CN116175664A - Scribing device, scribing system and manufacturing method of magnetic spiral micro-robot - Google Patents

Scribing device, scribing system and manufacturing method of magnetic spiral micro-robot Download PDF

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Publication number
CN116175664A
CN116175664A CN202211598912.4A CN202211598912A CN116175664A CN 116175664 A CN116175664 A CN 116175664A CN 202211598912 A CN202211598912 A CN 202211598912A CN 116175664 A CN116175664 A CN 116175664A
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China
Prior art keywords
needle
robot
scoring
scribing
platform
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CN202211598912.4A
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Chinese (zh)
Inventor
范新建
蒋奕晖
杨湛
孙立宁
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Suzhou University
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Suzhou University
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Priority to CN202211598912.4A priority Critical patent/CN116175664A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
    • B26D3/10—Making cuts of other than simple rectilinear form
    • B26D3/11—Making cuts of other than simple rectilinear form to obtain pieces of spiral or helical form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/005—Computer numerical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/08—Means for actuating the cutting member to effect the cut
    • B26D5/086—Electric, magnetic, piezoelectric, electro-magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/08—Means for treating work or cutting member to facilitate cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/20—Cutting beds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
    • B26D7/2628—Means for adjusting the position of the cutting member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D2005/002—Performing a pattern matching operation

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a scoring device, a scoring system and a preparation method of a magnetic spiral micro-robot, comprising a scoring needle, a parameter adjusting platform and a moving platform, wherein the needle point of the scoring needle is contacted with a material to be scored, the needle point of the scoring needle is in a hook shape, the parameter adjusting platform is connected with the needle rod of the scoring needle, the parameter adjusting platform is used for adjusting the side inclination angle and the pitching angle of the scoring needle, the moving platform is connected with the parameter adjusting platform, and the moving platform is used for driving the scoring needle to score. The invention solves the problems of expensive preparation equipment, high maintenance cost, high preparation time cost of a single magnetic screw robot, poor uniformity of the magnetic screw robot during forming, poor adjustability of the structure of the magnetic screw robot during preparation, complex magnetization process of the screw robot and high cost.

Description

Scribing device, scribing system and manufacturing method of magnetic spiral micro-robot
Technical Field
The invention relates to the technical field of magnetic spiral micro robots, in particular to a scoring device, a scoring system and a preparation method of a magnetic spiral micro robot.
Background
Like other micro-robots, magnetic spiral micro-robots also have the problem of difficulty in preparation. The preparation methods of the magnetic spiral micro-robot commonly used at present can be summarized into 5 types: optical lithography, electrochemical deposition, self-curling, laser direct writing, and biohybridization. Photolithography transfers the geometry on a reticle to a thin film material overlying the surface of a semiconductor substrate and sensitive to light irradiation. The electrochemical deposition method needs to take a micro-nano structure as a template, and utilizes direct current to enable a magnetic material to be restrained on the micro-nano structure template between an electrode and an electrolyte solution, so that the needed magnetic micro-nano structure is deposited according to the micro-nano structure template. The self-curling method is the earliest method adopted by scientists to prepare the spiral micro-robot, and is mainly based on the traditional film deposition and single crystal film growth technology, and the magnetic material is deposited on the film by adopting an electroless plating method, so that the geometric characteristics of the prepared spiral micro-robot can be accurately controlled by adjusting the parameters of the preparation process, such as deposition time, deflection angles among crystalline structures and the like, and the preparation of the magnetic spiral micro-robot is completed. The laser direct writing method can prepare three-dimensional microstructures with arbitrary shapes, and the principle is that the photosensitive adhesive generates partial two-photon polymerization reaction under the fixed point irradiation of laser beams, so that when the laser points move along a spiral track, a spiral structure is formed inside the photosensitive adhesive, unreacted photosensitive adhesive is washed off to obtain a micron-sized spiral structure, and finally a layer of magnetic substance is deposited on the surface of the micron-sized spiral structure by an electron beam evaporation method. In addition, many microorganisms, micro-tissues, etc. having a spiral structure exist in nature, such as helicobacter, spirulina, and spiral ducts in the xylem of some plants, which vary in diameter from 1 to 100 microns. The biological or tissue with unique spiral structure is combined with magnetic particles by chemical deposition, so that the hybridization preparation of the magnetic spiral micro-robot can be realized, and the preparation method is a biological hybridization method.
