CN105945902A - Swimming micro robot driven by both rotating magnetic field and magnetic gradient, and driving device and method thereof - Google Patents
Swimming micro robot driven by both rotating magnetic field and magnetic gradient, and driving device and method thereof Download PDFInfo
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- CN105945902A CN105945902A CN201610585242.0A CN201610585242A CN105945902A CN 105945902 A CN105945902 A CN 105945902A CN 201610585242 A CN201610585242 A CN 201610585242A CN 105945902 A CN105945902 A CN 105945902A
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- micro robot
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention relates to a swimming micro robot driven by both a rotating magnetic field and a magnetic gradient, and a driving device and a method thereof, which relate to the technical field of micro robots and driving thereof, and aim to solve the problems that an existing micro robot is single in driving mode and single in adaption environment. The swimming micro robot provided by the invention is provided with a cylindrical head part and a soft flagellum tail part; a radially magnetized cylindrical magnet is contained in an inner cavity of the cylindrical head part. The driving device of the swimming micro robot provided by the invention comprises three pairs of orthogonally placed coils; the direction of current led by each pair of coils is controlled through switching connecting modes between each pair of coils, so that a uniform magnetic field or a gradient magnetic field can be produced. The driving method of the swimming micro robot is characterized by utilizing the rotational frequency of the rotating magnetic field and the size of the magnetic field gradient to change the movement speed of the swimming micro robot, and utilizing the rotary axial direction of the rotating magnetic field and the direction of the gradient to change the movement direction of the swimming micro robot. The swimming micro robot driven by both the rotating magnetic field and the magnetic gradient, and the driving device and the method thereof provided by the invention are applicable to the application field of medical treatment, microsystems and other micro robots.
Description
Technical field
The invention belongs to Micro-Robot and actuation techniques field thereof.
Background technology
Along with the development of micro-nano science and technology, and people are to medical treatment, the increase of micro-system demand, and Micro-Robot is near
Obtain over Nian paying close attention to widely and quickly development.For Micro-Robot, size the most all between several microns to several millimeters,
Can work in narrow space, complete the mission requirements that various macroscopic view robot has been difficult to.At present, both at home and abroad
The various Swimming Micro Robot proposed, type of drive is more single, and the environment adapted to is the most single.
Summary of the invention
The present invention is that existing Micro-Robot type of drive is single, adapt to the problem that environment is single in order to solve, existing offer one rotation
Turn magnetic field and the Swimming Micro Robot of the dual propelling of magnetic gradient and driving means thereof and method.
A kind of rotating excitation field and the Swimming Micro Robot of the dual propelling of magnetic gradient, described Swimming Micro Robot includes: housing 1,
Cylindrical magnet 2 and submissive flagellum 3；
Housing 1 is the cylindrical structural containing hollow lumen, and one end of submissive flagellum 3 is fixed in 1 one end faces of housing
The central axes of the heart, the central axis of housing 1 and submissive flagellum 3,
Cylindrical magnet 2 is positioned at inside the hollow lumen of housing 1, and the central shaft of the central axis of cylindrical magnet 2 and housing 1
Line is mutually perpendicular to,
The direction of magnetization of cylindrical magnet 2 is radially.
Above-mentioned Swimming Micro Robot, the material of cylindrical magnet 2 is neodymium iron boron, a diameter of 3mm, and height is 1.5mm.
Above-mentioned Swimming Micro Robot, housing 1 includes: parts one and parts two,
Parts one and parts two structure axisymmetricly, axis of symmetry is the central axis of housing 1, and parts one and parts two can lead to
Cross connector be separated from each other or link closely.
Above-mentioned Swimming Micro Robot, the material of housing 1 is photosensitive resin, a diameter of 5mm of housing 1, and height is 6mm.
Above-mentioned Swimming Micro Robot, the hollow lumen of housing 1 is cylinder, and the axis of this hollow lumen and cylindrical magnet
The axis of 2 is parallel to each other, a diameter of 3.2mm of this hollow lumen, a length of 1.7mm.
Above-mentioned Swimming Micro Robot, connector is four cylinders being fixed on parts one, corresponding to four circles on parts two
The position of cylinder is provided with four circular holes, four cylinders respectively with four circular hole one_to_one corresponding can being embedded in circular hole.
