CN105945902B - A kind of Swimming Micro Robot and its drive device and method of the dual propulsion of rotating excitation field and magnetic gradient - Google Patents
A kind of Swimming Micro Robot and its drive device and method of the dual propulsion of rotating excitation field and magnetic gradient Download PDFInfo
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- CN105945902B CN105945902B CN201610585242.0A CN201610585242A CN105945902B CN 105945902 B CN105945902 B CN 105945902B CN 201610585242 A CN201610585242 A CN 201610585242A CN 105945902 B CN105945902 B CN 105945902B
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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
Abstract
A kind of Swimming Micro Robot and its drive device and method of the dual propulsion of rotating excitation field and magnetic gradient, are related to Micro-Robot and its actuation techniques field.The present invention is to solve the problems, such as that existing Micro-Robot type of drive is single, it is single to adapt to environment.Swimming Micro Robot of the present invention, there is cylindrical head and submissive flagellum afterbody, cylindrical head inner chamber to include the cylinder-shaped magnet of a diametrical magnetization.The drive device of Swimming Micro Robot of the present invention, including three pairs of orthogonally located coils, by the connected mode between switching coil, the alive direction of control each pair coil institute, uniform magnetic field or gradient magnetic can be produced.The driving method of Swimming Micro Robot, using the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot, using the direction of the axial rotary gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.The present invention is applied to the Micro-Robot application fields such as medical treatment, micro-system.
Description
Technical field
The invention belongs to Micro-Robot and its actuation techniques field.
Background technology
With micro-nano scientific and technical continuous development, and people are to medical treatment, the increase of micro-system demand, Micro-Robot
Extensive concern and quickly development have been obtained in recent years.For Micro-Robot, size typically all several microns to several millimeters it
Between, it can be worked in narrow space, complete the mission requirements that various macroscopical robot is difficult to complete.At present, it is domestic
The various Swimming Micro Robots of outer proposition, type of drive is relatively simple, and the environment adapted to is also relatively simple.
The content of the invention
The present invention is to solve the problems, such as that existing Micro-Robot type of drive is single, it is single to adapt to environment, now provide one
Kind rotating excitation field and the Swimming Micro Robot and its drive device and method of the dual propulsion of magnetic gradient.
A kind of Swimming Micro Robot of the dual propulsion of rotating excitation field and magnetic gradient, the Swimming Micro Robot include：Housing
1st, 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 1 one end faces of housing
Center, the central axis of housing 1 overlap with the central axis of submissive flagellum 3,
Cylindrical magnet 2 is located 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, is highly 1.5mm.
Above-mentioned Swimming Micro Robot, housing 1 include：Part one and part two,
Axisymmetricly structure, symmetry axis are the central axis of housing 1 for part one and part two, and part one and part two can
It is separated from each other or is linked closely by connector.
Above-mentioned Swimming Micro Robot, the material of housing 1 is photosensitive resin, a diameter of 5mm of housing 1, is highly 6mm.
Above-mentioned Swimming Micro Robot, the hollow lumen of housing 1 is in cylinder, and the axis of the hollow lumen and cylinder magnetic
The axis of iron 2 is parallel to each other, the hollow lumen a diameter of 3.2mm, length 1.7mm.
Above-mentioned Swimming Micro Robot, connector are four cylinders being fixed on part one, correspond to four on part two
The position of individual cylinder is provided with four circular holes, and four cylinders correspond with four circular holes and can be embedded in circular hole respectively
It is interior.
The drive device of above-mentioned Swimming Micro Robot, the drive device include：Three groups of coils pair and three driver elements；
Every group of coil leaves space to including two coils that are identical and being coaxially disposed between two coils, and three
The central axis pairwise orthogonal of group coil pair is set,
Each driver element includes：DC power supplier, numeral/analog conversion module, coil actuator and coil connect
Connect handover module；
DC power supplier is used to provide power supply, the analog signal output of numeral/analog conversion module for coil actuator
The signal input part of end connection coil actuator, the driving signal output end connection coil connection handover module of coil actuator
Driving signal input,
Three groups of coils with three driver elements to corresponding respectively, and the coil connection handover module of driver element is used for
Switch the connected mode between each pair coil.
The drive device of above-mentioned Swimming Micro Robot, Swimming Micro Robot, which is located at, to be filled in the container of hydraulic fluid, and position
In the center of three pairs of coils pair.
The drive device of above-mentioned Swimming Micro Robot, coil is to for Helmholtz coil pair.
The driving method of above-mentioned Swimming Micro Robot, this method are：
Rotating excitation field and magnetic field gradient are applied to Swimming Micro Robot,
Using the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Using the direction of the axial rotary gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.