The preparation technology of the magnetic spiral robot in China mainly has the following problems: 1. the optical lithography method requires a complex mask plate process flow for each processing, and the generated spiral structure is usually a planar structure and cannot manufacture a real three-dimensional structure; 2. the micro-nano template processing technology required by the electrochemical deposition method is complex and the time required by each deposition is very long; 3. the self-crimping method requires expensive processing equipment, and the prepared magnetic spiral robot has poor uniformity because the thin film deposition depends on the rotation of a base and has no template; 4. the laser direct writing method generates a spiral structure through chemical reaction under the irradiation of a laser beam spiral track, and the generated spiral structure has poor precision due to errors of the laser beam spiral track; 5. the biological hybridization method has the advantages that the size difference of the adopted spiral microorganisms is large, so that the prepared magnetic spiral robot has poor structural uniformity, and the spiral structure cannot be adjusted due to the fixed size of the spiral microorganisms. How to overcome the defects of expensive preparation equipment, high maintenance cost, high preparation time cost of a single magnetic screw robot, poor uniformity of the magnetic screw robot during forming, poor adjustability of the magnetic screw robot structure during preparation, complex magnetization process of the screw robot and high required cost of the conventional magnetic screw micro robot is a technical problem to be solved in the field.
Disclosure of Invention
Therefore, the invention aims to solve the problems of expensive preparation equipment, high maintenance cost, high preparation time cost of a single magnetic screw robot, poor uniformity of the magnetic screw robot during forming, poor adjustability of the structure of the magnetic screw robot during preparation, complex magnetization process of the screw robot and high cost.
In order to solve the technical problems, the invention provides a scoring device of a magnetic spiral micro-robot, which comprises:
the scribing needle comprises a scribing needle, wherein the needle point of the scribing needle is in contact with a material to be scribed, the needle point of the scribing needle is in a hook shape, and the hook-shaped needle point of the scribing needle is provided with a convex arc surface;
the parameter adjusting platform is connected with the needle rod of the scribing needle and is used for adjusting the side inclination angle and the pitching angle of the scribing needle, when the parameter adjusting platform adjusts the side inclination angle of the scribing needle, the parameter adjusting platform drives the scribing needle to rotate around the needle rod axis of the scribing needle to a set side inclination angle, and when the parameter adjusting platform adjusts the pitching angle of the scribing needle, the parameter adjusting platform drives the needle point of the scribing needle to swing up and down to a set pitching angle;
the moving platform is connected with the parameter adjusting platform and is used for driving the scribing needle to carry out scribing operation, and when the moving platform drives the scribing needle to carry out scribing operation, the scribing needle moves along a first set horizontal direction and the convex arc surface of the hook-shaped needle point abuts against the scribing material.
In one embodiment of the invention, the parameter adjusting platform comprises an angular displacement platform for adjusting the side inclination angle of the scoring needle, and a double-shaft steering engine and a single-shaft steering engine for adjusting the pitch angle of the scoring needle, wherein the double-shaft steering engine is arranged on the angular displacement platform, the single-shaft steering engine is connected with the double-shaft steering engine, and the scoring needle is connected with the single-shaft steering engine through a needle seat.
In one embodiment of the invention, the mobile platform comprises a fixed boss for installing the parameter adjusting platform and a mobile driving assembly for driving the fixed boss to translate, wherein the fixed boss is provided with an installation inclined plane, the installation inclined plane is opposite to the first set horizontal direction, an intersecting line of the installation inclined plane and the horizontal plane extends along a second set horizontal direction, the first set horizontal direction is perpendicular to the second set horizontal direction, and the parameter adjusting platform is installed on the installation inclined plane.
In one embodiment of the present invention, the moving driving assembly includes a motor and a screw, the motor drives the screw to rotate, and the screw drives the fixing boss to translate.
The invention also provides a scoring system of the magnetic spiral micro-robot, which comprises:
the material carrying platform is used for carrying the material to be scored and driving the material to be scored to rise and fall;
the scoring device is used for scoring the material to be scored on the carrying platform;
the image acquisition device is used for carrying out image acquisition on the scoring process on the carrying platform.
The invention also provides a preparation method of the magnetic spiral micro-robot, which comprises the following steps in sequence:
s1, a spiral robot is scored through the scoring system;
s2, carrying out surface modification wetting on the prepared spiral robot through a magnetic fluid wetting method;
s3, magnetizing the spiral robot in different directions, so that the mass and parameterized controllable preparation of the magnetic spiral micro-robot is realized.
