CN110465920A - It is a kind of novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method - Google Patents
It is a kind of novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method Download PDFInfo
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- CN110465920A CN110465920A CN201910786240.1A CN201910786240A CN110465920A CN 110465920 A CN110465920 A CN 110465920A CN 201910786240 A CN201910786240 A CN 201910786240A CN 110465920 A CN110465920 A CN 110465920A
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L3/00—Containers or dishes for laboratory use, e.g. laboratory glassware; Droppers
- B01L3/50—Containers for the purpose of retaining a material to be analysed, e.g. test tubes
- B01L3/502—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures
- B01L3/5027—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures by integrated microfluidic structures, i.e. dimensions of channels and chambers are such that surface tension forces are important, e.g. lab-on-a-chip
- B01L3/50273—Containers for the purpose of retaining a material to be analysed, e.g. test tubes with fluid transport, e.g. in multi-compartment structures by integrated microfluidic structures, i.e. dimensions of channels and chambers are such that surface tension forces are important, e.g. lab-on-a-chip characterised by the means or forces applied to move the fluids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
- H01F1/01—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of inorganic materials
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01L—CHEMICAL OR PHYSICAL LABORATORY APPARATUS FOR GENERAL USE
- B01L2400/00—Moving or stopping fluids
- B01L2400/04—Moving fluids with specific forces or mechanical means
- B01L2400/0403—Moving fluids with specific forces or mechanical means specific forces
- B01L2400/043—Moving fluids with specific forces or mechanical means specific forces magnetic forces
Abstract
It is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method that the present invention provides one kind, belongs to preparation and the actuation techniques field of magnetic travelling Micro-Robot.The present invention removes external pollen sheath coating by pollen pretreatment: pollen being impregnated in chloroform/methanol mixed liquor, solution is then removed by suction filtration under vacuum；Second of impregnation is carried out after vacuum drying in hydrochloric acid；It is rinsed with deionized water；Then the fabricated in situ magnetic particle on pollen: place the product in FeCl2Solution is placed in FeCl again3It in solution, is all shaken, is centrifuged, removal supernatant is handled, and deionized water is added in flask, heats under a nitrogen, is added by the processed pollen of above-mentioned steps, is adjusted pH value, agitating and heating；Pollen particle is maintained using magnet, outwells supernatant, obtains magnetic pollen travelling micro-machine.For the present invention using pollen as template, travelling Micro-Robot shape obtained is varied, and biocompatibility is high.
Description
Technical field
It is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method that the present invention relates to one kind, belongs to magnetism
The preparation of travelling Micro-Robot and actuation techniques field.
Background technique
Application prospect due to micron robot in fields such as biomedicines uses spy so synthesizing various special constructions
The micron robot of kind material becomes current one of research hotspot.Pollen in nature has various shape, we utilize flower
Powder is as natural template, the fabricated in situ magnetic particle on pollen, we just obtain having magnetic flower of various shapes in this way
Powder travelling micro-machine can control the direction of motion and movement velocity of magnetic pollen travelling Micro-Robot under the control in magnetic field.
The invention solves the method complexity of existing synthesizing magnetic travelling Micro-Robot, and post-processing trouble, biocompatibility is low, experiment
The low problem of repeatability.The magnetic pollen travelling Micro-Robot of preparation of the invention is small in size, magnetic strong, biocompatibility
Good, in biomedicine, the fields such as Bionic Design have wide practical use.
Summary of the invention
The purpose of the present invention is to solve above-mentioned existing travel robot shape of the existing technology is single, preparation
It is complicated；Solvent-thermal method is difficult to the chemical composition and geometric shape of accurate travel robot；Electrochemical deposition method liquid waste processing is difficult,
It is at high cost；The low problem of the surface energy of the common component of layer assembly method, and then provide a kind of novel using pollen as mould
The preparation of the magnetic pollen travelling Micro-Robot of plate.
