of miniature toter of liquid metal driving proposed by the present invention passes through built-in power and control circuit
The top view illustration driven.
Specific embodiment
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
Embodiment 1：
Fig. 1 is that a kind of miniature toter of liquid metal driving proposed by the present invention passes through external power supply and control electricity
The side view schematic diagram that road is driven.Electrolyte 2 is placed in container 1, and miniature toter includes delivery structure 6, attachment knot
Structure 7 and liquid metal wheel 8.Wherein delivery structure 6 is the ship shape plastic construction of 3D printing, is swum on the surface of electrolyte 2.
Attaching structure 7 is the copper rod of diameter 1mm, and upper end is Nian Jie by glue with delivery structure 6, and lower end passes through immersional wetting and liquid gold
Belong to wheel 8 to be connected.Liquid metal wheel 8 is immersed in electrolyte 2.Electrolyte 2 is the hydrogen-oxygen that concentration is 0.5mol/L in the present embodiment
Change sodium solution.Control circuit 4 is connected and is located at the outside of container 1 with power supply 5, stretches out electrode by control circuit 4 and power supply 5
3, electrode 3 is inserted into electrolyte 2 and forms electric field.Right end is 3 anode of electrode in the present embodiment, and left end is 3 cathode of electrode.It is powered
Liquid metal wheel is driven afterwards, and the direction of motion is as shown by arrows towards 3 anode of electrode.Attaching structure 7 and fortune are pulled simultaneously
It carries structure 6 to move in the same direction, delivers the biological sample inside structure 6 and be also transported to right side, realize the function.
Embodiment 2：
Fig. 2 is that a kind of miniature toter of liquid metal driving proposed by the present invention passes through built-in power and control circuit
The top view illustration driven.Container 1 is conduit, and electrolyte 2 is placed in conduit, and miniature toter includes delivery structure
6, attaching structure 7 and four liquid metal wheels 8. deliver the ship type plastic construction that structure 6 is 3D printing, swim in electrolyte 2
Surface on.Electrolyte 2 is the hydrochloric acid solution of 0.2mol/L.Attaching structure 7 is the copper rod of diameter 1.2mm, and one end and delivery are tied
Structure 6 is bonded by glue, and the other end is connected by immersional wetting with liquid metal wheel 8, and the non-contact end of copper rod is attached with insulation
Paint.Liquid metal wheel 8 is immersed in electrolyte 2.Control circuit 4 is connected with power supply 5 and is located inside delivery structure 6, and power supply 5 makes
With the lithium ion battery of 3.7V, control circuit 4 is connected with power supply 5 and has drawn electrode 3, each liquid gold along attaching structure 7
There is one group of positive and negative electrode on the side for belonging to wheel 8 respectively, and wherein upper end is anode, and lower end is cathode, as shown in Figure 2.Control circuit 4 is adjusted
Save the voltage swing on 8 side of each liquid metal wheel, to generate different driving forces, to drive miniature toter to advance or
It turns in the channel.It is transported substance to be located in delivery structure 6 as miniature toter moves together, the direction of motion such as arrow
It is shown, it realizes and invents the function.
It should be noted last that the embodiment of the miniature toter of liquid metal driving utilized above is only to illustrate
Technical solution of the present invention rather than limit.Although the invention is described in detail with reference to an embodiment, the common skill of this field
Art personnel should be appreciated that modification or equivalent replacement of the technical solution of the present invention are made, without departure from technical solution of the present invention
Spirit and scope, be intended to be within the scope of the claims of the invention.
Claims (9)
1. a kind of miniature toter of liquid metal driving, including delivery structure (6), delivery structure (6) are connected to liquid gold
Belong on wheel (8), liquid metal wheel (8) is immersed in electrolyte (2), is acted on electrolyte (2) using power supply (5) and is formed wherein
Electric field, driving liquid metal wheel (8) movement, and then pull delivery structure (6), which is characterized in that delivery structure (6) floating
It on electrolyte (2), is connect with attaching structure (7), attaching structure (7) uses the gold that can mutually infiltrate with liquid metal material
Belong to material to constitute, be connected on liquid metal wheel (8) by immersional wetting.
2. the miniature toter of liquid metal driving according to claim 1, which is characterized in that the delivery structure (6)
It is the hollow structure of 3D printing production.
