CN116168781A - A magnetic reconfiguration programming device and method for magnetic soft material - Google Patents

Abstract

The invention provides a magnetic reconstruction programming device and method of a magnetic soft material, comprising the following steps: the heating unit is used for heating the magnetic soft robot to be magnetically reconstructed; after the magnetic soft robot is heated to a preset temperature, magnetic particles in the magnetic soft robot are programmed, magnetized and turned under the action of a composite space magnetic field generated by the magnet array, then the magnetic soft robot is cooled, and the composite space magnetic field is ensured to continuously act on the magnetic soft robot in the cooling process until the phase-change composite magnetic powder is solidified again, so that the magnetic reconstruction of the magnetic soft robot is completed; the magnetization turning direction of the magnetic particles in any area of the magnetic soft robot can be controlled at will under the action of the magnetic field in the composite space. The invention can realize complex magnetization reconstruction only by one-step magnetic reconstruction programming, does not need to use a mold to assist to change the shape of the soft magnetic composite material before magnetization, does not need to use devices such as laser and the like to carry out multi-step heating redirection process, and has simple structure and high precision.

Description

Magnetic reconfiguration programming device and method for magnetic soft material

technical field

The invention belongs to the field of magnetic soft materials, and more specifically relates to a magnetic reconfiguration programming device and method for magnetic soft materials.

Background technique

A soft robot is a robot whose main body or main functional structure is made of soft materials (materials with elastic modulus ranging from 10 ⁴ Pa to 10 ⁹ Pa). Compared with traditional rigid-body robots, soft-body robots have the advantages of high degree of freedom, strong deformation ability, and good adaptability, and have broad application prospects in bioengineering, medical and other fields. Among the many soft robots, magnetic soft robots under the action of electromagnetic drive have significant advantages such as non-contact, strong controllability and good penetration performance, and have gradually become the research frontier and hotspot in the field of soft robots.

The potential application fields of soft robots put forward more stringent requirements on the complexity and controllability of its deformed form. Therefore, in order to realize the multimodal motion of magnetic soft robots, the reconfiguration magnetization method of magnetic soft materials has become one of the research hotspots in related fields.

In order to achieve reconfiguration and magnetization of magnetic soft materials, the existing magnetic reconfiguration techniques can be broadly classified into three types: Curie temperature magnetic reconfiguration method, high-field direct magnetic programming method, and solid-liquid state conversion reconfiguration method. The Curie temperature magnetic reconfiguration method utilizes the phenomenon that the magnetism of the magnetic material fades when it is heated to the Curie temperature, and performs demagnetization and secondary programming magnetization of the magnetic material. The main disadvantage is that the Curie temperature of the magnetic material is relatively high, so this method has high requirements for the design of the heating device, and at the same time, the high heating temperature also increases the operational risk of the magnetic reconfiguration process. The high-field direct magnetic programming method utilizes that magnetic materials can be demagnetized and re-magnetized under the action of a high-intensity magnetic field, and can be demagnetized and re-magnetized directly under a higher-intensity magnetic field. The main disadvantage of this method is that the magnetic field strength of the magnetization device is very high, and the magnetization device must be able to provide a strong demagnetization magnetic field and a re-magnetization magnetic field. programming magnetization.

Compared with the above two methods, the solid-liquid conversion reconstruction method also has the special advantage of being able to complete the magnetic reconstruction process at a lower heating temperature and a lower programming magnetic field. The solid-liquid conversion reconstruction method uses a low melting point phase change material shell to wrap magnetic powder to prepare composite magnetic powder particles. When the heating temperature reaches the melting point of the phase change material, the shell material melts and the magnetic powder particles are in a local liquid environment. At this time, the magnetic powder particles can be Program steering is performed at a lower magnetic field, thereby realizing program magnetization of the magnetic material. There are two existing implementation technologies for this method: one is to use laser for local heating. This type of method has higher control accuracy, but the introduction of laser greatly increases the complexity of the magnetic reconstruction device. At the same time, when the thickness of the magnetic soft material When the value is increased, it is difficult for the laser to heat the interior of the material that is far away from the heating surface, so the magnetic reconstruction effect of the bottom layer of the material is poor. The other is the overall heating method, which uses the mold to change the geometric shape of the magnetic soft material to perform reconfiguration and magnetization. This method has the advantages of simple reconfiguration process and relatively fast magnetization speed, but the disadvantage is that it is often used during the implementation process. Requires specific tooling for assistance and limited programming accuracy.

Contents of the invention

In view of the defects of the prior art, the object of the present invention is to provide a magnetic reconfiguration programming device and method for magnetic soft materials, aiming to solve the problem that the existing reconfiguration and magnetization methods of magnetic soft materials have poor reconstruction effect on the underlying magnetization material or the structure Complex problems with limited precision.

In order to achieve the above object, in the first aspect, the present invention provides a magnetic reconfiguration programming device for soft magnetic materials, including: a heating unit and a magnetization control unit;

The heating unit is used to heat the magnetic soft robot to be reconfigured; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material;

The magnetization control unit includes a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; The magnet array controls the magnetic field directions of the magnet units separately, so that the magnet array generates a composite space magnetic field with any controllable magnetic field direction at any position on the plane where the magnetic soft robot is located;

When the magnetic reconfiguration programming device is working, after the heating unit heats the magnetic soft robot to a preset temperature, the magnetic particles in the magnetic soft robot are programmed to turn to magnetization under the action of the composite space magnetic field generated by the magnet array, and then the The magnetic soft robot is cooled, and during the cooling process, it is ensured that the composite space magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder of the magnetic soft robot is solidified again, and the magnetic reconstruction of the magnetic soft robot is completed; the magnetic soft robot The magnetization steering direction of the magnetic particles in any region of the robot can be arbitrarily controllable under the action of the compound space magnetic field.