The purpose of the present invention is what is be achieved through the following technical solutions:
It is a kind of novel using pollen as the preparation of the magnetic pollen of template travelling Micro-Robot, comprising the following steps:
One, external pollen sheath coating is removed by pollen pretreatment
Step 1: the pollen of 0.01g~0.1g is impregnated 12~36 hours in the chloroform/methanol mixed liquor of 5~20ml,
Then solution is removed by suction filtration under vacuum；
Step 2: product obtained in step 1 is dried in vacuo 6~24 hours at 20~60 DEG C；
Step 3: product obtained in step 2 is subjected to second of impregnation 0.5 in the hydrochloric acid solution of 5~30ml
~2 hours, centrifugation removal supernatant, vacuum drying；
Step 4: the deionized water of product obtained in step 3 is rinsed 2~5 times；
Two, fabricated in situ magnetic particle on pollen
Step 5: product obtained in step 4 is put into the FeCl2 solution of 0.01g/mL~0.5g/mL and shakes 0.5
~3h, centrifugation remove supernatant；
Step 6: product obtained in step 5 is put into the FeCl3 solution of 0.01g/mL~0.5g/mL and shakes 0.5
~3h, centrifugation remove supernatant；
Step 7: in three-necked flask be added 5~50mL deionized water, be heated to 50~100 DEG C under a nitrogen, add through
The processed pollen of above-mentioned steps is crossed, pH value is adjusted, is in entire solution in alkaline environment, mixture is vigorously stirred, 50
0.2~2h is heated at~100 DEG C；；
Step 8: pollen particle is maintained using magnet in reaction flask, quickly outwells supernatant, obtains fabricated in situ
Magnetic pollen travelling micro-machine.
Water used in the experiment is deionized water, and into deionized water lead to high pure nitrogen for a period of time after
, deionized deoxygenated water.
Pollen described in the step 1 includes sunflower powder, rape pollen, camellia pollen and pollen of Semen Fagopyri Esculenti etc., Suo Youdan
Non- broken pollen of a pollen partial size at 5~50 μm.
Volume ratio is chloroform/methanol=3/1 in chloroform/methanol mixed liquor in the step 1.
The revolving speed of centrifugal treating in the step 3 is 2000~8000rpm.
The concentration of hydrochloric acid solution used is 0.5~2mol/L in the step 3.
The revolving speed of centrifugal treating used is 2000~8000rpm in the step 5.
PH value is adjusted between 9~14 with alkaline solution in the step 7.
The invention has the benefit that
Of the invention solve that travel robot shape of the existing technology is single, and preparation is complicated.Solvent-thermal method is difficult to
The chemical composition and geometric shape of accurate travel robot；Electrochemical deposition method liquid waste processing is difficult, at high cost；Layer assembly method
Common component surface can low problem, the present invention by having characteristic of various shapes using the pollen in nature,
Using pollen as template, travelling Micro-Robot shape obtained is varied, and biocompatibility is high.
Travel robot shape obtained in the template preparation of traditional travel robot is single, mostly spherical, rodlike, colored
Raw shape.Template is become pollen by the present invention, because the pollen of nature has various forms, varied shape can be made
The travel robot of shape, and the method preparation process is simple, can be applied to industry, produces in enormous quantities；And pollen is that can make
It is nontoxic in vivo with product, good biocompatibility.
The robot maximum adverse current speed for carrying out countercurrent movement in quartz glass capillary at present can only achieve 2mm/s,
And robot cannot turn in motion process.It is by magnetism sea urchin shape travel robot made from template of sunflower powder
Example, in quartz glass capillary, magnetic sea urchin shape travel robot can carry out adverse current in the case where flow rate of water flow is 8mm/s
Movement increases the frictional force of travel robot and substrate because of the thorniness structure of sea urchin shape, therefore it can adherent fortune always
It is dynamic, and the rotation of any direction can be carried out.