The driving means of above-mentioned Swimming Micro Robot, this driving means includes: three groups of coils to and three driver elements；
Often group coil is to all including two coils that are identical and that be coaxially disposed, leaves space, three groups of lines between two coils
Enclose to central axis pairwise orthogonal arrange,
Each driver element all includes: DC power supplier, numeral/analog conversion module, coil actuator and coil connect to be cut
Die change block；
DC power supplier is for providing power supply for coil actuator, and the analog signal output of numeral/analog conversion module connects
The signal input part of coil actuator, the signal output part that drives of coil actuator connects the driving letter of coil connection handover module
Number input,
Three groups of coils to respectively with three driver element one_to_one corresponding, and the coil of driver element connects handover module and is used for switching
Connected mode between every pair of coil.
The driving means of above-mentioned Swimming Micro Robot, Swimming Micro Robot is positioned at the container filling hydraulic fluid, and is positioned at three
Center to coil pair.
The driving means of above-mentioned Swimming Micro Robot, coil is to for Helmholtz coil pair.
The driving method of above-mentioned Swimming Micro Robot, the method is:
Swimming Micro Robot is applied rotating excitation field and magnetic field gradient,
Utilize the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Utilize the direction of axial rotary the gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.
A kind of rotating excitation field of the present invention and the Swimming Micro Robot of the dual propelling of magnetic gradient, have cylindrical head and soft
Along flagellum afterbody, cylindrical head inner chamber comprises the cylinder-shaped magnet of a diametrical magnetization.Under the effect of externally-applied magnetic field, cylinder
Shape Magnet can be freely rotatable at head cavity body, so that magnet magnetization direction is consistent with outer magnetic field direction.When outside applies
During rotating excitation field, Swimming Micro Robot can be produced propulsive force promoted robot rotation to transport forward by the flexural deformation of submissive flagellum
Dynamic；When outside applies gradient magnetic, robot can be under the driving of magnetic gradient, and the direction along magnetic field gradient travels forward.
The driving means of the Swimming Micro Robot of a kind of rotating excitation field of the present invention and the dual propelling of magnetic gradient is right including three
Orthogonally located coil, by the connected mode between switching coil, controls every pair of alive direction of coil, can produce
Raw uniform magnetic field or gradient magnetic.By changing the speed of rotating excitation field, thus it is possible to vary the movement velocity of robot；Also
Can be by changing magnetic field gradient size, thus it is possible to vary the movement velocity of robot.By change rotating excitation field axial rotary or
Person's magnetic field gradient directions, thus it is possible to vary the direction of motion of robot.
A kind of rotating excitation field of the present invention and the Swimming Micro Robot of the dual propelling of magnetic gradient and driving means thereof and method,
Type of drive is flexible, it is adaptable to the Micro-Robot applications such as medical treatment, micro-system.
Accompanying drawing explanation
Fig. 1 is the decomposition of the Swimming Micro Robot of a kind of rotating excitation field described in detailed description of the invention one and the dual propelling of magnetic gradient
View；
Fig. 2 is the combination of the Swimming Micro Robot of a kind of rotating excitation field described in detailed description of the invention one and the dual propelling of magnetic gradient
View；
Fig. 3 is Swimming Micro Robot form schematic diagram under rotating excitation field drives, and v represents motion direction of advance；
Fig. 4 is Swimming Micro Robot form schematic diagram under magnetic gradient drives, and v represents motion direction of advance；
Fig. 5 is the structural representation of three groups of coils pair in the driving means described in detailed description of the invention seven；
Fig. 6 be rotating field propelling dual with magnetic gradient Micro-Robot driving means respectively rotating field corresponding with magnetic gradient two
Planting sense of current schematic diagram, wherein represent R coil radius, i represents the sense of current；
Fig. 7 is the driving principle figure of three driver elements in the driving means described in detailed description of the invention seven.
Detailed description of the invention
Detailed description of the invention one: see figures.1.and.2 and illustrate present embodiment, a kind of rotation described in present embodiment
Magnetic field and the Swimming Micro Robot of the dual propelling of magnetic gradient, described Swimming Micro Robot includes: housing 1, cylindrical magnet 2 and
Submissive flagellum 3；
Housing 1 is the cylindrical structural containing hollow lumen, and one end of submissive flagellum 3 is fixed in 1 one end faces of housing
The central axes of the heart, the central axis of housing 1 and submissive flagellum 3,
Cylindrical magnet 2 is positioned at inside the hollow lumen of housing 1, and the central shaft of the central axis of cylindrical magnet 2 and housing 1
Line is mutually perpendicular to,
The direction of magnetization of cylindrical magnet 2 is radially.
