CN-121989200-A - Magnetic field-assisted surface tension driving micro-robot device and control method thereof

CN121989200ACN 121989200 ACN121989200 ACN 121989200ACN-121989200-A

Abstract

A micro-robot device driven by surface tension based on magnetic field assistance under micro-scale and a control method thereof relate to the field of micro-robot control, the device comprises a magnetic field generation module, a micro-robot module and a magnetic control switch module, wherein the magnetic control switch module is controlled to be opened and closed controllably by a magnetic field generated by a coil through the pushing action of an elastic push rod on a magnetic stop block, capillary force drives liquid to enter a micro-pipe and sink into a liquid bridge, the invention aims to provide a self-driven micro-robot device and a high-efficiency driving method which are convenient to operate, and can be used for controllable and flexible motion control of a micro-robot.

Inventors

FAN ZENGHUA
MOU ZONGGAO
WANG HAN
LIU QIANG

Assignees

山东理工大学

Dates

Publication Date: 20260508
Application Date: 20260407

Claims (6)

1. A method for controlling a micro-robot device driven by surface tension based on magnetic field assistance under micro-scale is characterized in that the device comprises a magnetic field generation module, a micro-robot module and a magnetic control switch module, wherein the magnetic field generation module comprises a microscope camera (1-1), a coil group I (1-2), a coil group II (1-3), a coil bracket (1-4), a camera clamp (1-5), a hydrophobic plate (1-6), a supporting table (1-7) and a vibration isolation table (1-8), the micro-robot module comprises a carrying plate (2-1), a bottom plate (2-2), a magnetic control switch I (2-3), a micro-tube (2-4), a trapezoid groove (2-5) and a magnetic control switch II (2-6), and the magnetic control switch module comprises an elastic push rod I (3-1), a micro-tube outlet stop I (3-2), a micro-tube outlet I (3-3), a slider I (3-4), a slider I (3-5), a micro-tube inlet I (3-6), a magnetic control switch I substrate (3-7), an inlet I (3-8), an outlet I (3-9), and an outlet (3-9) of the micro-tube, and an inlet (3-9) of the micro-tube The micro-tube entrance stop block II (3-13), the vent hole (3-14), the elastic push rod II (3-15), the slide block II (3-16) and the magnetic control switch II substrate (3-17), wherein the microscope camera (1-1) is fixedly connected with the camera clamp (1-5) through bolts, the camera clamp (1-5) is connected with the vibration isolation table (1-8) through bolts, the hydrophobic plate (1-6) is placed on the supporting table (1-7), the supporting table (1-7) is fixedly connected with the vibration isolation table (1-8) through bolts, the coil bracket (1-4) is connected with the vibration isolation table (1-8) through bolts, the side vertical plate of the coil bracket (1-4) is fixedly connected with the coil group I (1-2) and the coil group II (1-3) through bolts, the carrier plate (2-1) is sleeved with the bottom plate (2-2), the magnetic control switch I (2-3) and the magnetic control switch II (2-6) of the trapezoid structure are fixedly arranged in the two opposite sides (2-2) of the bottom plate (2-2) through interference fit connection with the groove (2-5) in the trapezoid (2-2) and are installed in the two opposite sides (2-2), the large ports of the two microtubes are respectively connected with a microtube outlet I (3-6) and a microtube inlet II (3-12), the small ports of the two microtubes are respectively connected with a microtube outlet I (3-3) and a microtube outlet II (3-9), the sliding block I (3-4) and the sliding block II (3-16) are respectively embedded into the magnetic control switch I substrate (3-7) and the magnetic control switch II substrate (3-15), one end of the elastic push rod I (3-1) is connected with the microtube outlet stop block I (3-2) while the other end is connected with the inner wall of the trapezoid groove (2-5), and one end of the elastic push rod II (3-15) is connected with the microtube inlet stop block II (3-13) while the other end is connected with the sliding block II (3-16); The control method mainly comprises the following steps: Firstly, distributing glycerin medium on the surface of a hydrophobic plate (1-6), and placing a micro-robot module on glycerin; Step two, the coil group I (1-2) is supplied with direct current with equal and opposite magnitudes and generates an X-direction gradient magnetic field (4-1) along the X-axis direction, a microtube inlet check block I (3-8) and a microtube inlet check block II (3-13) are both acted by X-axis positive magnetic force (F), the microtube inlet check block I (3-8) is kept static due to the obstruction of a substrate (3-7) of the magnetic