A kind of Swimming Micro Robot of the dual propulsion of rotating excitation field and magnetic gradient of the present invention, has cylindrical head
With submissive flagellum afterbody, cylindrical head inner chamber includes the cylinder-shaped magnet of a diametrical magnetization.In the presence of externally-applied magnetic field, circle
Cylindrical magnetic iron can freely rotate in head cavity body, so that magnet magnetization direction is consistent with outer magnetic field direction.When outside is applied
When adding rotating excitation field, Swimming Micro Robot can be produced propulsive force and promoted robot rotation forward by the flexural deformation of submissive flagellum
Motion；When outside applies gradient magnetic, robot can travel forward under the driving of magnetic gradient along the direction of magnetic field gradient.
A kind of drive device of the Swimming Micro Robot of the dual propulsion of rotating excitation field and magnetic gradient of the present invention, including
Three pairs of orthogonally located coils, by the connected mode between switching coil, the alive direction of control each pair coil institute can be with
Produce uniform magnetic field or gradient magnetic.By the speed for changing rotating excitation field, thus it is possible to vary the movement velocity of robot；
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.
The Swimming Micro Robot and its drive device of a kind of dual propulsion of rotating excitation field and magnetic gradient of the present invention and
Method, type of drive is flexible, suitable for the Micro-Robot application field such as medical treatment, micro-system.
Brief description of the drawings
Fig. 1 is a kind of Swimming Micro Robot of dual propulsion of rotating excitation field and magnetic gradient described in embodiment one
Decomposing state schematic diagram；
Fig. 2 is a kind of Swimming Micro Robot of dual propulsion of rotating excitation field and magnetic gradient described in embodiment one
Assembled state schematic diagram；
Fig. 3 is form schematic diagram of the Swimming Micro Robot under rotating excitation field driving, and v represents motion direction of advance；
Fig. 4 is form schematic diagram of the Swimming Micro Robot under magnetic gradient driving, and v represents motion direction of advance；
Fig. 5 be embodiment seven described in drive device in three groups of coils pair structural representation；
Fig. 6 is that the drive device of rotating field and the dual propulsion Micro-Robot of magnetic gradient is corresponding in rotating field and magnetic gradient respectively
Two kinds of sense of current schematic diagrames, wherein represent R coil radius, i represent the sense of current；
Fig. 7 is the driving principle figure of three driver elements in drive device described in embodiment seven.
Embodiment
Embodiment one：Present embodiment, a kind of rotation described in present embodiment are illustrated referring to Figures 1 and 2
Turn the Swimming Micro Robot of magnetic field and the dual propulsion of magnetic gradient, the Swimming Micro Robot includes：Housing 1, cylindrical magnet 2 and soft
Along flagellum 3；
Housing 1 is the cylindrical structural containing hollow lumen, and one end of submissive flagellum 3 is fixed on 1 one end faces of housing
Center, the central axis of housing 1 overlap with the central axis of submissive flagellum 3,
Cylindrical magnet 2 is located 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 Swimming Micro Robot of dual propulsion of rotating excitation field and magnetic gradient described in present embodiment, there is cylinder
Head and submissive flagellum afterbody, cylindrical head inner chamber include the cylinder-shaped magnet of a diametrical magnetization.In the effect of externally-applied magnetic field
Under, as shown in figure 3, cylinder-shaped magnet can freely rotate in head cavity body, so that magnet magnetization direction and external magnetic field side
To consistent.When outside applies rotating excitation field, as shown in figure 4, Swimming Micro Robot can be produced by the flexural deformation of submissive flagellum
Propulsive force promotes robot rotary advanced movement；When outside applies gradient magnetic, robot can be under the driving of magnetic gradient, edge
The direction of magnetic field gradient travels forward.
Embodiment two：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment one
The Swimming Micro Robot of dual propulsion is described further, and in present embodiment, the material of cylindrical magnet 2 is neodymium iron boron, diameter
It is highly 1.5mm for 3mm.
Embodiment three：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment one
The Swimming Micro Robot of dual propulsion is described further, and in present embodiment, housing 1 includes：Part one and part two,
Axisymmetricly structure, symmetry axis are the central axis of housing 1 for part one and part two, and part one and part two can
It is separated from each other or is linked closely by connector.
Embodiment four：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment one
The Swimming Micro Robot of dual propulsion is described further, and in present embodiment, the material of housing 1 is photosensitive resin, housing 1
A diameter of 5mm, it is highly 6mm.
Housing 1 is process by 3D printing.
