CN108660444B - A kind of preparation method and its control system of magnetic helicity travelling Micro-Robot - Google Patents
A kind of preparation method and its control system of magnetic helicity travelling Micro-Robot Download PDFInfo
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- CN108660444B CN108660444B CN201810491660.2A CN201810491660A CN108660444B CN 108660444 B CN108660444 B CN 108660444B CN 201810491660 A CN201810491660 A CN 201810491660A CN 108660444 B CN108660444 B CN 108660444B
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C18/00—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating
- C23C18/16—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating by reduction or substitution, e.g. electroless plating
- C23C18/31—Coating with metals
- C23C18/32—Coating with nickel, cobalt or mixtures thereof with phosphorus or boron
- C23C18/34—Coating with nickel, cobalt or mixtures thereof with phosphorus or boron using reducing agents
- C23C18/36—Coating with nickel, cobalt or mixtures thereof with phosphorus or boron using reducing agents using hypophosphites
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12N—MICROORGANISMS OR ENZYMES; COMPOSITIONS THEREOF; PROPAGATING, PRESERVING, OR MAINTAINING MICROORGANISMS; MUTATION OR GENETIC ENGINEERING; CULTURE MEDIA
- C12N11/00—Carrier-bound or immobilised enzymes; Carrier-bound or immobilised microbial cells; Preparation thereof
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- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C18/00—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating
- C23C18/16—Chemical coating by decomposition of either liquid compounds or solutions of the coating forming compounds, without leaving reaction products of surface material in the coating; Contact plating by reduction or substitution, e.g. electroless plating
- C23C18/18—Pretreatment of the material to be coated
- C23C18/20—Pretreatment of the material to be coated of organic surfaces, e.g. resins
- C23C18/28—Sensitising or activating
- C23C18/30—Activating or accelerating or sensitising with palladium or other noble metal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses the preparation methods and its control system of a kind of magnetic helicity travelling Micro-Robot, this method comprises: choosing spirulina biological template identical with the travelling Micro-Robot structural parameters of magnetic helicity needed for user, fixed reinforcing, pallamine activation, dispergation, chemical nickel plating, cleaning, drying.The system includes nested coil mechanism, positive negative terminal, container platform, driver, digital quantity analog quantity conversion equipment, host computer and observational record device；Nested coil mechanism is assembled using orthogonal nested mode by three pairs of Helmholtz coils and is formed；Host computer is connect by digital quantity analog quantity conversion equipment, driver with positive negative terminal；Container platform is located at the center of nested coil mechanism；Observational record device is mounted on the top of nested coil mechanism.Controllableization, the mass preparation that can be realized the magnetic helicity travelling Micro-Robot of Different structural parameters using method and system provided by the invention, realize the accurate manipulation of magnetic helicity travelling Micro-Robot.
Description
Technical field
The present invention relates to micro-nano robot building and its actuation techniques field, in particular to a kind of magnetic helicity travelling is micro-
The preparation method and its control system of robot.
Background technique
With the development of micro-nano science and technology, micro-nano robot got the attention, especially biological medicine with
There is very important potential application in terms of micro-system.It is rotated by microorganisms such as Escherichia coli by flagellum and generates advancing movement
It inspires, magnetic helicity travelling Micro-Robot is as a kind of magnetic control Micro-Robot by researcher's common concern.It puts english and turns outside
Under magnetic fields, the special helical structure of magnetic helicity travelling Micro-Robot can produce axial propulsive force, in low reynolds number
Efficiently controllable movement is realized in liquid environment, to complete the mission requirements of miniature scale.It precisely manipulates in micro/nano-scale, target
There is important researching value to Disciplinary Frontiers such as medicament transports.
