CN109110507A - A kind of liquid metal flexible motion body and preparation method thereof and control method - Google Patents
A kind of liquid metal flexible motion body and preparation method thereof and control method Download PDFInfo
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- CN109110507A CN109110507A CN201810795362.2A CN201810795362A CN109110507A CN 109110507 A CN109110507 A CN 109110507A CN 201810795362 A CN201810795362 A CN 201810795362A CN 109110507 A CN109110507 A CN 109110507A
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- liquid metal
- hollow sphere
- flexible motion
- motion body
- metal flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
The present invention relates to a kind of liquid metal flexible motion bodies, and including liquid metal, the hollow sphere of liquid metal internal is arranged in, is provided with magnetic powder and the cargo to be transported in hollow sphere, under electric field or field drives, liquid metal can be moved.The invention further relates to a kind of preparation methods of liquid metal flexible motion body, comprising the following steps: (1) provides a hollow sphere, hollow sphere is equipped at least one opening end；(2) filling magnetic powder and the cargo to be transported in hollow sphere；(3) open end of hollow sphere is sealed up；(4) hollow sphere of step (3) is immersed in liquid metal；(5) liquid metal droplet is taken, the hollow sphere of step (4) processing and liquid metal droplet are contacted, hollow sphere is gulped down into inside liquid metal droplet.The present invention can initiatively be manipulated by magnetic field or electric field, the free movement in complex passages, can guarantee that cargo is intact in transport process, extraneous contact of getting along well, and preparation manipulation process is simple and easy.
Description
Technical field
The present invention relates to miniature flexible robot and microfluid manipulation field more particularly to a kind of liquid metal flexible motions
Body and preparation method thereof and control method.
Background technique
The miniature flexible robot that can change and can be manipulated freely movement between different shape is always engineering section
The target that field is constantly sought, and led using gallium and gallium-indium alloy as the liquid metal of representative due to being provided simultaneously with the excellent of metal
Electrically and liquid mobility, attracted extensive concern in recent years, be increasingly used manufacture conventional rigid material without
The flexible robot that method is realized.At present in the world in relation to the research contents very abundant of liquid metal movement mechanism, including automatically controlled,
The driving methods such as magnetic control, illumination, chemical reaction, but the liquid metal movement body produced can only realize the controllable fortune of itself mostly
It is dynamic, it is few that liquid metal and micro cargo are integrated, realize the example of liquid metal transportation function.It is more relevant to taste
Examination is all confined to cargo is simply attached to liquid metal droplet surface, and cargo is easy to damage in subsequent movement in this way
It loses, is difficult to save inside complicated passage environment complete.
Major part targeted drug all uses passive means of transportation in human body at present, by osmotic effect, with blood circulation
It is gradually accumulated in target proximity, or orients drug delivery by the biological special type of antibody, drug fortune can arbitrarily be changed by generally all lacking
The method for sending direction.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, a kind of liquid metal flexible motion body and preparation method thereof and control are provided
Method processed.
In order to achieve the above objectives, the technical solution adopted by the present invention are as follows: a kind of liquid metal flexible motion body, including liquid
Metal, the hollow sphere that the liquid metal internal is arranged in are provided with magnetic powder and the cargo to be transported in the hollow sphere,
Under electric field or field drives, the liquid metal can be moved.
A kind of preparation method of liquid metal flexible motion body, comprising the following steps:
(1) a hollow sphere is provided, hollow sphere is equipped at least one opening end；
(2) filling magnetic powder and the cargo to be transported in hollow sphere；
(3) open end of hollow sphere is sealed up；
(4) hollow sphere of step (3) is immersed in liquid metal；
(5) liquid metal droplet is taken, the hollow sphere of step (4) processing and liquid metal droplet are contacted, hollow sphere is gulped down feed liquor
Inside state molten drop.
In a preferred embodiment of the present invention, a kind of preparation method of liquid metal flexible motion body further comprises described
In step (1), hollow sphere is copper ball.
In a preferred embodiment of the present invention, a kind of preparation method of liquid metal flexible motion body further comprises described
It further include with HCl treatment hollow sphere in step (1).
In a preferred embodiment of the present invention, a kind of preparation method of liquid metal flexible motion body further comprises described
In step (3), the open end of hollow sphere is sealed up using glass cement or solder stick.
In a preferred embodiment of the present invention, a kind of preparation method of liquid metal flexible motion body further comprises described
It further include stirring in step (4), until hollow ball surface adheres to upper one layer of thin layers of liquid metal.
In a preferred embodiment of the present invention, a kind of preparation method of liquid metal flexible motion body further comprises described
In step (5), liquid metal droplet is put into sodium hydroxide solution.
Liquid metal flexible motion body is put into electrolyte solution by a kind of control method of liquid metal flexible motion body
In, apply voltage at the both ends of electrolyte solution, so that liquid metal flexible motion body is from cathode to anode movement.
A kind of control method of liquid metal flexible motion body is moved by magnetic element close to liquid metal flexible motion body
Dynamic magnetic element drives the movement of liquid metal flexible motion body.