Embodiment five：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment one
The Swimming Micro Robot of dual propulsion is described further, and in present embodiment, the hollow lumen of housing 1 is somebody's turn to do in cylinder
The axis of hollow lumen and the axis of cylindrical magnet 2 are parallel to each other, a diameter of 3.2mm of the hollow lumen, and length is
1.7mm。
Embodiment six：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment three
The Swimming Micro Robot of dual propulsion is described further, and in present embodiment, connector is four be fixed on part one
Cylinder, the position that four cylinders are corresponded on part two are provided with four circular holes, four cylinders respectively with four circular holes one
One corresponds to and can be embedded in circular hole.
Embodiment seven：Reference picture 5 and Fig. 7 illustrate present embodiment, and present embodiment is specific embodiment party
The drive device of Swimming Micro Robot described in any embodiment of formula one to six, the drive device include：Three groups of coils pair and
Three driver elements；
Every group of coil leaves space to including two coils that are identical and being coaxially disposed between two coils, and three
The central axis pairwise orthogonal of group coil pair is set,
Each driver element includes：DC power supplier, numeral/analog conversion module, coil actuator and coil connect
Connect handover module；
DC power supplier is used to provide power supply, the analog signal output of numeral/analog conversion module for coil actuator
The signal input part of end connection coil actuator, the driving signal output end connection coil connection handover module of coil actuator
Driving signal input,
Three groups of coils with three driver elements to corresponding respectively, and the coil connection handover module of driver element is used for
Switch the connected mode between each pair coil.
Coil connection handover module allows hand over, series aiding connection or differential concatenation, final to determine that coil is to produce uniformly
Rotating excitation field or magnetic field gradient.
In present embodiment, the distance between two coils are equal to the radius of coil.
External magnetic field driving apparatus is the coil pair of three pairs of pairwise orthogonals, and the axial direction of three pairs of coils pair corresponds to magnetic field respectively
X, Y and Z axis of system, the intersection point respective coordinates origin O of the axis of three pairs of coils, as shown in Figure 5.And then three groups of coils are to also right
The driver element of three axles is answered, as shown in Figure 7.
Each pair coil can connect a driver element as controllable DC source, the positive and negative electrode of each winding wiring terminal
It is connected respectively with switch unit, switch unit is connected with the positive and negative electrode of driver current output end.
Embodiment eight：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment seven
The drive device of the Swimming Micro Robot of dual propulsion is described further, and in present embodiment, Swimming Micro Robot is positioned at dress
In the container of full hydraulic fluid, and positioned at the center of three pairs of coils pair.
In present embodiment, it is preferable that Swimming Micro Robot, which is located at, to be filled in the container of glycerine, and is located at three groups of coils pair
Central area.
When every group of coil in drive device is to being passed through same direction current, Helmholtz coil is formed, maximum 10mT can be produced
Uniform magnetic field.By controlling amplitude, the phase and frequency of driver output current, so as to control the electric current in three pairs of coils,
The rotating excitation field that amplitude is 8mT is produced in the immediate vicinity of three pairs of coils.As shown in fig. 6, when producing Rotating with Uniform magnetic field, meeting
Micro-Robot synchronous rotary is driven, meanwhile, submissive flagellum occurs bending and deformation, and produces propulsive force and promotes robot to travel forward,
Robot movement velocity and the length of flagellum, cross-sectional area, shape, the angle of inclination of flagellum, head size and glycerol concentration
It is relevant.
When each pair coil differential concatenation, institute's galvanization is in opposite direction in coil, and magnetic gradient, machine are produced in central area
Free rotation can occur for the cylindrical magnet of head part inner chamber, along magnetic direction, under the driving of magnetic gradient, travel forward, machine
Device people movement velocity has relation with magnetic gradient size, head size and glycerol concentration.
Embodiment nine：Present embodiment is to a kind of rotating excitation field and magnetic gradient described in embodiment seven
The drive device of the Swimming Micro Robot of dual propulsion is described further, and in present embodiment, coil is to for Helmholtz's line
Circle pair.
Embodiment ten：Present embodiment is the Swimming Micro Robot described in embodiment one, two or three
Driving method, this method are：
Rotating excitation field and magnetic field gradient are applied to Swimming Micro Robot,
Using the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Using the direction of the axial rotary gradient of rotating excitation field, change the direction of motion of Swimming Micro Robot.
When applying rotating excitation field to Swimming Micro Robot, Swimming Micro Robot is rotatably advanced, present embodiment
Described in movement velocity be robot advance speed, the corresponding direction of motion be also advance direction.
When applying magnetic field gradient to Swimming Micro Robot, Swimming Micro Robot is linear advance, present embodiment
Described in movement velocity be robot advance speed, the corresponding direction of motion be also advance direction.