Traditional machining process is difficult to realize the batch micro operations of the three-dimensional micro- helical structure of micro-meter scale, and emerging three
The micro-nano processing methods such as laser writing technology are tieed up there is also manufacturing costs the deficiencies such as high, manufacture efficiency is low, limits magnetic spiral
The development and application of shape travelling Micro-Robot.In addition, the be magnetic micro-machine including magnetic helicity travelling Micro-Robot
People requires with the three-dimensional controllable rotating magnetic field for realizing simple and convenient movement manipulation to it, and three-dimensional controllable rotating magnetic field is
Realize a kind of necessary means precisely manipulated to such Micro-Robot, and there is structure Pang more in existing three-dimensional controllable rotating magnetic field
Greatly, the problems such as control is complicated, integrated level is not high is not easy to the magnetic Micro-Robot of manipulation micro-meter scale.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of magnetic helicity travelling Micro-Robot preparation method and
Its control system.
To achieve the above object, the present invention provides following schemes:
A kind of preparation method of magnetic helicity travelling Micro-Robot, the magnetic helicity travelling Micro-Robot is three-dimensional
The Micro-Robot of micro- spiral-shaped structure, the magnetic helicity travelling Micro-Robot include the biological organic matter of micro- helical structure
Kernel and surface coated magnetic metal coating；The preparation method includes:
Step 1: choosing spirulina biological template；
Step 2: fixed strengthen；
By the spirulina biological template of selection under the conditions of 4 DEG C of temperature, in the glutaraldehyde solution that concentration is 2.5%
It impregnates 6 hours, obtains the spirulina cells of fixed reinforcing；
Step 3: pallamine activates；
By the fixed spirulina cells strengthened under the conditions of 30 DEG C of temperature, surface active is carried out in pallamine solution
Processing, activation time 10min, the spirulina cells after obtaining pallamine activation；
Step 4: dispergation；
By the spirulina cells after the pallamine activation under the conditions of 30 DEG C of temperature, carried out at dispergation in solution sol solution
Reason, dispergation time are 1min；
Step 5: chemical nickel plating；
Using chemical nickel-plating solution, the spirulina cells after dispergation are subjected to chemical nickel plating；
Step 6: carrying out cleaning, drying to the spirulina cells after chemical nickel plating, magnetic helicity travelling micro-machine is obtained
People.
Optionally, the selection spirulina biological template, specifically includes:
Determine the structural parameters of the travelling Micro-Robot of magnetic helicity needed for user；
Using method for sieving, spiral shell corresponding with the travelling Micro-Robot structural parameters of magnetic helicity needed for the user is chosen
Revolve algae biological template；The method for sieving is the method gradually sieved repeatedly using the stainless steel mesh of -400 mesh of 200 mesh.
Optionally, the step 5 specifically includes: by temperature strip of the chemical nickel-plating solution at 60 DEG C in step 5
Heating water bath is carried out under part, then step 4 treated spirulina cells is added among chemical nickel-plating solution, later in temperature
Spend the lasting heating water bath for 60 DEG C, progress chemical nickel plating is anti-under the mechanical stirring that mixing speed is 200r/min-300r/min
It answers, reaction time 5min-15min；
The component of the chemical nickel-plating solution are as follows:
Optionally, the spirulina cells to after chemical nickel plating carry out cleaning, drying, and it is micro- to obtain magnetic helicity travelling
Robot specifically includes:
The spirulina cells after chemical nickel plating are cleaned multiple times using deionized water, and at a temperature of 60 DEG C -80 DEG C
Drying obtains magnetic helicity travelling Micro-Robot；The number of the cleaning is 3-5 times.
Optionally, spirulina cells described in 1g need 15mL-25mL pallamine solution；Spirulina cells described in 1g need
25mL solves sol solution；Spirulina cells described in 1g need 50mL-100mL chemical nickel-plating solution；The solution sol solution is that concentration is
The ortho phosphorous acid sodium water solution of 30g/L.