In an optional example, the magnet array is formed by cutting or assembling permanent magnet blocks, and each magnet block is a permanent magnet block with a preset shape or pattern; the permanent magnet block is hard or soft Quality permanent magnet cubes.

In an optional example, when the shape of the magnetic soft robot is long, two magnet blocks of each pair of magnet units are respectively placed above and below the plane where the magnetic soft robot is located, and each pair of magnet blocks acts on the magnetic The magnetic field direction of the plane where the soft robot is located is the X-axis direction, the Y-axis direction or the Z-axis direction; each magnet block includes an N pole and an S pole;

Each pair of magnet blocks acts on the preset area of the magnetic soft robot, so that the magnetic particles in the preset area are magnetized and turned toward the direction of the acting magnetic field of the magnet block;

Take the strip-shaped direction of the magnetic soft robot as the X axis, take the plane where the magnetic soft robot is located as the XY plane, and take the direction perpendicular to the XY plane as the Z axis; then many pairs of magnet units act on the heated magnetic soft robot to magnetically Reconfiguration programming; wherein, the strip-shaped magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles is along the strip from one end to the other: X-axis negative direction and X-axis positive direction; X-axis negative, X-axis positive, X-axis negative, and X-axis positive; Y-axis positive, X-axis negative, X-axis positive, and Y-axis positive; or Z-axis positive and Z-axis negative ; When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or distorted deformed shape.

In an optional example, when the magnetic soft robot is multi-armed, the magnet array is a pair of magnet blocks;

When the magnet array is a pair of magnet blocks, the magnet blocks are disc-shaped, which cover multiple arms of the magnetic soft robot, and the center of the magnet block coincides with the center of the magnetic soft robot; the plane where the magnetic soft robot is located is XY plane, with the direction perpendicular to the XY plane as the Z axis; the N poles and S poles of the disk-shaped magnet block are distributed along the Z-axis direction; when the disk-shaped magnet block acts on the heated magnetic soft robot After the structure, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize grasping.

In an optional example, when the shape of the magnetic soft robot is multi-armed, the magnet array is a plurality of pairs of magnet blocks; each magnet block includes an N pole and an S pole;

When the magnet array is multiple pairs of magnet blocks, the multiple pairs of magnet blocks are respectively distributed above and below the multiple arms of the magnetic soft robot; the direction of the magnetic field of each pair of magnet blocks acting on each arm of the magnetic soft robot is the same as that of each arm , when multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize grasping;

When the magnet array is multiple pairs of magnet blocks, the multiple pairs of magnet blocks are respectively distributed above and below the multiple arms of the magnetic soft robot and the central connection areas of the multiple arms;

Among them, the multiple pairs of magnet blocks are divided into the first type of magnet block pairs and the second type of magnet block pairs. On the upper and lower sides of the multiple arms of the magnetic soft robot; the plane where the magnetic soft robot is located is the XY plane, and the direction perpendicular to the XY plane is the Z axis: when the magnetic field direction of the first type of magnet block pair relative to the XY plane is opposite, and the second type of magnet When the magnetic field direction of the block pairs on the XY plane is the negative direction of the Z axis, multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, and under the action of an external magnetic field in the direction of the Z axis, the magnetic soft robot's multiple The arms can realize blooming deformation; when the magnetic field direction of the first magnet block pair acting on the XY plane is the positive direction of the Z axis, and the magnetic field direction of the second magnet block pair acting on each arm of the magnetic soft robot is in the same direction as that of each arm When the directions are the same or opposite, multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, and under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize bird-shaped deformation; When the direction of the magnetic field of the first type of magnet block relative to the XY plane is opposite, and the direction of the magnetic field of the second type of magnet block acting on the XY plane is the positive direction of the Z axis, multiple pairs of magnet blocks act on the heated magnetic soft robot After magnetic reconfiguration, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize fully-enclosed grasping.

In an optional example, when the magnetic soft robot is planar;

The magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is cut into a preset pattern, and multiple pairs of magnet blocks are combined into a preset pattern; or the magnet array includes multiple pairs of soft permanent magnet blocks, Each pair of magnet blocks is a pair of magnet blocks, and multiple pairs of magnet blocks are assembled into a preset pattern; each pair of magnet blocks acts on the magnetic soft robot in the same direction as the magnetic field;

After the preset pattern magnet array acts on the heated magnetic soft robot to perform magnetic reconstruction, the magnetization direction of the magnetic soft robot after magnetic reconstruction is distributed according to the preset pattern.

In an optional example, the magnetization regulating unit further includes: a fixing member;

The fixing member is used to fix the position of the magnet array to ensure the spatially symmetrical distribution of the magnet array; and is used to adjust the distance between each pair of magnet blocks in the magnet array relative to the magnetic soft robot, and control the magnetic field strength of the magnet block acting on the magnetic soft robot;

The fixing member is also used to provide a magnetization reconstruction area for the magnetic soft robot and carry the magnetic soft robot.

In a second aspect, the present invention provides a magnetic reconfiguration programming method for magnetic soft materials, comprising the following steps:

Determine a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by pairing the magnet array with multiple pairs of magnet units The direction of the magnetic field is controlled separately, so that the magnet array generates a composite space magnetic field with any controllable magnetic field direction at any position on the plane where the magnetic soft robot is located;

heating the magnetic soft robot to be reconfigured; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material;

When the magnetic soft robot is heated to the preset temperature, the magnetic particles in the magnetic soft robot are programmed to turn to magnetization under the action of the compound space magnetic field generated by the magnet array, and then the magnetic soft robot is cooled, and the recombination is ensured during the cooling process. The spatial magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder of the magnetic soft robot is solidified again, and the magnetic reconstruction of the magnetic soft robot is completed; the magnetization steering direction of the magnetic particles in any region of the magnetic soft robot can Under the action of a magnetic field, it can be controlled arbitrarily.