In one embodiment of the invention, in step S2, the spiral robot is surface-modified wetted by a pipette gun.
In one embodiment of the invention, in step S3, the spiral robot is magnetized in different directions by means of permanent magnets.
In one embodiment of the invention, the material to be scored is plastic.
In one embodiment of the invention, the magnetic fluid comprises Fe 3 O 4 Nanoparticle magnetic fluid, oil-based carrier fluid, and surfactant.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1) According to the scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot, the scoring needle of the material carrying platform with any bending angle can be prepared based on the large-deformation bending theory and the bending test, so that the scoring needle has important significance in ensuring the structural consistency of the scoring needle of the material carrying platform each time;
2) The scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot build a parameter adjusting platform, and the platform has a simple structure and low equipment price;
3) According to the scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot, the remote control of the position, the pitch angle and the roll angle of the scoring needle of the material carrying platform is realized through a program, and the magnetic spiral micro-robot has extremely high timeliness and accuracy;
4) According to the scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot, the method for preparing the spiral robot by using the method for scoring the plastic substrate by using the scoring needle of the material carrying platform is extremely low in time cost and economic cost;
5) According to the scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot, oil-based magnetic fluid liquid drops are selected to be not adhered to the hydrophilic surface, but are extremely easy to adhere to the plastic surface, and the magnetic spiral robot prepared by wetting the spiral robot by utilizing the characteristic of magnetic fluid has extremely high stability in air and extremely high stability in water;
6) According to the scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot, before magnetic fluid is not attached to the spiral robot, the permanent magnets are used for realizing magnetization of the spiral robot in different directions, and then the rotating magnetic field can be used for realizing control of different behavior modes of the spiral robot.
7) The scoring device, the scoring system and the preparation method of the magnetic spiral micro-robot have simple and compact system structure, are more attractive and practical than the products in the prior art, and have stronger and more exquisite overall technological sense.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
FIG. 1 is an SEM image of a scoring needle of a magnetic spiral micro-robot disclosed in the present invention;
FIG. 2 is a perspective view of a scoring device of the magnetic spiral micro-robot disclosed in the present invention;
FIG. 3 is a front view of a scoring device of the magnetic spiral micro-robot disclosed in the present invention;
FIG. 4 is a graph of pitch versus pitch data for a different pitch angle screw robot in accordance with the present disclosure;
FIG. 5 is a graph of pitch versus diameter data for different camber angle screw robots according to the present disclosure;
FIG. 6 is a perspective view of a scoring system of the magnetic spiral micro-robot of the present disclosure;
FIG. 7 is a flow chart of a method of preparing a magnetic spiral micro-robot according to the present disclosure;
FIG. 8 is a schematic diagram of step S2 in the preparation method of the magnetic spiral micro-robot disclosed by the invention;
FIG. 9 is a schematic diagram of step S3 in the preparation method of the magnetic spiral micro-robot disclosed by the invention;
fig. 10 is a diagram of experimental process of preparing a spiral micro-robot by an automatic parameter adjusting platform.
FIG. 11 is a diagram of an experimental view of the motion of the magnetic spiral micro-robot along the long axis;
FIG. 12 is a diagram of experimental motion of the magnetic spiral micro-robot along the short axis.
Description of the specification reference numerals: 1. a scribing needle; 11. a needle stand; 2. a parameter adjusting platform; 21. angular position
Moving a platform; 22. a double-shaft steering engine; 23. a single-shaft steering engine; 24. an arch fixing table; 3. a mobile platform; 31. 0 fixing the boss; 32. a mounting inclined plane; 33. a motor; 34. a screw rod; 4. a material carrying platform; 5. image acquisition
A collecting device; 6. a material to be scored; 7. a screw robot; 8. a pipette gun; 9. permanent magnets.
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments to enable those skilled in the art to make
The present invention may be better understood and implemented by a person skilled in the art, but the illustrated embodiments are not to be taken as limiting the invention 5.