The present invention provides a kind of preparation method of magnetic helicity travelling Micro-Robot, which includes: to choose
Spirulina biological template, fixed reinforcing, pallamine activation, dispergation, chemical nickel plating, cleaning, drying；The knot of spirulina biological template
Structure parameter is identical as the travelling structural parameters of Micro-Robot of magnetic helicity needed for user.Therefore, just by above-mentioned six steps
The travelling Micro-Robot of magnetic helicity needed for user can be obtained, manufacturing process is simple, can be realized the magnetic of Different structural parameters
Property spiral shape travelling controllableization of Micro-Robot, mass prepare.
The present invention also provides a kind of control system of magnetic helicity travelling Micro-Robot, the control system includes:
Coil part, container platform, three drivers, three DC power supplies, digital quantity analog quantity conversion equipment, host computer and observation note
Recording device；The coil part includes supporting table, nested coil mechanism on the supporting table is arranged and is integrated in the branch
Support three pairs of positive negative terminals on the table top of platform；The nesting coil mechanism is that three pairs of Helmholtz coils use orthogonal nesting side
Formula assembles the three dimensional coils mechanism to be formed, and each pair of Helmholtz coil is by two identical coils using coaxial flat
Row arrangement assembles to be formed；Each pair of Helmholtz coil draws a pair of positive negative terminal；
The host computer passes through the digital quantity analog quantity conversion equipment analog signal with three drivers respectively
Input terminal electrical connection；Three DC power supplies are connected with three drivers respectively, and it is defeated to provide power supply for the driver
Enter；The current output terminal of three drivers passes through twin-core shielding line respectively and is electrically connected with three pairs of positive negative terminals；Institute
Container platform is stated, positioned at the center of the nested coil mechanism, for holding the solution of magnetic helicity travelling Micro-Robot；Institute
State the surface that observational record device is vertically installed at the nested coil mechanism, and the optical frames in the observational record device
Head is directed at the container platform.
Optionally, the size of each pair of Helmholtz coil is different；The nesting coil mechanism is by three pairs of last of the twelve Earthly Branches nurses
Suddenly hereby coil according to size from small to large using it is orthogonal it is nested by the way of assemble and to be formed；From inside to outside, the nested coil plane
The axial direction of three pairs of Helmholtz coils in structure respectively corresponds the Z, X in three-dimensional controllable rotating magnetic field, Y-axis, and described in three pairs
The axis of Helmholtz coil intersects at the central point of the nested coil mechanism.
Optionally, the digital quantity analog quantity conversion equipment includes USB type conversion board and external connection end daughter board, the USB
Type converts the USB interface and the upper mechatronics of board, and the USB type converts three road analog signal outputs of board,
Using shielded signal line, it is connected by the external connection end daughter board with the input end of analog signal of the corresponding driver, is
The electric current of the corresponding driver output provides corresponding voltage control signal.
Optionally, the observational record device includes gimbals, focus adjusting mechanism, CCD camera, optical lens；The CCD
Camera is connected with the optical lens, and the CCD camera and the optical lens pass through the cantilever branch on the gimbals
Support is vertically installed at the surface of the nested coil mechanism, adjusts the gimbals upper cantilever by the focus adjusting mechanism
Height to carry out the optical lens focusing.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of control systems of magnetic helicity travelling Micro-Robot, which includes: coil
Portion, container platform, three drivers, three DC power supplies, digital quantity analog quantity conversion equipment, host computer and observational record dress
It sets；The coil part includes supporting table, nested coil mechanism on the supporting table is arranged and is integrated in the supporting table
Table top on three pairs of positive negative terminals；The nesting coil mechanism is that three pairs of Helmholtz coils use orthogonal nested mode group
The three dimensional coils mechanism formed is filled, each pair of Helmholtz coil is by two identical coils using coaxial parallel cloth
The mode of setting assembles to be formed；Each pair of Helmholtz coil draws a pair of positive negative terminal；The host computer passes through institute
Digital quantity analog quantity conversion equipment is stated to be electrically connected with the input end of analog signal of each driver；The DC power supply it is defeated