control switch I, a microtube outlet I (3-6) is kept closed, the microtube inlet check block II (3-13) compresses an elastic push rod II (3-15) to move along the X-axis positive direction, and a microtube inlet II (3-12) is opened; After the microtube inlet II (3-12) is opened, the liquid in the stable liquid bridge (5-1) rises along the microtube (2-4) by capillary action under the action of surface tension, the balance of the stable liquid bridge (5-1) is broken and converted into an unstable liquid bridge (5-3), the contact angle between the stable liquid bridge (5-1) and the hydrophobic plate is larger than the advancing contact angle, and the micro-robot module moves in the X-axis direction; After the capillary rise is completed, the coil group I (1-2) is powered off, the microtube inlet stop block II (3-13) is reset under the pushing of the elastic push rod II (3-15), the microtube inlet II (3-12) is closed, and liquid drops (5-2) are formed in the microtube (2-4); Fifthly, due to different inner curvatures of the microtubes (2-4), the Young's pressures at two sides of the liquid drops (5-2) are inconsistent, and the pressure difference at two sides of the liquid drops (5-2) generates driving force to drive the liquid drops (5-2) to spontaneously move from one end of the microtubes to the other end; Step six, direct current with equal size and opposite direction is introduced into the coil group II (1-3), a Y-direction gradient magnetic field (4-2) is generated along the Y-axis direction, the microtube outlet stop block I (3-2) and the microtube outlet stop block II (3-10) are under the action of Y-axis negative direction magnetic force, the microtube outlet stop block II (3-10) keeps static due to the obstruction of the substrate (3-17) of the magnetic control switch II, the microtube outlet stop block I (3-2) compresses the elastic push rod I (3-1) to move along the Y-axis negative direction, the microtube outlet I (3-3) is opened, liquid drops (5-2) are converged into a stable liquid bridge (5-1), the stable liquid bridge (5-1) is converted into an unstable liquid bridge (5-3), and when the contact angle between the unstable liquid bridge (5-3) and the hydrophobic plate (1-6) is larger than the advancing contact angle, the micro-robot module moves in the Y-axis direction; and seventhly, powering off the coil group II (1-3), resetting the microtubule outlet stop block I (3-2) under the pushing of the elastic push rod (3-1), closing the microtubule outlet I (3-3), and realizing the two-dimensional movement of the micro-robot module through the regulation and control in the X-axis and Y-axis directions.
2. The micro-scale magnetic field assisted surface tension driven micro-robot device according to claim 1, wherein the micro-tube outlet block I (3-2), the micro-tube inlet block I (3-8), the micro-tube outlet block II (3-10) and the micro-tube inlet block II (3-13) are all formed by processing magnetic materials, the magnetization directions of the micro-tube outlet block I (3-2) and the micro-tube outlet block II (3-10) are opposite, and the magnetization directions of the micro-tube inlet block I (3-8) and the micro-tube inlet block II (3-13) are opposite.
3. A micro-scale surface tension driven micro-robot device based on magnetic field assistance according to claim 1 or 2 is characterized in that a slider vent hole (3-5) is formed in each of a slider I (3-4) and a slider II (3-16), a vent hole (3-14) is formed in each of a microtube outlet stop I (3-2), a microtube inlet stop I (3-8), a microtube outlet stop II (3-10) and a microtube inlet stop II (3-13), the vent hole (3-14) is communicated with a microtube (2-4), and the slider vent hole (3-5), the vent hole (3-14) and a vent groove (3-11) enable two ends of the microtube (2-4) to be communicated with the atmosphere, so that the atmospheric pressure balance of liquid drops (4-2) in the movement process is ensured.
4. A micro-scale magnetic field assisted surface tension driven micro-robot device according to claim 1 or 2, wherein the two oppositely mounted microtubes (2-4) consist of three parts, a thick capillary, a thin capillary and a conical tube, and the curvature of the microtubes is non-uniform.
5. The micro-scale magnetic field assisted surface tension driven micro-robot device according to claim 1 or 2, wherein the surface of the hydrophobic plate (1-6) and the bottom surface of the bottom plate (2-2) are both subjected to hydrophobic treatment.
6. A micro-scale magnetic field assisted surface tension driven micro-robot device according to claim 1 or 2, wherein the coil group I (1-2) is fixed along the X-axis, the coil group II (1-3) is fixed along the Y-axis, and the axes of the coil group I (1-2) and the coil group II (1-3) intersect at a point.

