CN115245308A

CN115245308A - Traceable multi-foot soft robot and preparation method and application thereof

Info

Publication number: CN115245308A
Application number: CN202110456083.5A
Authority: CN
Inventors: 王奔; 郑俐萌; 周学昌
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2022-10-28

Abstract

The invention discloses a traceable multi-legged soft robot and a preparation method and application thereof, wherein the preparation method comprises the following steps: adding magnetic particles into a silica gel raw material and mixing to obtain a first mixture; carrying out magnetization treatment on the first mixture and then carrying out curing treatment on the first mixture to obtain a first film layer with a plurality of spike feet on the lower surface; injecting a silica gel raw material into the template carved with the convex pipeline, and then carrying out curing treatment to obtain a second film layer with a concave pipeline generated on the upper surface; injecting liquid metal into the concave pipeline, and forming a liquid metal circuit on the upper surface of the second film layer; electrically connecting the near field communication chip with the liquid metal circuit to obtain a third film layer with the upper surface provided with the near field communication chip; and (3) bonding the upper surface of the first film layer and the lower surface of the third film layer to obtain the trackable multi-legged soft robot. The tracked multi-foot soft robot for gastrointestinal detection has the advantages of timely positioning, high cost performance, small occupied area, no radiation to human bodies, bubble interference resistance and the like.

Description

Traceable multi-foot soft robot and preparation method and application thereof

Technical Field

The invention relates to the technical field of functional materials, in particular to a traceable multi-legged soft robot and a preparation method and application thereof.

Background

The traditional gastroscope needs to be directly extended into the stomach from the oral cavity through a fibrous tube, in order to relieve the discomfort of throat, anesthetic needs to be sprayed on the throat before examination, and the extremely poor experience of pain and vomiting for several seconds exists in the process; and some people feel bloated and nausea due to air entering the stomach during the observation and diagnosis of the doctor.

Due to the influence of various factors such as gas and the like, the gastrointestinal ultrasound has low signal-to-noise ratio and resolution ratio of ultrasonic imaging, and the clinical application is limited to a certain extent; the ultrasonic examination is real-time dynamic scanning due to large influence factors of an operator, and has certain dependence on an operation technique, proficiency and effective body position arrangement of a patient. And gastrointestinal ultrasound cannot identify superficial gastritis and small ulcers, and is not universal for medical scenes requiring comprehensive screening.

The barium meal is not suitable for patients with acute respiratory tract infection, patients with severe center of gravity, liver and renal insufficiency and patients with positive iodine tests, the application range is narrow, and the barium agent ensures that micro-lesions of the digestive tract are difficult to observe.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a trackable multi-legged soft robot and a preparation method and application thereof, and aims to solve the problems that the prior art is high in cost, long in time consumption, long in treatment period, poor in comfort level, incapable of effectively observing dangerous focuses and has side effects.

The technical scheme of the invention is as follows:

a preparation method of a traceable multi-legged soft robot comprises the following steps:

adding magnetic particles into a silica gel raw material and mixing to obtain a first mixture;

magnetizing the first mixture, and then curing to obtain a first film layer with a plurality of spike feet on the lower surface;

injecting a silica gel raw material on the template carved with the convex pipeline and then carrying out curing treatment to obtain a second film layer with the concave pipeline generated on the upper surface;

injecting liquid metal into the concave pipeline on the upper surface of the second film layer, and forming a liquid metal circuit on the upper surface of the second film layer;

electrically connecting the near field communication chip with the liquid metal circuit to obtain a third film layer with the upper surface provided with the near field communication chip;

and bonding the upper surface of the first film layer and the lower surface of the third film layer through a silica gel raw material to obtain the trackable multi-foot soft robot.

The preparation method of the trackable multi-legged soft robot comprises the step of preparing a trackable multi-legged soft robot, wherein the magnetic particles are one or more of ferroferric oxide, carbonyl iron and Ru ferroboron.

The preparation method of the trackable multi-legged soft robot comprises the following steps of preparing a silica gel raw material, wherein the silica gel raw material is one or two of PDMS silica gel and Eco-flex silica gel.

The preparation method of the trackable multi-foot soft robot comprises the steps that the length of each of the plurality of the spike feet is 0.5mm-1.5cm, the diameter of each spike foot is 0.5mm-5mm, and the distance between every two adjacent spike feet is 0.5mm-5mm.