Claims (9)
1. the drive device of a kind of rotating excitation field and the Swimming Micro Robot of the dual propulsion of magnetic gradient, the Swimming Micro Robot bag
Include：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 (1) end face of housing
Center, the central axis of housing (1) overlaps with the central axis of submissive flagellum (3),
Cylindrical magnet (2) is located inside the hollow lumen of housing (1), and in the central axis of cylindrical magnet (2) and housing (1)
Mandrel line is mutually perpendicular to,
The direction of magnetization of cylindrical magnet (2) is radially；Characterized in that,
Drive device includes：Three groups of coils pair and three driver elements；
Every group of coil leaves space, three groups of lines to including two coils that are identical and being coaxially disposed between two coils
The central axis pairwise orthogonal of circle pair is set,
Each driver element includes：DC power supplier, numeral/analog conversion module, coil actuator are connected with coil and cut
Change the mold block；
DC power supplier is used to provide power supply for coil actuator, and the analog signal output of numeral/analog conversion module connects
Connect the signal input part of coil actuator, the driving of the driving signal output end connection coil connection handover module of coil actuator
Signal input part,
Three groups of coils with three driver elements to corresponding respectively, and the coil connection handover module of driver element is used to switch
Connected mode between each pair coil.
2. drive device according to claim 1, it is characterised in that the material of cylindrical magnet (2) is neodymium iron boron, a diameter of
3mm, it is highly 1.5mm.
3. drive device according to claim 1, it is characterised in that housing (1) includes：Part one and part two,
Axisymmetricly structure, symmetry axis are the central axis of housing (1) for part one and part two, and part one and part two can lead to
Connector is crossed to be separated from each other or link closely.
4. drive device according to claim 1, it is characterised in that the material of housing (1) is photosensitive resin, housing (1)
A diameter of 5mm, be highly 6mm.
5. drive device according to claim 1, it is characterised in that the hollow lumen of housing (1) is in cylinder, and the sky
The axis of the axis of chambers and cylindrical magnet (2) is parallel to each other, a diameter of 3.2mm of the hollow lumen, and length is
1.7mm。
6. drive device according to claim 3, it is characterised in that connector is four cylinders being fixed on part one
Body, the position that four cylinders are corresponded on part two are provided with four circular holes, four cylinders respectively with a pair of four circular holes 1
Should and it can be embedded in circular hole.
7. drive device according to claim 1, it is characterised in that Swimming Micro Robot is located at the appearance for filling hydraulic fluid
In device, and positioned at the center of three pairs of coils pair.
8. drive device according to claim 1, it is characterised in that coil is to for Helmholtz coil pair.
9. the Swimming Micro Robot driving method based on the drive device described in claim 1, it is characterised in that this method is：
Rotating excitation field and magnetic field gradient are applied to Swimming Micro Robot,
Using the speed of rotating excitation field and the size of magnetic field gradient, change the movement velocity of Swimming Micro Robot,
Using the axial rotary and magnetic field gradient directions of rotating excitation field, change the direction of motion of Swimming Micro Robot.
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| 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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| 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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| CN107843550B (en) * | 2017-11-24 | 2023-08-25 | 钦州学院 | Hair moistening detection 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 |
| CN108406739B (en) * | 2018-03-23 | 2020-10-02 | 哈尔滨工业大学 | Liquid surface micro-component transmission method and device based on magnetically driven micro-robot |
| CN111267069B (en) * | 2020-03-19 | 2022-09-02 | 郑州大学 | Method for controlling magnetic micro-nano robot to run through magnetic substrate track |
| CN112659106B (en) * | 2020-12-31 | 2022-03-11 | 华中科技大学 | Driving method and system of magnetic soft robot |
| CN112828877B (en) * | 2020-12-31 | 2022-03-11 | 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 |
| CN114413749B (en) * | 2022-03-31 | 2022-06-10 | 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 |
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| JP4984217B2 (en) * | 2006-08-09 | 2012-07-25 | 国立大学法人 和歌山大学 | Machine remote control method using magnetic field |
| CN100571606C (en) * | 2006-12-21 | 2009-12-23 | 中国科学院电工研究所 | A kind of microrobot and external guidance system thereof |
| CN100554755C (en) * | 2007-12-05 | 2009-10-28 | 中国科学院电工研究所 | A kind of permanent magnetism minisize robot |
| CN103985497B (en) * | 2014-05-30 | 2016-06-08 | 中国科学院上海光学精密机械研究所 | Rectangle field coil device |
| CN104013378B (en) * | 2014-06-25 | 2016-04-27 | 天津理工大学 | The control system of portable remote operating is wireless microchannel robot and method of work |
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