In application process can be by adjusting field frequency, the movement velocity of magnetic pollen travel robot becomes therewith
Change；Magnetic field angle is adjusted, the direction of motion of magnetic pollen travel robot changes correspondingly；Adjust the magnetic induction intensity in magnetic field, magnetic
Property pollen travel robot magnetic pollen travel robot can be carried out accurate with the adverse current speed corresponding change of countercurrent movement
Regulation.
Detailed description of the invention
The sea urchin shape magnetism pollen travel robot microscope figure that Fig. 1 is 15~35 microns of diameter.
The scanning electron microscope (SEM) photograph for the sea urchin shape magnetism pollen travel robot that Fig. 2 is 15~35 microns of diameter.
Fig. 3 is the EDS energy spectrum diagram of sea urchin shape magnetism pollen travel robot.
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail: the present embodiment is being with technical solution of the present invention
Under the premise of implemented, give detailed embodiment, but protection scope of the present invention is not limited to following embodiments.
As shown in Figure 1, Figure 2 and Figure 3, one kind involved in the present embodiment is novel moves about by the magnetic pollen of template of pollen
Micro-Robot preparation method, comprising the following steps:
One, external pollen sheath coating is removed by pollen pretreatment
Step 1: the pollen of 0.01g~0.1g is impregnated 12~36 hours in the chloroform/methanol mixed liquor of 5~20ml,
Then solution is removed by suction filtration under vacuum；
Step 2: product obtained in step 1 is dried in vacuo 6~24 hours at 20~60 DEG C；
Step 3: product obtained in step 2 is subjected to second of impregnation 0.5 in the hydrochloric acid solution of 5~30ml
~2 hours, centrifugation removal supernatant, vacuum drying；
Step 4: the deionized water of product obtained in step 3 is rinsed 2~5 times；
Two, fabricated in situ magnetic particle on pollen
Step 5: product obtained in step 4 is put into the FeCl2 solution of 0.01g/mL~0.5g/mL and shakes 0.5
~3h, centrifugation remove supernatant；
Step 6: product obtained in step 5 is put into the FeCl3 solution of 0.01g/mL~0.5g/mL and shakes 0.5
~3h, centrifugation remove supernatant；
Step 7: in three-necked flask be added 5~50mL deionized water, be heated to 50~100 DEG C under a nitrogen, add through
The processed pollen of above-mentioned steps is crossed, pH value is adjusted, is in entire solution in alkaline environment, mixture is vigorously stirred, 50
0.2~2h is heated at~100 DEG C；；
Step 8: pollen particle is maintained using magnet in reaction flask, quickly outwells supernatant, obtains fabricated in situ
Magnetic pollen travelling micro-machine.
Water used in the experiment is deionized water, and into deionized water lead to high pure nitrogen for a period of time after
, deionized deoxygenated water.
Pollen described in the step 1 includes sunflower powder, rape pollen, camellia pollen and pollen of Semen Fagopyri Esculenti etc., Suo Youdan
Non- broken pollen of a pollen partial size at 5~50 μm.
Volume ratio is chloroform/methanol=3/1 in chloroform/methanol mixed liquor in the step 1.
The revolving speed of centrifugal treating in the step 3 is 2000~8000rpm.
The concentration of hydrochloric acid solution used is 0.5~2mol/L in the step 3.
The revolving speed of centrifugal treating used is 2000~8000rpm in the step 5.
PH value is adjusted between 9~14 with alkaline solution in the step 7.