Referring to fig. 1 to 5, a scribing apparatus of a magnetic spiral micro-robot includes:
the scribing needle 1, the needle point of the scribing needle 1 contacts with the material to be scribed, the needle point of the scribing needle is in a hook shape, and the hook-shaped needle point of the scribing needle is provided with a convex arc surface;
the ginseng adjusting platform 2 is connected with the needle bar of the scribing needle 1, the ginseng adjusting platform 2 is used for adjusting the side dip angle and the pitching angle of the scribing needle 5, and when the ginseng adjusting platform 2 adjusts the side dip angle of the scribing needle 1, the ginseng adjusting platform 2
The method comprises the steps that a scribing needle 1 is driven to rotate around the axis of a needle rod of the scribing needle to a set side inclination angle, and when a parameter adjusting platform 2 adjusts the pitching angle of the scribing needle 1, the parameter adjusting platform 2 drives the needle point of the scribing needle 1 to swing up and down to the set pitching angle;
the moving platform 3 is connected with the parameter adjusting platform 2, the moving platform 3 is used for driving the scribing needle 1 to carry out scribing operation, and when the moving platform 3 drives the scribing needle 1 to carry out scribing operation, the scribing needle 1 moves along the first 0 set horizontal direction and the convex arc surface of the hook-shaped needle point abuts against the scribing material.
The principle of the spiral robot is that the internal and external stresses of the material carved by the carving needle are different, so that the carved material is coiled and contracted to form a spiral shape. The core of the invention is to calculate the bending rigidity B of the scribing needle based on the SEM image after the scribing needle is bent, and according to the large
In the deformation theory bending model phi-PL 2/B, the radial force P acting on the scribe needle tip can be found to be about 513.58N. Thus, the fixed bending can be prepared in large quantities after the radial force applied to the needle tip
Angular scribers, or radial force may be varied to produce scribers of different bending angles. After qualitative analysis and controllable preparation of the scoring needle, a scoring spiral robot experiment can be performed using the scoring needle.
In a preferred embodiment of the present example, the parameter adjustment platform 2 comprises means for adjusting the roll of the scribe line 1
The angle displacement platform 21 of angle and be used for adjusting the biax steering wheel 22 and the unipolar steering wheel 023 of the pitch angle of marking needle 1, biax steering wheel 22 installs on angle displacement platform 21, and biax steering wheel 22 is connected to unipolar steering wheel 23, marks
The scriber 1 is connected with a single-shaft steering engine 23 through a needle seat 11. Specifically, the angular displacement platform 21 is connected to an arch fixing table 24, and the biaxial steering engine 22 is connected to the arch fixing table 24.
In a preferred embodiment of the present embodiment, the mobile platform 3 comprises a fixture for mounting the parameter adjustment platform 2
The fixed boss 31 and the removal drive assembly who is used for driving fixed boss 31 translation, fixed boss 31 are equipped with a 5 installation inclined plane 32, and installation inclined plane 32 is opposite to the first horizontal direction of setting, and the intersection line of installation inclined plane 32 and horizontal plane is along the second setting level extension, and first setting horizontal direction is perpendicular with the second setting horizontal direction, and the accent platform 2 is installed on installation inclined plane 32. The installation inclined plane enables the needle point to face the advancing direction of the scribing needle when the scribing needle is scribed, and the scribing needle is obliquely arranged.
In the preferred embodiment of this embodiment, the moving driving assembly includes a motor 33 and a screw 34, where the motor 33 drives the screw 34 to rotate, and the screw 34 drives the fixing boss 31 to translate.
The parameter adjusting platform mainly comprises a motor (stepping motor), a scribing needle, a needle seat, a double-shaft steering engine, an arch fixing table, an angle displacement table and a fixing boss. The model of the automatic parameter adjusting platform is M6-00-110, the working range is 100mm, and the large working range can realize the automatic preparation of the platform on a large substrate for the spiral micro-robot. The fixed boss structure plays the effect of connecting step motor and angle displacement platform, and step motor is fixed with fixed boss through four M5 screw holes in fixed boss bottom, and angle displacement platform is fixed with fixed boss through four M4 screw holes in fixed boss top. Thus, the movement of the scribing needle in the x-axis direction can be realized by the movement of the stepping motor. The initial side inclination angle of the fixed boss is 30 degrees, the model of an angle displacement table above the fixed boss is GFG40-40, and the angle of +/-20 degrees can be adjusted. The angle displacement platform upper portion is fixed with the arched door structure of design through four M3 screw holes, and the biax steering wheel is fixed in the arched door both sides through the M2.5 screw holes of arched door both sides, assembles fixedly through the steering wheel connecting piece of cross recess structural form before biax steering wheel and the unipolar steering wheel, utilizes the needle file to connect the unipolar steering wheel at last and carve the marking needle, and the unipolar steering wheel model is DS3115, and the biax steering wheel model is RDS3115, and work range is + -90. Therefore, the rotation of the scribing needle on the x axis and the y axis can be realized through the two-freedom-degree rotating structure of the double steering engine.