Description

Magnetic field-assisted surface tension driving micro-robot device and control method thereof Technical Field The invention relates to the field of micro-operation control, in particular to a surface tension driving micro-robot device based on magnetic field assistance under a micro scale and a control method. Background With the progress of micro-nano technology and the increasing demands of people on minimally invasive medical treatment, micro-manufacturing systems and the like, micro-nano robots are rapidly developed. Because of the limitation of the self size, the micro-robot cannot carry an energy source, and the self energy supply needs to be realized by adopting an external driving mode. There are various external driving modes for driving the micro-robot, such as magnetic field driving, electric field driving, chemical driving, surface tension driving, biological driving, etc. The magnetic field driving and the electric field driving provide driving energy for the micro-robot by using a controllable magnetic field or electric field to realize motion control of the micro-robot, but an operation device and a use environment of the micro-robot are complex, chemical driving generates gas or heat to generate driving force for the micro-robot by chemical reaction to realize the driving of the micro-robot, but the motion control of the micro-robot is difficult to realize by the motion mode, biological motion can also be used for driving the micro-robot, and the driving mode has great potential significance for conveying targeted drugs, but the driving mode still has great difficulty in controlling toxicity of bacteria and controllability of position, and the surface tension driving is used for driving the micro-robot by taking the surface tension of liquid as a power source, so that the surface tension driving method based on a liquid medium has the advantages of flexibility, controllability and the like. The rapid development of micro-nano robot technology has led to increasingly finer and miniaturized operating members. Therefore, the development of the novel compliant driving device has important theoretical significance and practical application value. Disclosure of Invention Aiming at the key problem that the micro-robot is difficult to supply energy in a liquid environment, the invention provides a method for driving a micro-robot device to operate based on magnetic field assisted surface tension under a micro-scale, and the micro-tube switch is controlled to open and close by the magnetic field, so that capillary rising phenomenon is generated to break the balance of a liquid bridge, and the two-dimensional motion of a micro-robot module under self-driving is realized. The technical scheme adopted for solving the technical problems is as follows: the micro-robot device comprises a magnetic field generation module, a micro-robot module and a magnetic control switch module, wherein the magnetic field generation module comprises a microscope camera, a coil group I, a coil group II, a coil bracket, a camera clamp, a hydrophobic plate, a supporting table and a vibration isolation table, the micro-robot module comprises a carrier plate, a bottom plate, a magnetic control switch I, a micro-pipe, a trapezoid groove and a magnetic control switch II, the magnetic control switch module comprises an elastic push rod I, a micro-pipe outlet stop I, a micro-pipe outlet I, a sliding block vent hole, a micro-pipe inlet I, a magnetic control switch I substrate, a micro-pipe inlet stop I, a micro-pipe outlet II, a micro-pipe outlet stop II, a ventilation groove, a micro-pipe inlet II, a vent hole, an elastic push rod II, a sliding block II and a magnetic control switch II substrate, the microscope camera clamp is fixedly connected with the camera clamp through bolts, the camera clamp is connected with the vibration isolation table through bolts, the hydrophobic plate is placed on the supporting table, the supporting table is fixedly connected with the micro-pipe clamp through the bolts, the side vertical plate of the coil bracket is fixedly connected with the coil group I and the coil group II, the coil group I is fixedly connected with the coil group I and the coil group I through the coil group I, the coil group I and the micro-pipe inlet II is fixedly connected with the micro-pipe inlet II through the micro-pipe inlet II, the micro-pipe I and the micro-pipe I is fixedly connected with the micro-pipe clamp I and the magnetic control switch II through the magnetic control switch II respectively through the bolts respectively, the opposite base plate I and the magnetic control switch II are fixedly installed on the two bottom plate I and the bottom plate II respectively, one end of the elastic push rod I is connected with the microtubule outlet stop block I, the other end is connected with the inner wall of the trapezoid groove, one end of the elastic push rod II is provided with a microtubule inlet the other end of t