A kind of rotating excitation field described in present embodiment and the Swimming Micro Robot of the dual propelling of magnetic gradient, have cylindrical head
With submissive flagellum afterbody, cylindrical head inner chamber comprises the cylinder-shaped magnet of a diametrical magnetization.Under the effect of externally-applied magnetic field,
As it is shown on figure 3, cylinder-shaped magnet can be freely rotatable at head cavity body, so that magnet magnetization direction and outer magnetic field direction
Unanimously.When outside applies rotating excitation field, as shown in Figure 4, Swimming Micro Robot can be produced by the flexural deformation of submissive flagellum
Raw propulsive force promotes robot rotary advanced movement；When outside apply gradient magnetic time, robot can under the driving of magnetic gradient,
Direction along magnetic field gradient travels forward.
Detailed description of the invention two: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention one and magnetic gradient
The Swimming Micro Robot advanced is described further, and in present embodiment, the material of cylindrical magnet 2 is neodymium iron boron, a diameter of
3mm, height is 1.5mm.
Detailed description of the invention three: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention one and magnetic gradient
The Swimming Micro Robot advanced is described further, and in present embodiment, housing 1 includes: parts one and parts two,
Parts one and parts two structure axisymmetricly, axis of symmetry is the central axis of housing 1, and parts one and parts two can lead to
Cross connector be separated from each other or link closely.
Detailed description of the invention four: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention one and magnetic gradient
The Swimming Micro Robot advanced is described further, and in present embodiment, the material of housing 1 is photosensitive resin, housing 1
A diameter of 5mm, height is 6mm.
Housing 1 is printed by 3D and processes.
Detailed description of the invention five: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention one and magnetic gradient
The Swimming Micro Robot advanced is described further, and in present embodiment, the hollow lumen of housing 1 is cylinder, and this sky
The axis of chambers is parallel to each other with the axis of cylindrical magnet 2, a diameter of 3.2mm of this hollow lumen, a length of 1.7mm.
Detailed description of the invention six: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention three and magnetic gradient
The Swimming Micro Robot advanced is described further, and in present embodiment, connector is four cylinders being fixed on parts one
Body, parts two are provided with four circular holes corresponding to four cylindrical positions, four cylinders respectively with four circular holes one a pair
Should and can be embedded in circular hole.
Detailed description of the invention seven: illustrate present embodiment with reference to Fig. 5 and Fig. 7, present embodiment is detailed description of the invention
The driving means of the Swimming Micro Robot described in one to six any embodiment, this driving means includes: three groups of coils to and three
Individual driver element；
Often group coil is to all including two coils that are identical and that be coaxially disposed, leaves space, three groups of lines between two coils
Enclose to central axis pairwise orthogonal arrange,
Each driver element all includes: DC power supplier, numeral/analog conversion module, coil actuator and coil connect to be cut
Die change block；
DC power supplier is for providing power supply for coil actuator, and the analog signal output of numeral/analog conversion module connects
The signal input part of coil actuator, the signal output part that drives of coil actuator connects the driving letter of coil connection handover module
Number input,
Three groups of coils to respectively with three driver element one_to_one corresponding, and the coil of driver element connects handover module and is used for switching
Connected mode between every pair of coil.
Coil connects handover module and allows hand over, series aiding connection or differential concatenation, and final decision coil is to produce Rotating with Uniform
Magnetic field or magnetic field gradient.
In present embodiment, the distance between two coils is equal to the radius of coil.
External magnetic field driving apparatus is the coil pair of three pairs of pairwise orthogonals, the most corresponding magnetic field generation system of three pairs of coils pair
X, Y and Z axis, the intersection point respective coordinates initial point O of the axis of three pairs of coils, as shown in Figure 5.And then three groups of coils pair
Also the corresponding driver element of three axles, as shown in Figure 7.
Every pair of coil all can connect a driver element as controlled DC source, the positive and negative electrode difference of each winding wiring terminal
Being connected with switch unit, switch unit is connected with the positive and negative electrode of driver current outfan.
Detailed description of the invention eight: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention seven and magnetic gradient
The driving means of the Swimming Micro Robot advanced is described further, and in present embodiment, Swimming Micro Robot is positioned at fills work
Make in the container of liquid, and be positioned at the center of three pairs of coils pair.