The preparation method of the trackable multi-foot soft robot comprises the following steps of injecting liquid metal into the concave pipeline on the upper surface of the second film layer, and forming a liquid metal circuit on the upper surface of the second film layer:

covering a plastic film layer on the upper surface of the second film layer, so that the concave pipeline is covered by the plastic film layer;

an opening is formed in the plastic film layer and communicated with the concave pipeline;

and dripping liquid metal at the opening, placing the second film layer in a vacuum condition to enable the liquid metal to flow into the concave pipeline, and forming a liquid metal circuit on the upper surface of the second film layer.

The preparation method of the trackable multi-foot soft robot comprises the step of preparing a concave pipeline, wherein the concave pipeline consists of a plurality of pipeline units.

The preparation method of the traceable multi-foot soft robot comprises the steps that the plurality of pipeline units are arranged at intervals, the pipe diameters of the pipeline units are 100um-3mm, and the distance between every two adjacent pipeline units is 100um-3mm.

The preparation method of the trackable multi-legged soft robot comprises the step of preparing a plastic film layer, wherein the plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film or an Eco-flex film.

The invention relates to a trackable multi-foot soft robot, which is prepared by the preparation method of the trackable multi-foot soft robot.

The invention discloses application of a trackable multi-foot soft robot, wherein the trackable multi-foot soft robot is used for drug targeted delivery or gastrointestinal detection.

Has the beneficial effects that: the trackable multi-foot soft robot prepared by the invention has the advantages of low cost, softness, self-adaptation to the complex cavity environment in the human body, no mechanical damage to the cavity, no invasion, strong deformability and large specific surface area. Specifically, the trackable multi-foot soft robot has a multi-foot structure, so that the trackable multi-foot soft robot is beneficial to the movement and propulsion of the trackable multi-foot soft robot, has good adaptability and movement performance in a complex environment, and solves the problem that a capsule endoscope cannot move autonomously; the trackable multi-foot soft robot can directly reach a focus, and can perform close-range exploration or load a medicine to the focus part for release; the gastrointestinal environment of a patient is not particularly required, and the gastrointestinal system is not sensitive to the interference of the internal environment such as air bubbles, so that the gastrointestinal system has relatively obvious advantages; the checked person does not have any foreign body feeling, and the psychological conflict emotion of the medical items for the stomach examination is greatly reduced; moreover, the medicine is safer and more comfortable for seriously ill patients, old people and young patients with fragile inner walls of the digestive tracts, and avoids unnecessary medical pain; the trackable multi-foot soft robot can adapt to the acidic environment in the stomach and is harmless to the human body.

Drawings

Fig. 1 is a flowchart illustrating a method for preparing a trackable multi-legged soft robot according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the spike foot on the surface of the first film layer under different magnifications.

Fig. 3 is a diagram of a trackable multi-legged soft-bodied robot made in accordance with the present invention.

Fig. 4 is a schematic view of the upper surface of the first film layer and the lower surface of the third film layer bonded together by a silica gel material according to the present invention.

Detailed Description

The invention provides a trackable multi-legged soft robot and a preparation method and application thereof, and the invention is further described in detail below in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for preparing a trackable multi-legged soft robot according to a preferred embodiment of the present invention, which includes the steps of:

s10, adding magnetic particles into a silica gel raw material and mixing to obtain a first mixture;

s20, carrying out magnetization treatment on the first mixture and then carrying out curing treatment on the first mixture to obtain a first film layer with a plurality of spike feet on the lower surface;

s30, injecting a silica gel raw material into the template carved with the convex pipeline, and then carrying out curing treatment to obtain a second film layer with the concave pipeline generated on the upper surface;

s40, injecting liquid metal into the concave pipeline on the upper surface of the second film layer, and forming a liquid metal circuit on the upper surface of the second film layer;

s50, electrically connecting a near field communication chip with the liquid metal circuit to obtain a third film layer with the upper surface provided with the near field communication chip;

and S60, bonding the upper surface of the first film layer and the lower surface of the third film layer through a silica gel raw material to obtain the trackable multi-legged soft robot.