In an optional example, the magnet array is formed by cutting or assembling permanent magnet blocks, and each magnet block is a permanent magnet block with a preset shape or pattern; the permanent magnet block is hard or soft Quality permanent magnet cubes.

In an optional example, when the shape of the magnetic soft robot is long, two magnet blocks of each pair of magnet units are respectively placed above and below the plane where the magnetic soft robot is located, and each pair of magnet blocks acts on the magnetic The magnetic field direction of the plane where the soft robot is located is the X-axis direction, the Y-axis direction or the Z-axis direction; each magnet block includes an N pole and an S pole;

Each pair of magnet blocks acts on the preset area of the magnetic soft robot, so that the magnetic particles in the preset area are magnetized and turned toward the direction of the acting magnetic field of the magnet block;

Take the strip-shaped direction of the magnetic soft robot as the X axis, take the plane where the magnetic soft robot is located as the XY plane, and take the direction perpendicular to the XY plane as the Z axis; then many pairs of magnet units act on the heated magnetic soft robot to magnetically Reconfiguration programming; wherein, the strip-shaped magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles is along the strip from one end to the other: X-axis negative direction and X-axis positive direction; X-axis negative, X-axis positive, X-axis negative, and X-axis positive; Y-axis positive, X-axis negative, X-axis positive, and Y-axis positive; or Z-axis positive and Z-axis negative ; When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or distorted deformed shape.

Generally speaking, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

(1) Compared with the existing solid-liquid conversion reconstruction technology, the magnetic reconfiguration programming device of "overall heating-local magnetic field regulation" provided by the present invention is simplified in structure and operation. Simulations and experiments prove that by changing the pole position and magnet spacing of the magnet array, it is possible to realize various magnetization directions and programming reconstruction magnetization of different magnetization intensities on the millimeter scale. Therefore, in the magnetic reconfiguration process, according to the required magnetization type, different types of magnetic soft reconfiguration can be realized by changing the combination of the magnet array and then assembling and heating.

(2) The "overall heating-local magnetic field regulation" magnetic reconstruction method provided by the present invention not only has a simple magnetization process, but also ensures high reconstruction accuracy. Compared with the existing solid-liquid phase change magnetization method, the method proposed in the present invention only needs one-step magnetic reconfiguration programming to realize complex magnetization reconfiguration, and does not need to use mold assistance to change the soft magnetic composite material before magnetization. shape, and does not require the use of lasers and other devices for multi-step heating and reorientation processes. The magnet array generates a spatially heterogeneous multi-directional magnetic field, which maintains stable steering and reconfiguration in each region, and maintains magnetic reconfiguration while simplifying the magnetization process. accuracy.

(3) Compared with the existing overall heating technology of solid-liquid state conversion reconstruction method, the magnetic reconstruction method of "overall heating-local magnetic field regulation" provided by the present invention greatly improves the reconstruction programming accuracy, which is a new solution under the limitations of existing technologies. The magnetic recording application of complex patterns that are difficult to realize provides a new realization method. The magnet array used in the present invention is easy to replace and set. By preparing special-shaped magnets or assembling different magnet units, various types of patterned magnetic fields can be generated. Through the "overall heating-local magnetic field regulation" provided by the present invention "The device can magnetically record these special magnetic field information, and provides an effective way to realize the magnetic recording of complex information.

(4) The "overall heating-local magnetic field regulation" magnetic reconfiguration method provided by the present invention has the feature of reprogrammable. The existing overall heating technology uses mold-assisted magnetic reconstruction, which has low repeatability of operation, and the reconstruction effect of the same mold before and after two experiments will also be different due to the difference in mold fixing. The method proposed by the invention precisely controls the magnetic field distribution, so that the magnetization characteristics of the soft magnetic material programmed under the same local magnetic field are consistent. In addition, the magnetic information recorded by the phase-change magnetic soft material can be easily erased and re-recorded, and the same piece of magnetic soft material can stably exhibit a variety of different internal magnetization characteristics before and after programming.

Description of drawings

Fig. 1 is a comparison diagram of the magnetic programming principle of the present invention and the existing overall heating technology;

Fig. 2 is a schematic diagram of the generation principle of the composite direction space magnetic field according to the embodiment of the present invention;

Fig. 3 is a multi-programming process diagram of the magnetic reconfiguration of the magnetic soft composite material according to the embodiment of the present invention;

Fig. 4 is a diagram of the magnetic reconstruction process and deformation experiment results of the bar-shaped magnetic soft material provided by the embodiment of the present invention;

Fig. 5 is a magnet array map and a cloud map of the magnetic field distribution in the reconstruction area of the strip-shaped magnetic soft material magnetization mode A provided by the embodiment of the present invention;

Fig. 6 is a magnet array diagram and a cloud map of the magnetic field distribution in the reconstruction area of the magnetization mode B of the bar-shaped magnetic soft material provided by the embodiment of the present invention;

Fig. 7 is a magnetic reconstruction embodiment of the bar-shaped magnetic soft material provided by the present invention;

Fig. 8 is an embodiment of the magnetic reconstruction of the multi-arm magnetic soft material provided by the present invention;

FIG. 9 is an embodiment of pattern-type magnetic recording provided by the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, reference to the terms "one embodiment," "some embodiments," "exemplary embodiments," "examples," "specific examples," or "some examples" is intended to mean that the embodiments are A specific feature, structure, material, or characteristic described by or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Aiming at the defects of the prior art of solid-liquid reconfiguration and magnetization, the purpose of the present invention is to provide a magnetic reconfiguration programming device and method of "overall heating-local magnetic field regulation", aiming at improving the efficiency of the existing solid-liquid reconfiguration and magnetization method. The scope of application and programming accuracy provide a realization possibility for the complex environment application of the magnetically controlled soft robot, so as to solve the technical problems such as complex devices and limited reconstruction accuracy in the prior art.