In present embodiment, it is preferable that Swimming Micro Robot is positioned at the container filling glycerol, and is positioned at three groups of coils pair
Central area.
Often group coil in driving means, to when being passed through same direction current, constitutes Helmholtz coil, can produce maximum 10mT's
Uniform magnetic field.By controlling driver the output amplitude of electric current, phase and frequency, thus control three to the electric current in coil,
It is the rotating excitation field of 8mT that immediate vicinity at three pairs of coils produces amplitude.As shown in Figure 6, when producing Rotating with Uniform magnetic field,
Can drive Micro-Robot synchronous rotary, meanwhile, submissive flagellum occurs bending and deformation, and produces propulsive force and promotes robot to transport forward
Dynamic, robot movement velocity and the length of flagellum, cross-sectional area, shape, the angle of inclination of flagellum, head size and sweet
Oil concentration is relevant.
When every pair of coil differential concatenation, in coil, institute's galvanization is in opposite direction, produces magnetic gradient, robot in central area
The cylindrical magnet of head cavity can occur freely rotatable, along magnetic direction, under the driving of magnetic gradient, travels forward, machine
Device people's movement velocity has relation with magnetic gradient size, head size and glycerol concentration.
Detailed description of the invention nine: present embodiment is dual to a kind of rotating excitation field described in detailed description of the invention seven and magnetic gradient
The driving means of Swimming Micro Robot advanced is described further, and in present embodiment, coil is to for Helmholtz coil pair.
Detailed description of the invention ten: present embodiment is the driving of the Swimming Micro Robot described in detailed description of the invention one, two or three
Method, the method is:
Swimming Micro Robot is applied rotating excitation field and magnetic field gradient,
Utilize the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Utilize the direction of axial rotary the gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.
When Swimming Micro Robot is applied rotating excitation field, Swimming Micro Robot is rotary advance, institute in present embodiment
The movement velocity stated is the speed that robot advances, and the corresponding direction of motion is also the direction advanced.
When Swimming Micro Robot is applied magnetic field gradient, Swimming Micro Robot is that orthoscopic is advanced, institute in present embodiment
The movement velocity stated is the speed that robot advances, and the corresponding direction of motion is also the direction advanced.
Claims (10)
1. a rotating excitation field and the Swimming Micro Robot of the dual propelling of magnetic gradient, it is characterised in that described Swimming Micro Robot
Including: housing (1), cylindrical magnet (2) and submissive flagellum (3)；
Housing (1) is the cylindrical structural containing hollow lumen, and one end of submissive flagellum (3) is fixed on housing (1)
The central axes of the center of end face, the central axis of housing (1) and submissive flagellum (3),
Cylindrical magnet (2) is positioned at inside the hollow lumen of housing (1), and the central axis of cylindrical magnet (2) and housing (1)
Central axis be mutually perpendicular to,
The direction of magnetization of cylindrical magnet (2) is radially.
A kind of rotating excitation field the most according to claim 1 and the Swimming Micro Robot of the dual propelling of magnetic gradient, its feature exists
In, the material of cylindrical magnet (2) is neodymium iron boron, a diameter of 3mm, and height is 1.5mm.
A kind of rotating excitation field the most according to claim 1 and the Swimming Micro Robot of the dual propelling of magnetic gradient, its feature exists
In, housing (1) including: parts one and parts two,
Parts one and parts two structure axisymmetricly, axis of symmetry is the central axis of housing (1), and parts one and parts two can
It is separated from each other by connector or links closely.
A kind of rotating excitation field the most according to claim 1 and the Swimming Micro Robot of the dual propelling of magnetic gradient, its feature exists
In, the material of housing (1) is photosensitive resin, a diameter of 5mm of housing (1), and height is 6mm.
A kind of rotating excitation field the most according to claim 1 and the Swimming Micro Robot of the dual propelling of magnetic gradient, its feature exists
In, the hollow lumen of housing (1) is cylinder, and the axis phase of the axis of this hollow lumen and cylindrical magnet (2)
The most parallel, a diameter of 3.2mm of this hollow lumen, a length of 1.7mm.
A kind of rotating excitation field the most according to claim 3 and the Swimming Micro Robot of the dual propelling of magnetic gradient, its feature exists
In, connector is four cylinders being fixed on parts one, and parts two are provided with four corresponding to four cylindrical positions
Circular hole, four cylinders respectively with four circular hole one_to_one corresponding can being embedded in circular hole.