In particular, as an environment that cannot be observed by naked eyes in a human body, how to locate and track a robot in the human body remains a difficult point of research in the field. The trackable multi-foot soft robot prepared by the embodiment is provided with the near field communication chip, can enter a human body in a cable-free mode and move in the human body under the control of a uniform magnetic field, so that the robot can be tracked and positioned in real time, and gastrointestinal lesion detection is completed. In the embodiment, the trackable multi-legged soft robot made of the silica gel as the main material is very soft, and does not cause mechanical damage to the cavity of the human body; the liquid metal circuit in the traceable multi-legged soft robot can flow and deform without changing the elastic modulus of the traceable multi-legged soft robot, compared with solid metal, the traceable multi-legged soft robot has better motion performance, and a near field communication chip electrically connected with the liquid metal circuit provides a positioning basis.

In the embodiment, since many cavities in the human body have the rough surface structure of the fold type, the capsule-shaped gastroscope robot can perform shooting tasks in a cableless state, so that the uncomfortable experience of a patient is greatly reduced, but the rough surface of the fold type is difficult to perform controllable movement. The trackable multi-foot soft robot provided by the embodiment has a multi-foot structure, is beneficial to the movement and propulsion of the trackable multi-foot soft robot, has good adaptability and movement performance in a complex environment, and solves the problem that the capsule endoscope is difficult to move autonomously; the trackable multi-foot soft robot can directly reach a focus, and can perform close-range exploration or load a medicine to the focus part for release; the gastrointestinal environment of a patient is not particularly required, and the gastrointestinal system is not sensitive to the interference of the internal environment such as air bubbles, so that the gastrointestinal system has relatively obvious advantages; the checked person does not have any foreign body feeling, and the psychological conflict emotion of the medical items for the stomach examination is greatly reduced; moreover, the medicine is safer and more comfortable for seriously ill patients, old people and young patients with fragile inner walls of the digestive tracts, and avoids unnecessary medical pain; the trackable multi-foot soft robot can adapt to the acidic environment in the stomach and is harmless to the human body.

In some embodiments, the magnetic particles are one or more of ferroferric oxide, carbonyl iron, and ru iron boron, but are not limited thereto; in this embodiment, the ratio of the magnetic particles to the silica gel material can be adjusted according to the requirement, and the thickness of the magnetic particles (the diameter is between 100 nm and 300 μm) and the type of the magnetic particles can also be adjusted according to the requirement.

In some embodiments, the silica gel material is one or both of PDMS silica gel and Eco-flex silica gel, but is not limited thereto. In this embodiment, the PDMS silica gel may be a mixed gel obtained by mixing a gel a and a gel B of PDMS according to a requirement; the Eco-flex silica gel can be a mixed gel obtained by proportioning an A gel and a B gel of Ecoflex according to requirements. The PDMS silica gel and the Eco-flex silica gel are both elastomer materials, can adapt to the acidic environment in intestines and stomach, and are harmless to human bodies. For example, the PDMS silica gel may be a mixed gel obtained by mixing a PDMS a gel and a PDMS B gel in a mass ratio of 1.

In some embodiments, the magnetic particles are added into the silica gel raw material and mixed to obtain a first mixture, and the first mixture is magnetized and then cured at a temperature of 20-150 ℃ for 10min-24h to obtain a first film layer with a plurality of protruding feet on the lower surface.

In this embodiment, as shown in fig. 2 and 3, in the magnetization process, the magnetic particles drive the silica gel raw material to extend toward the direction of the magnetic attraction under the action of the magnetic attraction, and a plurality of spike feet 20 are gradually generated on the lower surface of the first film layer 10. The spike foot is substantially composed of magnetic particles and silica gel raw materials, the spike foot is bent or rotated under the action of a magnetic field, and meanwhile, the spike foot can track the deformation of the multi-foot soft robot so as to accumulate potential energy and convert the potential energy into kinetic energy, so that the trackable multi-foot soft robot can move and advance on a 'wrinkle-type' rough surface, and the spike foot has the characteristics of good complex environment adaptability and good movement performance.

In some embodiments, the plurality of barbed feet have a length of 0.5mm to 1.5cm, a diameter of 0.5mm to 5mm, and a spacing between adjacent barbed feet of 0.5mm to 5mm.