In a preferred embodiment of the present invention, a kind of control method of liquid metal flexible motion body further comprises accelerating
Hollow sphere is hauled out in drop and so that drop does not catch up with the movement of hollow sphere by the movement of magnetic element, allows drop and hollow
Ball separation.
The invention solves the defect existing in the background technology, and the present invention is transported compared to traditional passive-type targeted drug,
This miniature liquid metal flexible motion physical efficiency is initiatively manipulated by magnetic field or electric field, the free movement in complex passages, movement
Speed can also be regulated and controled by changing voltage swing or magnet movement speed, can guarantee that cargo is intact in transport process, no
It contacts with the external world, just releases when needed, preparation manipulation process is simple and easy, favorable repeatability, has to promote and answer
Value.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the preparation flow figure of the preferred embodiment of the present invention；
Fig. 2 is the motion state diagram of the extra electric field flexible motion body of the preferred embodiment of the present invention；
Fig. 3 is the average speed of the flexible motion movement of the preferred embodiment of the present invention and the relational graph of voltage；
Fig. 4 is the motion state diagram of the externally-applied magnetic field flexible motion body of the preferred embodiment of the present invention.
Specific embodiment
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
Including liquid metal, the hollow sphere of liquid metal internal, hollow sphere is arranged in a kind of liquid metal flexible motion body
It is inside provided with magnetic powder and the cargo to be transported, under electric field or field drives, liquid metal can be moved.
As shown in Figure 1, a kind of preparation method of liquid metal flexible motion body, comprising the following steps:
(1) hollow sphere is provided, with HCl treatment hollow sphere, removes hollow sphere oxide on surface, hollow sphere sets that there are two open
Mouth end, two open ends are connected to hollow ball inside；
(2) filling magnetic powder and the cargo to be transported in hollow sphere；
(3) two open ends of hollow sphere are sealed up；
(4) by step (3), treated, and hollow sphere is immersed in liquid metal, and stirring is until hollow ball surface adheres to upper liquid gold
Belong to thin layer；
(5) liquid metal droplet is taken, the hollow sphere of step (4) processing and liquid metal droplet are contacted, hollow sphere is gulped down feed liquor
Inside state molten drop.
Wherein in step (1), preferably hollow sphere uses the material good with liquid metal wetability, and liquid metal contacts are this
Material can be in this material surface drawout, such as copper.The diameter of further preferred hollow sphere is 3mm.
Wherein in step (2), preferably magnetic powder is iron powder, but is not limited to iron powder, or cobalt powder and nickel powder.
Wherein in step (3), preferably two open ends of hollow sphere are sealed up with glass cement, but be not limited to glass
Glue can also be sealed with solder stick.
Wherein in step (4), preferably liquid metal is gallium-indium alloy, it is not limited to gallium-indium alloy, or gallium indium
Tin alloy or liquid gallium can store liquid metal in a test tube, then are immersed in liquid metal with tweezers clamping copper ball.
It is preferred that liquid metal is 0.5-2.0mL, further preferred liquid metal is 1.5mL.
Wherein in step (5), liquid metal droplet is put into sodium hydroxide solution, the oxygen of liquid metal droplet is prevented
Change, liquid metal droplet can also be put into hydrogen chloride solution, or use some sealing devices, make liquid metal droplet with
Air exclusion, preferably liquid metal droplet are gallium-indium alloy drop, are specifically made of 75% gallium and 25% indium, but do not limit to
In gallium-indium alloy drop, or gallium-indium-tin alloy drop or liquid gallium drop, or the tenor proportion of change alloy.
It is preferred that sodium hydroxide solution is 0.2-0.5mol/L.It is preferred that liquid metal droplet is 0.1mL, avoid hollow sphere to liquid metal
The obstruction of liquid drop movement, it is ensured that the smoothness of liquid metal droplet movement.
Fig. 2 be extra electric field control flexible motion body movement status diagram, long 150mm, width 10mm pipeline in,
Sodium hydroxide solution is filled up in pipeline, pipe ends plug in graphite electrode, connect power supply, add 10V voltage, flexible motion body is by cathode
To anode movement.This is because gulping down the mobility for still maintaining pure liquid metal into the drop of copper ball, it is placed on hydroxide
Both ends apply voltage in sodium solution, will cause the redistribution of droplet surface charge, form potential difference, cause the surface tension of drop
Gradient generates surface kalimeris dagger-axe Buddhist nun stream, pushes entire drop from cathode to anode movement.Fig. 3 is the flat of flexible motion body movement
The relational graph of equal speed and voltage, average speed refer to the length in channel and the ratio for passing through the time used in the channel completely,
With the increase of voltage, average speed also increases, and flexible motion body moves faster.
As shown in figure 4, magnet can attract the copper ball of drop internal, and copper ball pulls whole due to filling ferrous powder in copper ball
A liquid drop movement realizes the instant magnetic control movement of this flexible motion body.Accelerate the movement of magnet, drop does not catch up with the shifting of copper ball
It is dynamic, copper ball can be hauled out in drop and.