Outlet is electrically connected with the current input terminal of the driver；The current output terminal of the driver by twin-core shielding line with it is described
Positive negative terminal electrical connection；The container platform, positioned at the center of the nested coil mechanism, for holding magnetic helicity trip
The solution of dynamic Micro-Robot；The observational record device is vertically installed at the surface of the nested coil mechanism, and the sight
The optical lens surveyed in recording device is directed at the container platform.Therefore, control system provided by the invention is simple and compact for structure,
Integrated level is high, and operation is convenient flexibly, can be realized the accurate manipulation of magnetic helicity travelling Micro-Robot.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot preparation method；
Fig. 2 is the SEM photograph of magnetic helicity of embodiment of the present invention travelling Micro-Robot；
Fig. 3 is the structural schematic diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot；
Fig. 4 is the manipulating principle schematic diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot；
Fig. 5 is the structural schematic diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot control system；
Fig. 6 is the course of work schematic diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot control system；
Fig. 7 is the manipulation effect photo of magnetic helicity of embodiment of the present invention travelling Micro-Robot；
Fig. 8 is that same magnetic helicity travelling Micro-Robot promotes speed in the rotating excitation field of varying strength and frequency parameter
Spend test curve；
Fig. 9 is rotation of the magnetic helicity travelling Micro-Robot in 30Gs intensity and different frequency parameter of Different structural parameters
Turn fltting speed test curve in magnetic field.
Unit is described as follows in text:
H hours min minutes DEG C degrees Celsius g grams μm mL milliliters of micron
The micro- meter per second mT milli spy Gs Gauss of mL/L ml ls of g/L grams per liter μm/s
Hz hertz r/min revs/min
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of magnetic helicity travelling Micro-Robot preparation method and its control system,
Preparation process is simple, can be realized controllableization, the mass preparation of the magnetic helicity travelling Micro-Robot of Different structural parameters,
And control system is simple and compact for structure, integrated level is high, and operation is convenient flexibly, can be realized magnetic helicity travelling Micro-Robot
Precisely manipulation.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
The present invention proposes a kind of side that magnetic helicity travelling Micro-Robot is prepared based on biological template and chemical plating process
Method, and one kind generate three-dimensional controllable rotating magnetic field, driving magnetic helicity travelling Micro-Robot based on Helmholtz coil
The control system of advancing movement.
Fig. 1 is the flow diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot preparation method.
As shown in Figure 1, preparation method provided in an embodiment of the present invention the following steps are included:
Step 101: choosing spirulina biological template.
The spirulina biological template with specific shape structural parameters is chosen, by the methods of screening to obtain corresponding construction
The magnetic helicity travelling Micro-Robot of parameter, to meet different research application demands.It specifically includes:
Determine the structural parameters of the travelling Micro-Robot of magnetic helicity needed for user.
Using method for sieving, spiral shell corresponding with the travelling Micro-Robot structural parameters of magnetic helicity needed for the user is chosen
Revolve algae biological template；The method for sieving is the method gradually sieved repeatedly using the stainless steel mesh of -400 mesh of 200 mesh.
Step 102: fixed to strengthen.
By the spirulina biological template of selection under the conditions of 4 DEG C of temperature, in the glutaraldehyde solution that concentration is 2.5%
It impregnates 6 hours, obtains the spirulina cells of fixed reinforcing, realize that the fixed of three-dimensional micro- helical structure is strengthened.
Step 103: pallamine activation.
By the fixed spirulina cells strengthened under the conditions of 30 DEG C of temperature, surface active is carried out in pallamine solution
Processing, activation time 10min, the spirulina cells after obtaining pallamine activation.1g spirulina cells substantially need using
15mL-25mL pallamine solution.
The pallamine solution is the solution that solution A and B solution mixed preparing obtain；The color of the pallamine solution is
Sepia；The pallamine solution keeps the temperature 3h-5h under conditions of 60 DEG C of -65 DEG C of heating water baths, and is diluted to deionized water
1000mL is spare.