Referring to fig. 6, a scoring system of a magnetic spiral micro-robot, comprising:
the material carrying platform 4 is used for carrying the material 6 to be scored and driving the material 6 to be scored to ascend and descend;
the scoring device is used for scoring the material 6 to be scored on the material carrying platform 4;
the image acquisition device 5, the image acquisition device 5 is used for carrying out image acquisition to the scoring process on the carrying platform 4.
After the automatic parameter adjusting platform model is designed, an object diagram thereof is built. The upper computer controls the automatic parameter adjusting platform through the five-axis motion control board. The height of the plastic substrate is adjusted through a z-axis lifting platform (a material carrying platform) in the experiment, the aperture can adjust lighting in the experiment, an image is carried out above the plastic substrate through an industrial lens, and finally the obtained image is transmitted to an upper computer through a CCD camera.
Wherein, automatic accent ginseng platform utilizes Labview control procedure. The five-axis motion control board can be connected through VISA serial communication on the control panel. In the experiment, the pitch angle of the scribing needle is adjusted by controlling the rotation angle of the double-shaft steering engine, the side inclination angle of the scribing needle is adjusted by controlling the rotation angle of the angle displacement table, and the cutting motion of the scribing on the substrate is realized by controlling the displacement of the x axis (the first setting direction) of the stepping motor.
Referring to fig. 7 to 12, a preparation method of a magnetic spiral micro-robot includes the following steps sequentially performed:
s1, scoring the spiral robot 7 through the scoring system;
s2, carrying out surface modification wetting on the prepared spiral robot 7 by a magnetic fluid wetting method;
s3, magnetizing the spiral robot 7 in different directions, and realizing the mass and parameterized controllable preparation of the magnetic spiral micro-robots.
In a preferred embodiment of the present embodiment, in step S2, the spiral robot 7 is surface-modified and wetted by the pipette gun 8.
In a preferred embodiment of the present embodiment, in step S3, the spiral robot 7 is magnetized in different directions by the permanent magnet 9.
In a preferred embodiment of this embodiment, the material 6 to be scored is plastic.
In a preferred embodiment of this example, the magnetic fluid comprises Fe 3 O 4 Nanoparticle magnetic fluid, oil-based carrier fluid, and surfactant.
After the spiral robot is prepared by controlling the scribing needle scribing by using the automatic parameter adjusting platform, the spiral robot is magnetized so as to be controlled by magnetic fields in different directions. In this invention we innovatively propose a method of magnetic fluid wetting. The magnetic fluid wetting method adopts magnetic fluid which consists of Fe3O4 nano particles with the diameter of about 10nm, carrier liquid (oil-based organic solvent or water) and surfactant. The carrier liquid enables the magnetic fluid to keep liquid property, and van der Waals force generated by the surfactant can prevent agglomeration among internal magnetic nano particles when magnetized, so that the ferrofluid can be kept stable for a long time. When an oil-based (or water-based) magnetic fluid is mixed with an aqueous (or oily) solution, the magnetic fluid is torn into innumerable magnetic fluid droplets randomly distributed in the continuous phase solution due to the immiscibility and surface tension of the two. In addition, when the oil-based magnetic fluid liquid drops drop on the hydrophilic surface in a liquid-phase (water-based) environment, water molecules accumulated at the interface form a water film between the liquid drops and the hydrophilic surface, and the water film can effectively isolate direct contact between the liquid drops and the substrate, so that the oil-based magnetic fluid liquid drops cannot adhere to the hydrophilic surface, but are extremely easy to adhere to the plastic surface, and the spiral micro-robot wetted by the magnetic fluid has very high stability in water. By utilizing the above properties of the magnetic fluid, the magnetic fluid can be sucked by a pipette to cover and wet the surface of the spiral robot.
After the screw robot is wetted by the pipette gun, the characteristics of deformation or movement and other magnetic response behaviors of the magnetic fluid under the action of an external magnetic field can be utilized. Therefore, before the magnetic fluid is not completely attached to the screw robot, the magnetization direction of the magnetic fluid can be changed by utilizing the change of the included angle between the permanent magnet and the screw robot, the included angle is kept unchanged, and after the magnetic fluid is completely attached to the magnetic screw robot after 30min, the magnetization of the screw robot in different directions can be realized.