In order to achieve the above purpose, the present invention provides a magnetic reconfiguration programming device of "overall heating-local magnetic field regulation", which includes an integral heating unit, a magnetization regulation unit and a solid-liquid reconfiguration type magnetic soft robot.

The overall heating unit is used for global heating at a constant temperature for the solid-liquid reconfigurable magnetic soft robot.

The magnetization regulation unit includes a programming magnet array and a fixing member; the magnetization regulation unit is used to provide a regulation magnetic field for programming magnetization of a solid-liquid reconfigurable magnetic soft robot.

The programming magnet array includes a plurality of paired magnet units, and each paired magnet unit can generate a magnetic field with a complex direction or a complex shape in the central plane area due to its different combination methods, so the plurality of paired magnet units Spatially heterogeneous magnetic fields with complex shapes and directions can be generated. The programming magnet array is used to generate a reconfiguration programming magnetic field for the solid-liquid reconfiguration process of the solid-liquid reconfiguration type magnetic soft robot.

On the one hand, the fixing member is used to fix the position of the magnet array and maintain the symmetry of the spatial distribution of the fixed magnet array; Stable loading of soft materials in magnetic field environments.

The solid-liquid reconfigurable magnetic soft robot is a magnetic soft material prepared by mixing phase-change composite magnetic powder and soft material according to a certain ratio. Phase-change composite magnetic powder is a kind of magnetic pellets that use low-melting composite materials to wrap magnetic particles. Normally, the spherical shell of phase-change composite magnetic powder is solid, and the inner magnetic particles are in a solid environment wrapped by composite materials. When the magnetized soft material is heated to the melting point of the composite material, the spherical shell of the phase-change composite magnetic powder is melted, and the inner magnetic particles are in a local liquid environment wrapped by the molten composite material.

When the system is working, the solid-liquid reconfigurable magnetic soft robot is pre-magnetized first, so that the magnetic soft robot has a certain magnetization direction orientation; then the spatial distribution of the programmed magnet array is determined according to the designed programmed magnetization type, and the assembly With the fixed magnetization control unit, the solid-liquid reconfigurable magnetic soft robot is installed in the control magnetic field area of the fixed magnetization control unit; finally, the assembly system of the magnetic soft robot and the magnetization control unit is placed in the overall heating unit, and heated to the phase change material After the melting temperature is maintained for a period of time, the assembly system is cooled to room temperature, the magnetic soft robot is taken out, and an external excitation magnetic field is applied to control the magnetic soft robot to deform and move according to the programmed magnetization type.

Preferably, the pre-magnetization process of the solid-liquid reconfigurable magnetic soft robot is the basis for realizing the reconfiguration programming process of the magnetic soft robot. The solid-liquid reconfigurable magnetization process requires the magnetic soft robot to have a certain external magnetism in its initial state, so The solid-liquid reconfigurable magnetic soft robot needs to be processed in advance using other magnetization systems.

Preferably, adjusting and programming the magnet array can realize multi-directional magnetic field loading in three-dimensional space, and then realize complex solid-liquid reconfiguration magnetization in any direction.

Preferably, under normal conditions, the magnetization characteristics of this type of magnetic soft material are magnetization stable after being treated with a magnetic field, and are not likely to change. When the magnetized soft material is heated to the melting point of the composite material, the outer shell of the magnetic pellets melts, and the inner magnetic particles are in a local liquid environment wrapped by the molten composite material. At this time, the magnetic particles are easily in a lower direction of the applied magnetic field Secondary orientation occurs, and when the magnetic soft material returns to the initial temperature, the magnetic particles maintain the stability of the magnetization characteristics after orientation.

According to the present invention, the operation steps of the magnetic reconfiguration programming device provided for "overall heating-local magnetic field regulation" are as follows:

S1, under other magnetization devices, perform pre-magnetization treatment on the solid-liquid reconfigurable magnetic soft robot, so that the magnetic soft robot has a certain magnetization direction orientation;

S2, according to the target programming magnetization type of the solid-liquid reconfigurable magnetic soft robot, design and determine the spatial distribution of the programming magnet array, and assemble and fix the magnetization control unit;

S3, installing the solid-liquid reconfigurable magnetic soft robot on the central surface of the regulating magnetic field area of the fixed magnetization regulating unit;

S4, put the assembly system of the magnetic soft robot and the magnetization control unit into the overall heating unit, heat the assembly system to the melting temperature of the phase change material, keep heating for a period of time, then cool the assembly system to room temperature, take out the magnetic soft robot to complete the reassembly build the whole process.

Preferably, the magnetic field of the magnetic treatment pre-process of the solid-liquid reconfiguration type magnetic soft robot described in step S1 should be higher than the saturation magnetization magnetic field of the magnetic material, so as to ensure efficient programmed magnetization during the solid-liquid reconfiguration magnetization process.

Preferably, the programming magnet array in step S2 can realize the generation of a magnetic field in a specific direction in three-dimensional space in a local area, and the fixing member maintains a spatially symmetrical distribution of the programming magnet array in the magnetization control unit.