In some embodiments, after injecting a silica gel raw material into the template engraved with the convex pipeline, performing curing treatment to obtain a second film layer with a concave pipeline generated on the upper surface; and injecting liquid metal into the concave pipeline on the upper surface of the second film layer, and forming a liquid metal circuit on the upper surface of the second film layer.

Specifically, a convex pipeline is carved on a template by utilizing a photoetching technology or a 3D printing technology, a silica gel raw material is poured on the template and then is put into a vacuum drier or an ultrasonic instrument for processing, and the silica gel raw material is cured at normal temperature or is put into an oven for curing; covering a plastic film layer on the upper surface of the second film layer, so that the concave pipeline is covered by the plastic film layer; an opening is formed in the plastic film layer and communicated with the concave pipeline; and dripping liquid metal at the opening, placing the second film layer under a vacuum condition to enable the liquid metal to flow into the concave pipeline, taking out the second film layer, and then removing the plastic film layer or dissolving the plastic film layer by water to form a liquid metal circuit on the upper surface of the second film layer. In the embodiment, the liquid metal circuit can be deformed in a flowing manner, the influence on the elastic modulus of the trackable multi-legged soft robot is small, the multi-legged soft robot has better motion performance compared with a solid metal, and a near field communication chip electrically connected with the liquid metal circuit provides a positioning basis.

In this embodiment, the concave duct is composed of a plurality of duct units.

In some embodiments, a plurality of pipeline unit interval sets up, pipeline unit's pipe diameter is 100um-3mm, and adjacent pipeline unit's interval is 100um-3mm.

In some specific embodiments, as shown in fig. 3, the concave duct includes a first duct port, and a plurality of duct units connected in sequence are gradually formed by taking the first duct port as a starting point, the concave duct ends in a second duct port, and the duct units are arranged at intervals.

In some embodiments, the pipe unit is not limited to a circular shape, but may be a rectangular shape, a polygonal shape, an oval shape, or the like.

In this embodiment, the silica gel raw material is one or two of PDMS silica gel and Eco-flex silica gel, but is not limited thereto; the plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film or an Eco-flex film, but is not limited thereto.

In this embodiment, the liquid metal is a gallium indium tin alloy, but is not limited thereto, and the gallium indium tin alloy is liquid at room temperature and can maintain the flowing deformation characteristic.

In some embodiments, as shown in fig. 4, a near field communication chip is electrically connected to the liquid metal circuit, resulting in a third film layer 30 with a near field communication chip 40 disposed on the upper surface; and (3) bonding the upper surface of the first film layer 10 and the lower surface of the third film layer 30 through a silica gel raw material to obtain the trackable multi-foot soft robot.

In this embodiment, the near field communication chip and the liquid metal circuit may be connected by a sticky copper foil or other conductive material, and the first film layer and the third film layer may be connected by PDMS silica gel and Eco-flex silica gel, so as to finally obtain the trackable multi-legged soft body robot shown in fig. 3.

In this embodiment, the near field communication chip is a radio frequency identification chip.

In some embodiments, the invention further provides a trackable multi-foot soft robot, which is prepared by the preparation method of the trackable multi-foot soft robot.

In some embodiments, the application of the trackable multi-foot soft robot is further provided, and the trackable multi-foot soft robot is used for drug targeted delivery or gastrointestinal detection.

The following is a further explanation of the preparation method of the trackable multi-legged soft robot according to the present invention by using specific embodiments:

example 1

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, uniformly stirring and pouring weighed ferroferric oxide (the diameter is between 100 nanometers and 300 micrometers) into the mixture, wherein the ferroferric oxide accounts for about 0 to 300 percent of the mass ratio of the silica gel, dispersing the mixture by using a spin coater after stirring, and placing the mixture into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 2

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, stirring uniformly, pouring weighed Ru ferroboron (the diameter is between 100 nanometers and 300 micrometers) which accounts for about 0-300% of the mass ratio of the silica gel, stirring, dispersing by using a spin coating instrument, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 3

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 1: mixing Eco-flex with the mass ratio of 1, stirring uniformly, pouring weighed carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), dispersing by using a spin coater after stirring, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature, or putting the product into an oven for curing at the temperature of 20-150 ℃.