Beneficial effects of the present invention are verified with following embodiment below:
One kind of the present embodiment is novel to move about Micro-Robot preparation method by following step by the magnetic pollen of template of pollen
It is rapid to carry out:
Embodiment 1
One, external pollen sheath coating is removed by pollen pretreatment
Step 1: the sunflower powder of 0.0654g is impregnated 24 hours in the chloroform/methanol mixed liquor of 10ml, then
Solution is removed by suction filtration under vacuum；
Step 2: product obtained in step 1 is dried in vacuo 12 hours at 60 DEG C；
Step 3: product obtained in step 2 is subjected to second of impregnation 1 in the hydrochloric acid of the 1mol/L of 10ml
Hour；
Step 4: it sunflower flower powder will be flushed three times with 10ml deionized water after step 3 is dry；
Two, fabricated in situ magnetic particle on sunflower powder
Step 5: the FeCl of 0.02035g/mL is prepared2Solution: by 0.2035g FeCl2The deionization of 10mL degassing is added
Water；Prepare the FeCl of 0.0331g/mL3Solution: 0.35g FeCl3The deionized water of 10mL degassing is added；
Step 6: the sunflower powder of degreasing is placed in FeCl2In solution, 1h is shaken, centrifugation removes supernatant；
Step 7: above-mentioned sunflower powder is then added to the FeCl of 0.0331g/mL3In solution, 1h is shaken, centrifugation is gone
Except supernatant, dry at room temperature；
Step 8: in three-necked flask, being added the 20mL deionized water of degassing, be heated to 80 DEG C under a nitrogen, add through
The processed pollen of above-mentioned steps is crossed, adjusting pH value with NaOH solution is 12, is vigorously stirred mixture, heats at 80 DEG C
30min；
Step 9: maintaining pollen particle using magnet in reaction flask, quickly outwell supernatant, obtains the magnetic of sea urchin shape
Property pollen move about micro-machine.
Wherein, sunflower powder is non-broken wall sunflower powder in step 1；Volume ratio is chlorine in chloroform/methanol mixed liquor
Imitative/methanol=3/1；The revolving speed of all centrifugal treatings is 4000r/min in experiment；Water used in experiment is deionization
Water, and into deionized water lead to high pure nitrogen for a period of time after, deionized deoxygenated water.
The optical microscope photograph of magnetic pollen that the present embodiment obtains travelling Micro-Robot is as shown in Figure 1, can be with from Fig. 1
Find out, for the magnetic pollen travelling Micro-Robot partial size that this experimental method obtains than more uniform, height of contour is identical.
The stereoscan photograph for the magnetic pollen travelling Micro-Robot that the present embodiment obtains is as shown in Fig. 2, can from Fig. 2
Out, the diameter of magnetic pollen travelling Micro-Robot is 15~35nm, and magnetic pollen travelling Micro-Robot has the thorniness of sea urchin shape
Structure.
The EDS energy spectrum diagram of magnetic pollen that the present embodiment obtains travelling Micro-Robot as shown in figure 3, from figure 3, it can be seen that
The magnetic pollen travelling Micro-Robot that this experimental method obtains contains magnetic metal substance iron, it was demonstrated that we are successfully by magnetic particles
Sub- fabricated in situ is on pollen surface.
The magnetic pollen travelling Micro-Robot that the present embodiment obtains is placed on application mechanical periodicity magnetic in even strong rotating excitation field
, realize the free movement of magnetic pollen travelling Micro-Robot.
Embodiment 2
One, external pollen sheath coating is removed by pollen pretreatment
Step 1: the rape pollen of 0.05g is impregnated 24 hours in the chloroform/methanol mixed liquor of 10ml, then vacuum
It filters and removes solution；
Step 2: product obtained in step 1 is dried in vacuo 12 hours at 60 DEG C；
Step 3: product obtained in step 2 is subjected to second of impregnation 1 in the hydrochloric acid of the 1mol/L of 10ml
Hour；
Step 4: it rape flower powder will be flushed three times with 10ml deionized water after step 3 is dry；
Two, fabricated in situ magnetic particle on rape pollen
Step 5: the FeCl of 0.02035g/mL is prepared2Solution: by 0.2035g FeCl2The deionization of 10mL degassing is added
Water；Prepare the FeCl of 0.0331g/mL3Solution: 0.35g FeCl3The deionized water of 10mL degassing is added；
Step 6: the rape pollen of degreasing is placed in FeCl2In solution, 1h is shaken, centrifugation removes supernatant；
Step 7: above-mentioned rape pollen is then added to the FeCl of 0.0331g/mL3In solution, 1h is shaken, is centrifuged, removal
Supernatant is dried at room temperature；
Step 8: in three-necked flask, being added the 20mL deionized water of degassing, be heated to 80 DEG C under a nitrogen, add through
The processed rape pollen of above-mentioned steps is crossed, adjusting pH value with NaOH solution is 12, is vigorously stirred mixture, heats at 80 DEG C
30min；
Step 9: pollen particle is maintained using magnet in reaction flask, quickly outwells supernatant, is obtained outside rape pollen
The magnetic pollen travelling micro-machine of shape.