Preferably, the regulating magnetic field area of the fixed magnetization regulating unit described in step S3 has symmetry with respect to its geometric center plane, and the design of the fixing member ensures that the center of the solid-liquid reconfigurable magnetic soft robot is located on the geometric center plane of the regulating magnetic field area .

Preferably, during the heating process in step S4, the temperature should be kept stable and higher than the melting temperature of the molten composite material. After the magnetization software programming process is completed, it should be taken out after complete cooling to ensure the complete progress of the solid-liquid reconfiguration magnetization process.

Figure 1 is a comparison diagram of the magnetic programming principle of the present invention and the existing overall heating technology. The existing solid-liquid reconfiguration and magnetization overall heating technology is shown in (a) in Figure 1. After the magnetic soft material is used to wind the spherical mold and fix it, the overall heating The magnetic soft material is applied with an upward magnetic field, and the magnetization characteristics of the magnetic soft material are programmed and reconstructed at this time. Therefore, the existing overall heating technology is based on the assistance of the mold to change the geometry of the magnetic soft material, and then realize the programming reconstruction of the magnetic soft material. However, the shape change of the magnetic soft material based on mold constraints is inaccurate, and there are large operational errors during the experiment, including: the fixed constraint deviation of the magnetic soft material in the mold and the soft deformation of the magnetic soft material during the winding process The difference in the reconstructed magnetization pattern brought about by the inhomogeneity of the thickness distribution. Therefore, the reconstruction accuracy of the existing overall heating solid-liquid reconstruction technology is relatively limited. It can only qualitatively control the deformation morphology of the magnetic soft material under the excitation magnetic field macroscopically, and it is difficult to determine the magnetization properties of the magnetic soft material within a unit length. Carry out quantitative and precise control. In some application scenarios where the accuracy of reconfiguration programming magnetization is more stringent, existing technologies often cannot meet the requirements and are difficult to promote and use.

As shown in (b) of Figure 1, the magnetic reconstruction method of "overall heating-local magnetic field regulation" proposed by the present invention does not need to change the shape of the magnetic soft material, and realizes the mm The adjustment of the magnitude and direction of the magnetic field in any direction on the scale can accurately program and magnetize the soft magnetic material in any direction, which greatly improves the programming accuracy and controllability of the magnetic reconfiguration method. The method proposed by the present invention has the ability to Generalizability, it has wide applicability in the field of precise magnetization of magnetic soft materials.

In some implementation cases, the magnet array used in step S2 is combined with a micro-permanent magnet array to generate a spatial magnetic field in composite directions in the soft magnetic material region. As shown in Figure 2, by combining the magnet arrays as shown in Figure 2, magnetic fields in X, Y, and Z three-dimensional directions can be generated on the geometric neutral plane of the magnet array. By using each magnet array as a basic unit, Then, combining different magnet array units can generate spatially heterogeneous magnetic fields in various directions in the magnetic soft material area, which is used for material reconfiguration programming of the magnetic soft body. In a nutshell, through the method of magnet array, a spatial magnetic field with three-dimensional compound directions can be generated, and then the programmed magnetization on the three-dimensional scale of the magnetic soft material can be realized.

In some embodiments, the magnet array used in step S2 is prepared by cutting or assembling soft magnetic squares to generate a complex magnetic field with a specific pattern in the soft magnetic material area. In the invention case shown in Fig. 9, different patterned magnetic fields were formed by using magnet arrays, and pattern experiments were carried out.

FIG. 3 is a programming process and a reprogramming diagram of the magnetic reconfiguration of the magnetic-soft composite material according to an embodiment of the present invention, as shown in FIG. 3 . Initially magnetize the soft magnetic material in the downward direction, and then heat the soft magnetic material as a whole. At the same time, based on the magnet array mentioned in Fig. Program the magnetic fields in different directions left and up. In the heated state, the PEG shell of the internal composite magnetic sphere particles melts, the magnetic powder NdFeB is in a liquid environment, and the magnetic field turns according to the applied multi-directional programming, and the internal magnetization of the strip-shaped magnetic soft material changes. Under the condition of maintaining the magnetic field, cool the strip-shaped magnetic soft material. When the PEG shell re-solidifies, the composite magnetic powder shows magnetic stability to the outside. The programming process of the strip-shaped soft robot is completed. Under the upward external magnetic field, the strip-shaped magnetic soft robot Deformation characteristic of magnetization mode A is exhibited.

In addition, the magnetic soft material still has the characteristics of magnetic programming, and can repeat the above solid-liquid phase transition magnetic programming process many times. As shown in Figure 3, the above process is repeated for the strip-shaped magnetic soft material in the A-type magnetization mode. The programming process results in a new bar-shaped soft robot with magnetization pattern B. Under the same upward applied magnetic field, the soft robot exhibits deformation characteristics antisymmetric to the A magnetization mode.

Fig. 4 is a diagram of the magnetic reconfiguration process and deformation experiment results of the bar-shaped magnetic soft material provided by the present invention. As shown in Fig. 4, it illustrates the specific implementation process of the solid-liquid reconstitution method proposed by the present invention. In this invention case, pre-magnetize the soft magnetic material, then design the specific combination of the magnet array according to the required programming magnetization characteristics, assemble and fix the magnet array and the soft magnetic material equidistantly, and place the magnetic soft material above the composite magnetic powder shell Heat the assembly mold including the magnetic soft material and magnet at the melting temperature, keep the heating stable for a period of time, and finally cool the assembly mold, wait for it to cool down to room temperature, take out the magnetic soft material, and observe its magnetization programming effect.