Example 4

Preparing a first film layer with a plurality of spike feet on the surface:

centrifuge tubes or culture dishes are taken for the experiment, and the volume ratio of the centrifuge tubes or culture dishes is 1: mixing Eco-flex at the mass ratio of 1, stirring uniformly, pouring weighed Ru ferroboron (the diameter is between 100 nanometers and 300 micrometers), wherein the mass ratio of Ru ferroboron to Eco-flex is about 0-300%, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 5

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 1: mixing Eco-flex with the mass ratio of 1, stirring uniformly, pouring weighed ferroferric oxide (the diameter is between 100 nanometers and 300 micrometers), wherein the ferroferric oxide accounts for about 0-300% of the Eco-flex by mass ratio, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 6

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, stirring uniformly, pouring weighed carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), wherein the carbonyl iron accounts for about 0-300% of the mass ratio of the silica gel, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 7

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the centrifuge tube or the culture dish with the following ratio of 1:1, mixing Eco-flex, stirring uniformly, pouring weighed Ru ferroboron and ferroferric oxide (the diameter is between 100 nanometers and 300 micrometers), wherein the mass ratio of Ru Tiepeng to ferroferric oxide to Eco-flex is about 0-300 percent respectively, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature, or putting the product into an oven for curing at the temperature of 20-150 ℃.

Example 8

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, uniformly stirring and pouring weighed Ru FeB and ferroferric oxide (the diameter is between 100 nanometers and 300 micrometers), wherein the weight ratio of Ru Tiepeng to the ferroferric oxide to the silica gel is about 0-300 percent respectively, dispersing by using a spin coating instrument after stirring, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 9

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, mixing PDMS silica gel, and mixing the mixture in a mass ratio of 1:1, and then mixing the PDMS and the Eco-flex according to the mass ratio of 1 to 50 percent of the PDMS. Stirring evenly, pouring weighed carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), wherein the mass ratio of the carbonyl iron to the mixed silica gel is about 0-300%, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 10

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, stirring uniformly, pouring weighed Ru FeB and carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), wherein the weight ratio of Ru Tiepeng to the carbonyl iron in the silica gel is about 0-300%, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature, or putting the product into an oven for curing at the temperature of 20-150 ℃.

Example 11

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, mixing PDMS silica gel, and mixing the mixture in a mass ratio of 1:1, and then mixing the PDMS and the Eco-flex according to the mass ratio of 1 to 50 percent of the PDMS. Stirring evenly, pouring weighed ferroferric oxide (the diameter is between 100 nanometers and 300 micrometers), wherein the ferroferric oxide accounts for about 0-300% of the mixed silica gel by mass ratio respectively, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 12

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 1:1, mixing Eco-flex, stirring uniformly, pouring weighed Ru iron boron and carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), wherein the mass ratio of Ru Tiepeng to carbonyl iron accounting for Eco-flex is about 0-300 percent respectively, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture with a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 13

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, mixing PDMS silica gel, and mixing the mixture in a mass ratio of 1:1, and then mixing the PDMS and the Eco-flex according to the mass ratio of 1 to 50 percent of the PDMS. Uniformly stirring and pouring weighed Ru ferroboron (the diameter is between 100 nanometers and 300 micrometers), wherein the Ru ferroboron accounts for about 0-300% of the mixed silica gel by mass respectively, dispersing by using a spin coater after stirring, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 14

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, mixing PDMS silica gel, and mixing the mixture in a mass ratio of 1:1, and then mixing the PDMS and the Eco-flex according to the mass ratio of 1 to 50 percent of the PDMS. Uniformly stirring and pouring two weighed Ru ferroboron, ferroferric oxide and carbonyl iron (the diameter is between 100 nanometers and 300 micrometers), wherein the two magnetic particles respectively account for 0-300 percent of the mixed silica gel by mass, dispersing by using a spin coater after stirring, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature, or putting the product into an oven for curing at the temperature of 20-150 ℃.