3. according to claim 1 liquid metal driving miniature toter, which is characterized in that it is described can with liquid gold
Belonging to the metal material that material mutually infiltrates is copper, silver or gold.
4. the miniature toter of liquid metal driving according to claim 1, which is characterized in that the liquid metal wheel
It (8) is the spherical liquid metal droplet formed using liquid metal calibrated shot, liquid metal used is fusing point in room temperature range
Interior gallium metal or gallium-base alloy.
5. the miniature toter of liquid metal driving according to claim 4, which is characterized in that the gallium-base alloy is gallium
Indium alloy or gallium-indium-tin alloy, the quantity of the liquid metal wheel (8) are one or more.
6. the miniature toter of liquid metal driving according to claim 1, which is characterized in that power supply (5) connection
There are control circuit (4), generate power of different sizes on different liquid metal wheels (8) using control circuit (4), so that fortune
Structure (6) are carried to advance, retreat or turn to.
7. the miniature toter of liquid metal driving according to claim 6, which is characterized in that the control circuit (4)
On delivering except structure (6) or being integrated in delivery structure (6), load is adjusted by way of wired or remote control in liquid gold
Belong to the voltage value on wheel (8), to adjust the direction of motion and speed of delivery structure (6).
8. according to claim 1 or the miniature toter of 7 liquid metals driving, which is characterized in that the power supply (5) is
D.C. regulated power supply, for external source of stable pressure input power or the minicell being mounted in delivery structure (6).
9. the miniature toter of liquid metal driving according to claim 1, which is characterized in that the electrolyte (2) be
Alkaline electrolyte, neutral electrolyte or acidic electrolysis bath can form electric field and corresponding electric current after accessing power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022585.2A CN106363603B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature toter of liquid metal driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022585.2A CN106363603B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature toter of liquid metal driving |
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| Publication Number | Publication Date |
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| CN106363603A CN106363603A (en) | 2017-02-01 |
| CN106363603B true CN106363603B (en) | 2018-11-23 |
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| CN201611022585.2A Active CN106363603B (en) | 2016-11-21 | 2016-11-21 | A kind of miniature toter of liquid metal driving |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106935353B (en) * | 2017-03-30 | 2018-08-28 | 清华大学 | A kind of magnetic porous liquid metal material and its preparation and application |
| CN107583576A (en) * | 2017-09-06 | 2018-01-16 | 云南靖创液态金属热控技术研发有限公司 | A kind of liquid metal microreactor |
| CN108189077B (en) * | 2018-03-08 | 2024-05-17 | 中国科学技术大学 | Liquid metal driven self-driving device |
| CN109110507B (en) * | 2018-07-19 | 2020-06-19 | 苏州大学 | Liquid metal flexible moving body and preparation method and control method thereof |
| CN108888270A (en) * | 2018-07-19 | 2018-11-27 | 苏州大学 | A kind of guide device for magnetic liquid metal |
| CN108954004B (en) * | 2018-07-19 | 2019-10-29 | 苏州大学 | A kind of lane device controlling magnetic liquid metal using electromagnetic field couples |
| CN109324619B (en) * | 2018-09-25 | 2021-10-22 | 苏州大学 | Liquid metal electrodrive trolley and motion control method thereof |
| CN109319507B (en) * | 2018-09-25 | 2020-12-08 | 苏州大学 | Device for realizing three-dimensional motion of magnetic liquid metal |
| CN109048870B (en) * | 2018-10-12 | 2021-05-07 | 中国科学技术大学 | Wheeled robot based on liquid metal drive |
| CN110034702A (en) * | 2019-05-23 | 2019-07-19 | 宁波大学 | A kind of controllable precise liquid metal heartbeat system based on electric excitation |
| CN111628625B (en) * | 2020-05-12 | 2021-12-10 | 中国科学技术大学 | Device for driving liquid metal liquid drops by light-controlled electric field |
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| CN104526702A (en) * | 2014-12-17 | 2015-04-22 | 清华大学 | Self-driven liquid metal machine and application thereof |
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| CN104526702A (en) * | 2014-12-17 | 2015-04-22 | 清华大学 | Self-driven liquid metal machine and application thereof |
| CN104816295A (en) * | 2015-04-01 | 2015-08-05 | 清华大学 | Liquid metal machine driven by cell, and application of liquid metal machine |
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| CN106363603A (en) | 2017-02-01 |
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