Flexible motion body of the invention can move towards desired direction, make under the driving in electric field or magnetic field
Obtaining conveniently becomes actively, can arbitrarily change drug carriage direction in transport drug, fast and accurately reaches specific bit in human body
It sets, provides excellent basis for the treatment of human diseases.The cargo to be transported is also possible to signal transceiver, and realization is ceaselessly believed
Number transmitting-receiving, formed spy robot.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (10)
1. a kind of liquid metal flexible motion body, which is characterized in that including liquid metal, the liquid metal internal is arranged in
Hollow sphere is provided with magnetic powder and the cargo to be transported in the hollow sphere, under electric field or field drives, the liquid metal
It can move.
2. a kind of preparation method of liquid metal flexible motion body as described in claim 1, which is characterized in that including following step
It is rapid:
(1) a hollow sphere is provided, hollow sphere is equipped at least one opening end；
(2) filling magnetic powder and the cargo to be transported in hollow sphere；
(3) open end of hollow sphere is sealed up；
(4) hollow sphere of step (3) is immersed in liquid metal；
(5) liquid metal droplet is taken, the hollow sphere of step (4) processing and liquid metal droplet are contacted, hollow sphere is gulped down feed liquor
Inside state molten drop.
3. a kind of preparation method of liquid metal flexible motion body according to claim 2, which is characterized in that the step
(1) in, hollow sphere is copper ball.
4. a kind of preparation method of liquid metal flexible motion body according to claim 2, which is characterized in that the step
It (1) further include with HCl treatment hollow sphere in.
5. a kind of preparation method of liquid metal flexible motion body according to claim 2, which is characterized in that the step
(3) in, the open end of hollow sphere is sealed up using glass cement or solder stick.
6. a kind of preparation method of liquid metal flexible motion body according to claim 2, which is characterized in that the step
It (4) further include stirring in, until hollow ball surface adheres to upper one layer of thin layers of liquid metal.
7. a kind of preparation method of liquid metal flexible motion body according to claim 2, which is characterized in that the step
(5) in, liquid metal droplet is put into sodium hydroxide solution.
8. a kind of control method of liquid metal flexible motion body as described in claim 1, which is characterized in that liquid metal is soft
Property movable body be put into electrolyte solution, electrolyte solution both ends apply voltage so that liquid metal flexible motion body by
Cathode is to anode movement.
9. a kind of control method of liquid metal flexible motion body as described in claim 1, which is characterized in that lean on magnetic element
Nearly liquid metal flexible motion body, mobile magnetic element drive the movement of liquid metal flexible motion body.
10. the control method of liquid metal flexible motion body according to claim 9, which is characterized in that accelerate magnetic member
Hollow sphere is hauled out in drop and so that drop does not catch up with the movement of hollow sphere by the movement of part, and drop and hollow sphere is allowed to divide
From.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810795362.2A CN109110507B (en) | 2018-07-19 | 2018-07-19 | Liquid metal flexible moving body and preparation method and control method thereof |
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| CN201810795362.2A CN109110507B (en) | 2018-07-19 | 2018-07-19 | Liquid metal flexible moving body and preparation method and control method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110819988A (en) * | 2019-11-27 | 2020-02-21 | 西安交通大学 | Method for preparing CuGa on curved surface of copper-based metal material by utilizing gallium-based liquid metal2Method for making thin film |
| US11857005B1 (en) * | 2020-05-22 | 2024-01-02 | M Arifur Rahman | Hybrid personal cooling and heating system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106363603A (en) * | 2016-11-21 | 2017-02-01 | 清华大学 | Miniature carrying device driven by liquid metal |
| CN206228396U (en) * | 2016-08-15 | 2017-06-09 | 云南科威液态金属谷研发有限公司 | A kind of flexible vascular micro-robot |
| CN107485779A (en) * | 2017-09-04 | 2017-12-19 | 云南靖创液态金属热控技术研发有限公司 | Nanometer robot and preparation method thereof |
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2018
- 2018-07-19 CN CN201810795362.2A patent/CN109110507B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206228396U (en) * | 2016-08-15 | 2017-06-09 | 云南科威液态金属谷研发有限公司 | A kind of flexible vascular micro-robot |
| CN106363603A (en) * | 2016-11-21 | 2017-02-01 | 清华大学 | Miniature carrying device driven by liquid metal |
| CN107485779A (en) * | 2017-09-04 | 2017-12-19 | 云南靖创液态金属热控技术研发有限公司 | Nanometer robot and preparation method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110819988A (en) * | 2019-11-27 | 2020-02-21 | 西安交通大学 | Method for preparing CuGa on curved surface of copper-based metal material by utilizing gallium-based liquid metal2Method for making thin film |
| US11857005B1 (en) * | 2020-05-22 | 2024-01-02 | M Arifur Rahman | Hybrid personal cooling and heating system |
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| CN109110507B (en) | 2020-06-19 |
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Inventor after: Li Xiangpeng Inventor after: Zhang Leran Inventor after: Li Fangxia Inventor after: Xie Jie Inventor after: Yang Hao Inventor after: Kuang Shaolong Inventor before: Zhang Leran Inventor before: Li Xiangpeng Inventor before: Li Fangxia Inventor before: Xie Jie Inventor before: Yang Hao Inventor before: Kuang Shaolong |
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