7. the driving means of the Swimming Micro Robot described in claim 1, it is characterised in that this driving means includes: three groups
Coil to and three driver elements；
Often group coil is to all including two coils that are identical and that be coaxially disposed, leaves space, three groups of lines between two coils
Enclose to central axis pairwise orthogonal arrange,
Each driver element all includes: DC power supplier, numeral/analog conversion module, coil actuator and coil connect to be cut
Die change block；
DC power supplier is for providing power supply for coil actuator, and the analog signal output of numeral/analog conversion module connects
The signal input part of coil actuator, the signal output part that drives of coil actuator connects the driving letter of coil connection handover module
Number input,
Three groups of coils to respectively with three driver element one_to_one corresponding, and the coil of driver element connects handover module and is used for switching
Connected mode between every pair of coil.
The driving means of Swimming Micro Robot the most according to claim 7, it is characterised in that Swimming Micro Robot is positioned at
Fill in the container of hydraulic fluid, and be positioned at the center of three pairs of coils pair.
The driving means of Swimming Micro Robot the most according to claim 7, it is characterised in that coil is to for Helmholtz
Coil pair.
10. the driving method of the Swimming Micro Robot described in claim 1, it is characterised in that the method is:
Swimming Micro Robot is applied rotating excitation field and magnetic field gradient,
Utilize the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Utilize the direction of axial rotary the gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610585242.0A CN105945902B (en) | 2016-07-22 | 2016-07-22 | A kind of Swimming Micro Robot and its drive device and method of the dual propulsion of rotating excitation field and magnetic gradient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610585242.0A CN105945902B (en) | 2016-07-22 | 2016-07-22 | A kind of Swimming Micro Robot and its drive device and method of the dual propulsion of rotating excitation field and magnetic gradient |
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| CN105945902A true CN105945902A (en) | 2016-09-21 |
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| CN107843550A (en) * | 2017-11-24 | 2018-03-27 | 钦州学院 | One kind profit hair detecting system |
| CN108189409A (en) * | 2018-02-14 | 2018-06-22 | 北京大学 | Mating 4D printing techniques magnetic field excitation control system and 4D micro-nano printing devices |
| CN108406739A (en) * | 2018-03-23 | 2018-08-17 | 哈尔滨工业大学 | A kind of liquid surface micro structures transmission method and its device based on Magnetic driving Micro-Robot |
| CN111267069A (en) * | 2020-03-19 | 2020-06-12 | 郑州大学 | Method for controlling magnetic micro-nano robot to run through magnetic substrate track |
| CN112659106A (en) * | 2020-12-31 | 2021-04-16 | 华中科技大学 | Driving method and system of magnetic soft robot |
| CN112828877A (en) * | 2020-12-31 | 2021-05-25 | 华中科技大学 | Driving device of electromagnetic driving type magnetic soft robot |
| CN113075606A (en) * | 2021-04-16 | 2021-07-06 | 西安华舜测量设备有限责任公司 | Rotating magnetic field simulation device |
| CN114413749A (en) * | 2022-03-31 | 2022-04-29 | 苏州纳芯微电子股份有限公司 | Magnetic field sensing device and magnetic field sensing method |
| CN115105161A (en) * | 2022-06-24 | 2022-09-27 | 山东大学 | Method and system for driving micro thrombus robot under uniform-strength alternating gradient magnetic field |
| CN115520365A (en) * | 2022-09-30 | 2022-12-27 | 哈尔滨工业大学 | Intelligent nested spiral artificial miniature swimming robot |
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| CN107843550A (en) * | 2017-11-24 | 2018-03-27 | 钦州学院 | One kind profit hair detecting system |
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| CN113075606A (en) * | 2021-04-16 | 2021-07-06 | 西安华舜测量设备有限责任公司 | Rotating magnetic field simulation device |
| CN114413749A (en) * | 2022-03-31 | 2022-04-29 | 苏州纳芯微电子股份有限公司 | Magnetic field sensing device and magnetic field sensing method |
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| CN115105161A (en) * | 2022-06-24 | 2022-09-27 | 山东大学 | Method and system for driving micro thrombus robot under uniform-strength alternating gradient magnetic field |
| CN115520365A (en) * | 2022-09-30 | 2022-12-27 | 哈尔滨工业大学 | Intelligent nested spiral artificial miniature swimming robot |
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