Specifically, the pre-magnetization treatment of magnetic soft materials is the basis of the programmed orientation of this type of magnetization method. When the magnetic soft material is not magnetized, there is no initial magnetic domain orientation to the outside, and the steering angle of each magnetic domain unit is quite different, so it is difficult to program the magnetization steering under a low external magnetic field. When the magnetic soft material has a certain initial magnetization direction, the material has an initial magnetic domain orientation to the outside, and the steering angles of each magnetic domain unit in a local area are similar, and the programmed magnetization steering in a specific direction can be performed under a low external magnetic field.

Specifically, the heating temperature of the water bath is higher than the melting temperature of the shell of the composite magnetic powder to ensure that the shell melts during the heating process, so that the magnetic particles are programmed and magnetized in the local liquid environment wrapped by the molten composite material. On the contrary, if the temperature is low, the shell does not melt during the heating process, and the magnetic particles are in a solid environment wrapped in a composite material, making it difficult to reprogram at low field strength.

Specifically, the distance of the equidistant assembly process should be greater than the minimum steering magnetic field strength of the magnetic particles in the local liquid environment wrapped by the molten composite material, so as to ensure the reconfiguration and steering efficiency of the magnetic particles in the composite magnetic powder.

Specifically, a steady loading of the programming magnetic field should be maintained until the shell of magnetically soft material is fully cured. Before the shell is completely solidified, the magnetic particles are still in a liquid-like environment. At this time, the direction of the magnetic domain is easy to change under a low external magnetic field, which affects the difference between the actual magnetization characteristics and the programmed magnetization characteristics. Therefore, it is necessary to cool the assembly mold for a period of time, and then take out the magnetic soft material after the composite magnetic powder shell is completely solidified.

Furthermore, in the process of programming magnetization, different micro-magnet arrays can be replaced according to the actual required magnetization direction, and different types of programming magnetization of this type of magnetic soft material can be realized.

Furthermore, the principle of this type of programmed magnetization method is that the magnetic particles have low-intensity magnetic field steering characteristics in the local liquid environment wrapped by the molten composite material. Therefore, this type of programmed magnetization method has multiple programmability, and can perform multiple programming, recovery and reprogramming on the same material.

Optionally, the thickness of the partition is changed during the experiment, and the distance between the magnet and the magnetic soft material is precisely controlled, thereby controlling the magnetic field strength generated by the magnet array in the magnetic soft body area, which can precisely control the programmed magnetic field strength, and different magnetic field strengths The experimental results of magnetic soft materials are studied.

Specifically, in this implementation case, when changing the thickness of the separator, it is necessary to keep the axial geometric center plane of the magnetic soft material on the geometric center plane of the magnet array, ensure that the magnetic soft material is magnetized symmetrically about the axial geometric center plane, and avoid The magnetization characteristics of the material show a unilateral tendency, which affects the deformation symmetry of the magnetic soft material under the excitation magnetic field.

Fig. 5 is the magnet array diagram of the magnetization mode A of the bar-shaped magnetic soft material material provided by the present invention and the cloud map of the magnetic field distribution in the reconstruction area, as shown in (a) in Fig. 5, the L-shaped deformation is set as the target magnetic soft body in this embodiment The material is deformed, and the magnet array is designed as shown in FIG. 5 . The magnetic field distribution cloud image of the programming area combined with the magnet array is shown in FIG. 5( b ). Therefore, the distribution of the target magnet array can better meet the requirements of L-shaped deformation.

Fig. 6 is the magnet array diagram of the magnetization mode B of the bar-shaped magnetic soft material material provided by the present invention and the cloud diagram of the magnetic field distribution in the reconstruction area, as shown in Fig. 6 (a), in another embodiment, the B-type magnetization mode is set to be deformed The target magnetic soft material is deformed, and the designed magnet array is shown in Figure 6, and the magnetic field distribution cloud diagram of the programming area combined with the magnet array is shown in Figure 6(b). In the experimental case of FIG. 6 , reprogramming is performed based on the samples of the implementation case shown in FIG. 5 , and the reprogramming conversion from the L-shaped deformed magnetization to the antisymmetric L-shaped deformed magnetization can be realized.

Fig. 7 is the embodiment of the magnetic reconstruction of the bar-shaped magnetic soft material provided by the present invention. The square magnet (the geometric dimensions of magnet A and B are both 1mm×3mm×8mm, and the magnetization direction is 1mm direction and 3mm direction respectively. The geometric size of magnet C is 1mm×3mm×4mm, and the magnetization direction is 4mm direction) configuration, design Four different magnet arrays were developed, which can generate different magnetic field distributions in millimeter-scale strip-shaped phase-change composite magnetic soft materials, and can reconstruct magnetic soft materials with different magnetization types, and record their magnetic field under upward magnetic field. The deformation form is shown in Figure 7. The invention carries out magnetic field simulation on four types of magnet arrays, and at the same time carries out deformation simulation on four kinds of soft magnetic materials in the ABAQUS finite element subroutine. As shown in Figure 7, the simulation results are in good agreement with the experimental results, indicating that the phase change soft magnetic composite material can form U-shaped, W-shaped, O-shaped and twisted deformed shapes under the same external magnetic field.

Fig. 8 is the embodiment of the magnetic reconstruction of the multi-arm magnetic soft material provided by the present invention. As shown in Fig. Two types of six-armed and four-armed magnetic software) as an example, by using three types of magnets (square magnet D, E geometric dimensions are 2mm × 2mm × 3mm, the magnetization direction is 2mm direction and 3mm direction respectively The geometric dimension of the cylindrical magnet F is Φ6mm×2mm, and the magnetization direction is 2mm), and six different magnet arrays are designed. Reconstruction produces magnetic soft materials with different magnetization types, and their deformation forms under the upward magnetic field are recorded as shown in Figure 8. The present invention performs magnetic field simulation on the above six types of magnet arrays, and at the same time performs deformation simulation on six kinds of soft magnetic materials in the ABAQUS finite element subroutine. As shown in Figure 8, the simulation results are in good agreement with the experimental results, which proves that the multi-arm phase change soft magnetic composite material can form a variety of different deformation shapes under the same external magnetic field, including: half-grab deformation, Blossom deformation, bird deformation and full wrap grabbing.