Example 15

Preparing a first film layer with a plurality of spike feet on the surface:

taking a centrifuge tube or a culture dish, and mixing the materials in a ratio of 10:1, mixing PDMS silica gel, and mixing the mixture in a mass ratio of 1:1, and then mixing the PDMS and the Eco-flex according to the mass ratio of 1 to 50 percent of the PDMS. Uniformly stirring, pouring weighed Ru ferroboron, ferroferric oxide and carbonyl iron three magnetic particles (the diameter is between 100 nanometers and 300 micrometers), respectively accounting for 0-300 percent of the mixed silica gel in mass ratio, stirring, dispersing by using a spin coater, and placing into a vacuum drier for defoaming. Taking out the mixture, and magnetizing the mixture by using a magnet to make the mixture grow into a thorn-shaped foot. The distance between the mixture and the magnet is about 0.1 cm-10 cm. And then curing the obtained product at normal temperature or placing the product into an oven for curing at the temperature of 20-150 ℃.

Example 16

The preparation method of the second film layer of the liquid metal circuit generated on the surface comprises the following steps:

the template is engraved with a pipe using photolithography, poured in a 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering PVA film on the front of the pipeline, pricking a small hole, dropping a drop of liquid metal on the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film or dissolving the film by water.

Example 17

a pipeline is carved on a template by utilizing the photoetching technology, 0-20g of Eco-flex silica gel mixed according to the mass ratio of 1:1 is poured, the Eco-flex silica gel is put into a vacuum drier or an ultrasonic instrument for processing, and the Eco-flex silica gel is dried (10 min-24 h) at the temperature of 20-150 ℃ for forming and then taken down. Covering PVA film on the front of the pipeline, pricking a small hole, dropping a drop of liquid metal on the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film or dissolving the film by water.

Example 18

printing a pipeline on a template by using a 3D printing technology, pouring 0-20g of Eco-flex silica gel mixed by 1:1 in mass ratio, putting the Eco-flex silica gel into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering the front surface of the pipeline with a PE film, pricking a small hole, dropping a drop of liquid metal at the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 19

printing out a pipeline on the template by using a 3D printing technology, and pouring the mixture into a container with the following weight ratio of 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering PVA film on the front of the pipeline, pricking a small hole, dropping a drop of liquid metal on the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film or dissolving the film by water.

Example 20

the template is engraved with a pipe using photolithography, poured in a 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering the front surface of the pipeline with a PE film, pricking a small hole, dropping a drop of liquid metal at the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 21

a pipeline is carved on a template by utilizing the photoetching technology, 0-20g of Eco-flex silica gel mixed according to the mass ratio of 1:1 is poured, the Eco-flex silica gel is put into a vacuum drier or an ultrasonic instrument for processing, and the Eco-flex silica gel is dried (10 min-24 h) at the temperature of 20-150 ℃ for forming and then taken down. Covering the front surface of the pipeline with a PE film, pricking a small hole, dropping a drop of liquid metal into the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out the film and then removing the film.

Example 22

printing a pipeline on a template by using a 3D printing technology, pouring 0-20g of Eco-flex silica gel mixed by 1:1 in mass ratio, putting the Eco-flex silica gel into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering PVA film on the front of the pipeline, pricking a small hole, dropping a drop of liquid metal on the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film or dissolving the film by water.

Example 23

printing out a pipeline on the template by using a 3D printing technology, and pouring the mixture into a container with the following weight ratio of 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down the product. Covering the front surface of the pipeline with a PE film, pricking a small hole, dropping a drop of liquid metal at the hole, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 24

the template is engraved with a pipe using photolithography, poured in a 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering the front surface of the pipeline with a PP film or a PET film, pricking a small hole, dropping a drop of liquid metal at the hole opening, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 25

a pipeline is carved on a template by utilizing the photoetching technology, 0-20g of Eco-flex silica gel mixed according to the mass ratio of 1:1 is poured, the Eco-flex silica gel is put into a vacuum drier or an ultrasonic instrument for processing, and the Eco-flex silica gel is dried (10 min-24 h) at the temperature of 20-150 ℃ for forming and then taken down. Covering the front surface of the pipeline with a PP film or a PET film, pricking a small hole, dropping a drop of liquid metal at the hole opening, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 26

printing a pipeline on a template by using a 3D printing technology, pouring 0-20g of Eco-flex silica gel mixed by 1:1 in mass ratio, putting the Eco-flex silica gel into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming, and taking down. Covering the front surface of the pipeline with a PP film or a PET film, pricking a small hole, dropping a drop of liquid metal at the hole opening, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out the film and then removing the film.