The spiral robot is kept to be positioned at a position right 2cm above the permanent magnet when in magnetization. The left graph is a schematic diagram of an included angle when long axis magnetization is realized on the spiral robot, and the spiral robot in the magnetization direction presents a movement mode of rolling along the long axis direction under the drive of a rotating magnetic field; the right graph is a schematic diagram of an included angle when short axis magnetization is realized on the spiral robot, and the spiral robot in the magnetization direction shows a movement mode of rolling along the short axis direction under the drive of a rotating magnetic field. By the method, the magnetic spiral robot with different movement behavior modes can be prepared, which has great significance for the subsequent movement control experiments.
In summary, the preparation of the magnetic spiral robot mainly comprises the following five steps:
first, the preparation of different bending angles of the scribe line is determined by studying a bending model.
And secondly, establishing an automatic parameter adjusting platform model by utilizing Solidworks three-dimensional model software, and assembling the model.
And controlling the position, pitch angle and roll angle of the scribing needle by using a written automatic parameter adjusting platform control program, so as to prepare the spiral robots with different pitches and spiral diameters.
Then, the magnetic fluid is attached to the surface of the screw robot by using a pipette.
Finally, magnetization of the spiral robot in different directions is realized by changing the included angle between the permanent magnet and the spiral robot, so that the controllable preparation of the magnetic spiral micro-robot in a large batch and parameterization manner is finally realized
During experiments, the height of the plastic substrate is adjusted through the z-axis lifting table, the calibration of the substrate and the scribing needle is realized, then the automatic parameter adjusting platform is controlled through the motion control board, the image is acquired above the plastic substrate through the industrial lens, and finally the acquired image is transmitted to the upper computer through the industrial camera.
The main steps of the automatic parameter adjusting platform for preparing the spiral robot are as follows:
(1) Initializing a system, namely calibrating a plastic substrate and a scribing needle by a plastic culture dish with the thickness of 60mm through a z-axis lifting table;
(2) Opening a top lens, moving the lens position, adjusting an imaging visual field, initially positioning the position of the magnetic robot through the lens, selecting an interested experimental area, and positioning the area to the center of the visual field of the lens;
(3) The stepping motor and the steering engine are respectively connected to corresponding output ends of a five-axis control board module, and the five-axis control board is connected with a power supply;
(4) And opening upper computer control software of the automatic parameter adjusting platform, and realizing by using an upper computer control program.
(5) And (3) adjusting output signals of the stepping motor and the steering engine, and controlling the position, the pitch angle and the side inclination angle of the scribing needle, so as to finally realize experimental process diagrams of spiral micro robots with different pitches and spiral diameters.
(6) The prepared spiral robot is subjected to surface modification wetting by a magnetic fluid wetting method, and magnetization of the spiral robot in different directions is realized by utilizing a permanent magnet, so that the mass and parameterized controllable preparation of the magnetic spiral micro-robot is finally realized.
(7) Finally, the upper computer sends out a control signal to control the electromagnetic coil to generate a rotating magnetic field to drive the magnetic spiral robot to rotate in different magnetization directions. The magnetic spiral robot magnetized along the long axis direction has a motion state of moving along the long axis direction along the x axis; the magnetic screw robot magnetized in the short axis direction has a motion state in which the motion in the short axis direction is performed along the x axis.
The invention builds an automatic parameter adjusting platform composed of the stepping motor and the steering engine, the structure of the platform is simple and clear, the equipment cost is low, and the whole structure and the assembly relation of the processing equipment system are required to be protected; the stepping motor is skillfully connected with the steering engine, and controls the displacement of the scribing needle; an angle displacement table is also connected between the stepping motor and the steering engine, so that the side inclination angle of the scoring needle can be adjusted; the rotating structure combined by the double steering engines can realize the rotation of the scribing needle on the x axis and the y axis; the remote control of the position, the pitch angle and the roll angle of the scribing needle is realized through a program, so that the method has extremely high timeliness and accuracy; the method for preparing the spiral robot by adopting the method for scribing the plastic substrate by the scribing needle is ingenious and novel, and the time cost and the economic cost required by the method are extremely low; aiming at the spiral robot taking plastic as a substrate, a magnetic fluid wetting method is invented by utilizing the good combination capability of the spiral robot and oil-based magnetic fluid, and the magnetic spiral robot prepared by the method has extremely strong stability in air and water; the magnetization of the spiral robot in different directions is realized by skillfully utilizing different included angles between the permanent magnet and the spiral robot, which is an innovative characteristic of the magnetic fluid wetting method, and the control of different behavior modes of the spiral robot can be realized by utilizing a rotating magnetic field after the magnetization is finished.