Wherein rape pollen is non-broken wall rape pollen in step 1；Volume ratio is chloroform/first in chloroform/methanol mixed liquor
Alcohol=3/1；The revolving speed of all centrifugal treatings is 4000r/min in experiment.
The foregoing is only a preferred embodiment of the present invention, these specific embodiments are all based on the present invention
Different implementations under general idea, and scope of protection of the present invention is not limited thereto, it is any to be familiar with the art
Technical staff in the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of, should all cover of the invention
Within protection scope.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (8)
1. a kind of novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method, which is characterized in that including following
Step:
One, external pollen sheath coating is removed by pollen pretreatment
Step 1: the pollen of 0.01g~0.1g is impregnated 12~36 hours in the chloroform/methanol mixed liquor of 5~20ml, then
Solution is removed by suction filtration under vacuum；
Step 2: product obtained in step 1 is dried in vacuo 6~24 hours at 20~60 DEG C；
Step 3: product obtained in step 2 is subjected to second of impregnation 0.5~2 in the hydrochloric acid solution of 5~30ml
Hour, centrifugation removal supernatant, vacuum drying；
Step 4: the deionized water of product obtained in step 3 is rinsed 2~5 times；
Two, fabricated in situ magnetic particle on pollen
Step 5: product obtained in step 4 is put into the FeCl of 0.01g/mL~0.5g/mL20.5~3h is shaken in solution,
Centrifugation removes supernatant；
Step 6: product obtained in step 5 is put into the FeCl of 0.01g/mL~0.5g/mL30.5~3h is shaken in solution,
Centrifugation removes supernatant；
Step 7: 5~50mL deionized water is added in three-necked flask, is heated to 50~100 DEG C under a nitrogen, adds by upper
The pollen that step process is crossed is stated, pH value is adjusted, is in entire solution in alkaline environment, mixture is vigorously stirred, 50~100
0.2~2h is heated at DEG C；；
Step 8: maintaining pollen particle using magnet in reaction flask, quickly outwell supernatant, obtains the magnetism of fabricated in situ
Pollen travelling micro-machine.
2. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, water used in the experiment is deionized water, and lead to high pure nitrogen for a period of time into deionized water
Afterwards, deionized deoxygenated water.
3. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, pollen described in the step 1 includes sunflower powder, rape pollen, camellia pollen and pollen of Semen Fagopyri Esculenti etc., institute
There is non-broken pollen of the single pollen partial size at 5~50 μm.
4. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, volume ratio is chloroform/methanol=3/1 in chloroform/methanol mixed liquor in the step 1.
5. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, the revolving speed of the centrifugal treating in the step 3 is 2000~8000rpm.
6. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, the concentration of hydrochloric acid solution used is 0.5~2mol/L in the step 3.
7. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, the revolving speed of centrifugal treating used is 2000~8000rpm in the step 5.
8. one kind according to claim 1 is novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method,
It is characterized in that, adjusting pH value between 9~14 with alkaline solution in the step 7.
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| CN201910786240.1A CN110465920A (en) | 2019-08-24 | 2019-08-24 | It is a kind of novel using pollen as the magnetic pollen of template travelling Micro-Robot preparation method |
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| CN116038653A (en) * | 2022-12-21 | 2023-05-02 | 深圳大学 | Magnetic micro-robot with microalgae as template and preparation method thereof |
| CN117361732A (en) * | 2023-10-11 | 2024-01-09 | 中国海洋大学 | Multi-thorn-shaped magnetic micro-nano robot for sewage treatment and preparation method thereof |
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