Example 27

the pipeline is printed out on the template by using a 3D printing technology, and the pipeline is poured into a mold with the following weight ratio of 10:1, mixing 0-20g of PDMS silica gel, placing the mixture into a vacuum drier or an ultrasonic instrument for treatment, drying at the temperature of 20-150 ℃ (10 min-24 h), forming and taking down. Covering the front surface of the pipeline with a PP film or a PET film, pricking a small hole, dropping a drop of liquid metal at the hole opening, putting the product into a vacuum box, and making the liquid metal flow into the pipeline through vacuum. Taking out and then removing the film.

Example 28

Preparation of a trackable multi-foot soft robot:

electrically connecting the near field communication chip with the liquid metal circuit through an aluminum foil to obtain a third film layer with the upper surface provided with the near field communication chip; and bonding the upper surface of the first film layer and the lower surface of the third film layer through Eco-flex silica gel to obtain the trackable multi-legged soft robot.

Example 29

Preparation of a trackable multi-foot soft robot:

electrically connecting the near field communication chip with the liquid metal circuit through an aluminum foil to obtain a third film layer with the upper surface provided with the near field communication chip; and adhering the upper surface of the first film layer and the lower surface of the third film layer through PDMS silica gel to obtain the trackable multi-foot soft robot.

Example 30

Preparation of a trackable multi-foot soft robot:

electrically connecting the near field communication chip with the liquid metal circuit through liquid metal to obtain a third film layer with the upper surface provided with the near field communication chip; and bonding the upper surface of the first film layer and the lower surface of the third film layer through Eco-flex silica gel to obtain the trackable multi-legged soft robot.

Example 28

Preparation of a trackable multi-foot soft robot:

electrically connecting the near field communication chip with the liquid metal circuit through liquid metal to obtain a third film layer with the upper surface provided with the near field communication chip; and adhering the upper surface of the first film layer and the lower surface of the third film layer through PDMS silica gel to obtain the trackable multi-foot soft robot.

It will be understood that the invention is not limited to the examples described above, but that modifications and variations will occur to those skilled in the art in light of the above teachings, and that all such modifications and variations are considered to be within the scope of the invention as defined by the appended claims.

Claims

1. A preparation method of a traceable multi-legged soft robot is characterized by comprising the following steps:

magnetizing the first mixture and then curing the first mixture to obtain a first film layer with a plurality of spike feet on the lower surface;

injecting a silica gel raw material into the template carved with the convex pipeline, and then carrying out curing treatment to obtain a second film layer with a concave pipeline generated on the upper surface;

and adhering the upper surface of the first film layer and the lower surface of the third film layer to prepare the trackable multi-legged soft body robot.

2. The method for preparing the trackable multi-legged soft robot according to claim 1, wherein the magnetic particles are one or more of ferroferric oxide, carbonyl iron and Ru-Fe-B.

3. The method for preparing the trackable multi-legged soft robot according to claim 1, wherein the silica gel is one or two of PDMS silica gel and Eco-flex silica gel.

4. The method for preparing a trackable multi-legged soft body robot according to claim 1, wherein the length of the plurality of the spike feet is 0.5mm to 1.5cm, the diameter of the spike feet is 0.5mm to 5mm, and the distance between adjacent spike feet is 0.5mm to 5mm.

5. The method for preparing the trackable multi-legged soft robot according to claim 1, wherein the step of injecting a liquid metal into the concave channel on the upper surface of the second film layer to form a liquid metal circuit on the upper surface of the second film layer comprises:

6. The method for preparing a trackable multi-legged soft robot according to claim 5, wherein the concave tunnel is composed of one or more tunnel units.

7. The method for preparing the trackable multi-foot soft robot according to claim 6, wherein the plurality of pipeline units are arranged at intervals, the pipe diameters of the pipeline units are 100um-3mm, and the distance between adjacent pipeline units is 100um-3mm.

8. The method for preparing the trackable multi-legged soft robot according to claim 5, wherein the plastic film layer is a PVA film, a PP film, a PDMS film, a PET film, a PE film or an Eco-flex film.

9. A trackable multi-legged soft body robot, which is prepared by the preparation method of the trackable multi-legged soft body robot according to any one of claims 1 to 8.

10. Use of a trackable multi-footed soft robot according to claim 9 for drug targeted delivery or gastrointestinal detection.