FIG. 9 is an embodiment of the pattern-type magnetic recording provided by the present invention, as shown in FIG. 9 . In the magnetic recording embodiment, a composite permanent magnet prepared based on PDMS was used as a magnetic source, and the composite permanent magnet was prepared according to the mass ratio of NdFeB:PDMS=4:1. Compared with traditional permanent magnets, the manufacturing process of these composite magnets is simple, and its two-dimensional shape can be cut arbitrarily by laser devices, which provides a basis for realizing magnetic recording of complex arbitrary patterns. On the basis of the method in Figure 2, in this case, a composite PDMS permanent magnet was used to replace the previous NdFeB permanent magnet, and the experimental process was consistent with Figure 2. In the embodiment, two methods of overall cutting and forming and magnet block assembly are used to prepare six different types of patterned magnets. In the embodiment of patterned magnetic recording, the present invention completes the magnetic recording of graphic combination, number combination 1037, and letter combination HUST based on the overall cut composite magnet array. At the same time, three portrait patterns (smiling face, smiling face with sunglasses and smiling face with heart eyes) were recorded based on the composite magnet square assembly array.

In particular, when designing the magnetic field distribution of the assembled magnet array, the magnetic squares can be magnetized in different directions to enrich the recorded information. For example, as shown in (h) of Figure 9, when the magnetization directions of the magnets in the eye and mouth regions are set to be opposite, the recorded magnetic pattern can be displayed as a two-color pattern.

It is easy for those skilled in the art to understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.

Claims (10)