The whole automatic parameter adjusting platform skillfully combines the moving structure with the rotating structure, and the control accuracy, stability and attractiveness of the magnetic control system are improved.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (10)

1. A scoring device for a magnetic spiral micro-robot, comprising:
the scribing needle comprises a scribing needle, wherein the needle point of the scribing needle is in contact with a material to be scribed, the needle point of the scribing needle is in a hook shape, and the hook-shaped needle point of the scribing needle is provided with a convex arc surface;
the parameter adjusting platform is connected with the needle rod of the scribing needle and is used for adjusting the side inclination angle and the pitching angle of the scribing needle, when the parameter adjusting platform adjusts the side inclination angle of the scribing needle, the parameter adjusting platform drives the scribing needle to rotate around the needle rod axis of the scribing needle to a set side inclination angle, and when the parameter adjusting platform adjusts the pitching angle of the scribing needle, the parameter adjusting platform drives the needle point of the scribing needle to swing up and down to a set pitching angle;
the moving platform is connected with the parameter adjusting platform and is used for driving the scribing needle to carry out scribing operation, and when the moving platform drives the scribing needle to carry out scribing operation, the scribing needle moves along a first set horizontal direction and the convex arc surface of the hook-shaped needle point abuts against the scribing material.
2. The scoring device according to claim 1, wherein the scoring platform comprises an angular displacement platform for adjusting the roll angle of the scoring needle and a biaxial steering engine and a uniaxial steering engine for adjusting the pitch angle of the scoring needle, the biaxial steering engine being mounted on the angular displacement platform, the uniaxial steering engine being connected to the biaxial steering engine, the scoring needle being connected to the uniaxial steering engine via a needle mount.
3. The scoring device according to claim 1, wherein the moving platform comprises a fixing boss for mounting the parameter adjusting platform and a moving driving assembly for driving the fixing boss to translate, the fixing boss is provided with a mounting inclined plane opposite to the first set horizontal direction, an intersecting line of the mounting inclined plane and a horizontal plane extends along a second set horizontal direction, the first set horizontal direction is perpendicular to the second set horizontal direction, and the parameter adjusting platform is mounted on the mounting inclined plane.
4. A scoring device according to claim 3, wherein the mobile drive assembly comprises a motor and a screw, the motor driving the screw to rotate, the screw driving the stationary boss to translate.
5. A scoring system for a magnetic spiral micro-robot, comprising:
the material carrying platform is used for carrying the material to be scored and driving the material to be scored to rise and fall;
a scoring device according to any one of claims 1 to 4 for scoring a material to be scored on the carrier platform;
the image acquisition device is used for carrying out image acquisition on the scoring process on the carrying platform.
6. The preparation method of the magnetic spiral micro robot is characterized by comprising the following steps of:
s1, scoring a spiral robot by the scoring system according to claim 5;
s2, carrying out surface modification wetting on the prepared spiral robot through a magnetic fluid wetting method;
s3, magnetizing the spiral robot in different directions, so that the mass and parameterized controllable preparation of the magnetic spiral micro-robot is realized.
7. The method according to claim 6, wherein in step S2, the spiral robot is surface-modified and wetted by a pipette.
8. The method according to claim 6, wherein in step S3, the spiral robot is magnetized in different directions by the permanent magnet.
9. The method of claim 6, wherein the material to be scored is plastic.
10. The method of claim 6, wherein the magnetic fluid comprises Fe 3 O 4 Nanoparticle magnetic fluid, oil-based carrier fluid, and surfactant.
CN202211598912.4A 2022-12-12 2022-12-12 Scribing device, scribing system and manufacturing method of magnetic spiral micro-robot Pending CN116175664A (en)

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Application Number Priority Date Filing Date Title
CN202211598912.4A CN116175664A (en) 2022-12-12 2022-12-12 Scribing device, scribing system and manufacturing method of magnetic spiral micro-robot

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CN116175664A true CN116175664A (en) 2023-05-30

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