1. A magnetic reconfiguration programming device for magnetic soft materials, comprising: a heating unit and a magnetization control unit; The heating unit is used to heat the magnetic soft robot to be reconfigured; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material; The magnetization control unit includes a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; The magnet array controls the magnetic field directions of the magnet units separately, so that the magnet array generates a composite space magnetic field with any controllable magnetic field direction at any position on the plane where the magnetic soft robot is located; When the magnetic reconfiguration programming device is working, after the heating unit heats the magnetic soft robot to a preset temperature, the magnetic particles in the magnetic soft robot are programmed to turn to magnetization under the action of the composite space magnetic field generated by the magnet array, and then the The magnetic soft robot is cooled, and during the cooling process, it is ensured that the composite space magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder of the magnetic soft robot is solidified again, and the magnetic reconstruction of the magnetic soft robot is completed; the magnetic soft robot The magnetization steering direction of the magnetic particles in any region of the robot can be arbitrarily controllable under the action of the compound space magnetic field. 2. The device according to claim 1, wherein the magnet array is formed by cutting or assembling permanent magnet blocks, and each magnet block is a permanent magnet block of a preset shape or pattern; The magnetic square is a hard or soft permanent magnetic square. 3. The device according to claim 1 or 2, characterized in that, when the shape of the magnetic soft robot is elongated, two magnet blocks of each pair of magnet units are respectively placed above and below the plane where the magnetic soft robot is located. Below, the magnetic field direction of each pair of magnet blocks acting on the plane where the magnetic soft robot is located is the X-axis direction, the Y-axis direction or the Z-axis direction; each magnet block includes N poles and S poles; Each pair of magnet blocks acts on the preset area of the magnetic soft robot, so that the magnetic particles in the preset area are magnetized and turned toward the direction of the acting magnetic field of the magnet block; Take the strip-shaped direction of the magnetic soft robot as the X axis, take the plane where the magnetic soft robot is located as the XY plane, and take the direction perpendicular to the XY plane as the Z axis; then many pairs of magnet units act on the heated magnetic soft robot to magnetically Reconfiguration programming; wherein, the strip-shaped magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles is along the strip from one end to the other: X-axis negative direction and X-axis positive direction; X-axis negative, X-axis positive, X-axis negative, and X-axis positive; Y-axis positive, X-axis negative, X-axis positive, and Y-axis positive; or Z-axis positive and Z-axis negative ; When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or distorted deformed shape. 4. The device according to claim 1 or 2, wherein when the magnetic soft robot is multi-armed, the magnet array is a pair of magnet blocks; When the magnet array is a pair of magnet blocks, the magnet blocks are disc-shaped, which cover multiple arms of the magnetic soft robot, and the center of the magnet block coincides with the center of the magnetic soft robot; the plane where the magnetic soft robot is located is XY plane, with the direction perpendicular to the XY plane as the Z axis; the N poles and S poles of the disk-shaped magnet block are distributed along the Z-axis direction; when the disk-shaped magnet block acts on the heated magnetic soft robot After the structure, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize grasping. 5. The device according to claim 1 or 2, wherein when the shape of the magnetic soft robot is multi-armed, the magnet array is a plurality of pairs of magnet blocks; each magnet block includes N poles and S poles. pole; When the magnet array is multiple pairs of magnet blocks, the multiple pairs of magnet blocks are respectively distributed above and below the multiple arms of the magnetic soft robot; the direction of the magnetic field of each pair of magnet blocks acting on each arm of the magnetic soft robot is the same as that of each arm , when multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize grasping; When the magnet array is multiple pairs of magnet blocks, the multiple pairs of magnet blocks are respectively distributed above and below the multiple arms of the magnetic soft robot and the central connection areas of the multiple arms; Among them, the multiple pairs of magnet blocks are divided into the first type of magnet block pairs and the second type of magnet block pairs. On the upper and lower sides of the multiple arms of the magnetic soft robot; the plane where the magnetic soft robot is located is the XY plane, and the direction perpendicular to the XY plane is the Z axis: when the magnetic field direction of the first type of magnet block pair relative to the XY plane is opposite, and the second type of magnet When the magnetic field direction of the block pairs on the XY plane is the negative direction of the Z axis, multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, and under the action of an external magnetic field in the direction of the Z axis, the magnetic soft robot's multiple The arms can realize blooming deformation; when the magnetic field direction of the first magnet block pair acting on the XY plane is the positive direction of the Z axis, and the magnetic field direction of the second magnet block pair acting on each arm of the magnetic soft robot is in the same direction as that of each arm When the directions are the same or opposite, multiple pairs of magnet blocks act on the heated magnetic soft robot to perform magnetic reconstruction, and under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize bird-shaped deformation; When the direction of the magnetic field of the first type of magnet block relative to the XY plane is opposite, and the direction of the magnetic field of the second type of magnet block acting on the XY plane is the positive direction of the Z axis, multiple pairs of magnet blocks act on the heated magnetic soft robot After magnetic reconfiguration, under the action of an external magnetic field in the Z-axis direction, the multiple arms of the magnetic soft robot can realize fully-enclosed grasping. 6. The device according to claim 1 or 2, wherein when the magnetic soft robot is planar; The magnet array includes multiple pairs of soft permanent magnet blocks, each pair of magnet blocks is cut into a preset pattern, and multiple pairs of magnet blocks are combined into a preset pattern; or the magnet array includes multiple pairs of soft permanent magnet blocks, Each pair of magnet blocks is a pair of magnet blocks, and multiple pairs of magnet blocks are assembled into a preset pattern; each pair of magnet blocks acts on the magnetic soft robot in the same direction as the magnetic field; After the preset pattern magnet array acts on the heated magnetic soft robot to perform magnetic reconstruction, the magnetization direction of the magnetic soft robot after magnetic reconstruction is distributed according to the preset pattern. 7. The device according to claim 1 or 2, wherein the magnetization regulating unit further comprises: a fixing member; The fixing member is used to fix the position of the magnet array to ensure the spatially symmetrical distribution of the magnet array; and is used to adjust the distance between each pair of magnet blocks in the magnet array relative to the magnetic soft robot, and control the magnetic field strength of the magnet block acting on the magnetic soft robot; The fixing member is also used to provide a magnetization reconstruction area for the magnetic soft robot and carry the magnetic soft robot. 8. A magnetic reconfiguration programming method for magnetic soft materials, comprising the following steps: Determine a programmable magnet array; the magnet array includes at least one pair of magnet units; each pair of magnet units includes two magnet blocks, and the two magnet blocks are symmetrically distributed relative to the plane where the magnetic soft robot is located; by pairing the magnet array with multiple pairs of magnet units The direction of the magnetic field is controlled separately, so that the magnet array generates a composite space magnetic field with any controllable magnetic field direction at any position on the plane where the magnetic soft robot is located; heating the magnetic soft robot to be reconfigured; the magnetic soft robot is prepared by mixing phase change composite magnetic powder and soft material; When the magnetic soft robot is heated to the preset temperature, the magnetic particles in the magnetic soft robot are programmed to turn to magnetization under the action of the compound space magnetic field generated by the magnet array, and then the magnetic soft robot is cooled, and the recombination is ensured during the cooling process. The spatial magnetic field continues to act on the magnetic soft robot until the phase-change composite magnetic powder of the magnetic soft robot is solidified again, and the magnetic reconstruction of the magnetic soft robot is completed; the magnetization steering direction of the magnetic particles in any region of the magnetic soft robot can Under the action of a magnetic field, it can be controlled arbitrarily. 9. The method according to claim 8, wherein the magnet array is formed by cutting or assembling permanent magnet blocks, and each magnet block is a permanent magnet block of a preset shape or preset pattern; The magnetic square is a hard or soft permanent magnetic square. 10. according to the described method of claim 8 or 9, it is characterized in that, when the shape of described soft magnetic robot is elongated, every pair of magnet unit two magnet blocks are respectively placed on the plane where magnetic soft robot is located and Below, the magnetic field direction of each pair of magnet blocks acting on the plane where the magnetic soft robot is located is the X-axis direction, the Y-axis direction or the Z-axis direction; each magnet block includes N poles and S poles; Each pair of magnet blocks acts on the preset area of the magnetic soft robot, so that the magnetic particles in the preset area are magnetized and turned toward the direction of the acting magnetic field of the magnet block; Take the strip-shaped direction of the magnetic soft robot as the X axis, take the plane where the magnetic soft robot is located as the XY plane, and take the direction perpendicular to the XY plane as the Z axis; then many pairs of magnet units act on the heated magnetic soft robot to magnetically Reconfiguration programming; wherein, the strip-shaped magnetic soft robot can be magnetically reconfigured into the following situations: the magnetization direction of the internal magnetic particles is along the strip from one end to the other: X-axis negative direction and X-axis positive direction; X-axis negative, X-axis positive, X-axis negative, and X-axis positive; Y-axis positive, X-axis negative, X-axis positive, and Y-axis positive; or Z-axis positive and Z-axis negative ; When the elongated magnetic soft robot is magnetically reconfigured into the above four situations, under the action of an external magnetic field in the Z-axis direction, the magnetic soft robot can form a U-shaped, W-shaped, O-shaped or distorted deformed shape.

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