The preparation method of the pallamine solution are as follows: the B solution is prepared at room temperature first, then in 30 DEG C of items
The solution A is prepared under part, and finally the B solution is slowly added into the solution A in the case where being stirred continuously, and mixes
It closes uniformly, obtains the pallamine solution；Wherein,
Solution A stannous chloride (SnCl2·2H2O) 2.53g/L
Palladium chloride (PdCl2) 1g/L
Concentrated hydrochloric acid (HCl) 100mL
Deionized water 200mL
B solution sodium stannate (Na2SnO3·3H2O) 7g/L
Stannous chloride (SnCl2·2H2O) 75g/L
Concentrated hydrochloric acid (HCl) 200mL.
Step 104: dispergation.
By the spirulina cells after the pallamine activation under the conditions of 30 DEG C of temperature, carried out at dispergation in solution sol solution
Reason, dispergation time are 1min.1g spirulina cells substantially need to solve sol solution using 25mL.
The solution sol solution is the ortho phosphorous acid sodium water solution that concentration is 30g/L.
Step 105: chemical nickel plating.
Using chemical nickel-plating solution, the spirulina cells after dispergation are subjected to chemical nickel plating, realize surface magnetism
Modification.1g spirulina cells need 50ml-100ml chemical nickel-plating solution.
The component of the chemical nickel-plating solution are as follows:
Step 105 specifically includes: configured chemical nickel-plating solution is subjected to heating water bath under the conditions of 60 DEG C of temperature,
Step 104 treated spirulina cells are added among chemical nickel-plating solution, are added later in the lasting water-bath that temperature is 60 DEG C
Chemical nickel plating reaction, reaction time 5min- are carried out under heat, the mechanical stirring that mixing speed is 200r/min-300r/min
15min, so as to carry out surface magnetism modification to spirulina biological template.The main material of overlay coating is nickel, and coating is equal
Even densification, thickness of coating can be controlled by the reaction time.
Step 106: cleaning, drying.
The spirulina cells after chemical nickel plating are cleaned multiple times using deionized water, and at a temperature of 60 DEG C -80 DEG C
Drying obtains magnetic helicity travelling Micro-Robot；The number of the cleaning is 3-5 times.The magnetic helicity trip being prepared
The SEM photograph of dynamic Micro-Robot is as shown in Fig. 2.
Fig. 3 is the structural schematic diagram of magnetic helicity of the present invention travelling Micro-Robot, the magnetism of preparation of the embodiment of the present invention
Spiral shape travelling Micro-Robot mainly passes through nickel chemical plating technology, carries out magnetic metal on spirulina biological template surface and modifies
It arrives.As shown in figure 3, the magnetic helicity travelling Micro-Robot is the Micro-Robot of three-dimensional micro- spiral-shaped structure, the magnetic
Property spiral shape travelling Micro-Robot include micro- helical structure biological organic matter kernel 201 and surface coated magnetic metal
Coating 202.
For the movement manipulation for realizing above-mentioned magnetic helicity travelling Micro-Robot, the present invention provides having, three-dimensional is controllable to revolve
Turn the control system of field generator for magnetic.
Fig. 4 is the manipulating principle schematic diagram of magnetic helicity of the present invention travelling Micro-Robot, as shown in figure 4, outer plus suitable
Under the rotating excitation field effect of parameter, magnetic helicity travelling Micro-Robot can keep helical structure axis and magnetic field rotating plane
Vertically, and under the action of rotating excitation field it is rotated around the axis of helical structure, by the interaction with fluid, generates propulsion
Movement.The fltting speed size of magnetic helicity travelling Micro-Robot and parameter (magnetic field strength, magnetic field rotating frequency of rotating excitation field
Rate etc.) it is related, direction of propulsion is related with magnetic field rotation direction.Change rotating excitation field parameter in the appropriate range, it can be achieved that magnetic
Property spiral shape travelling Micro-Robot accurate movement manipulate.
Fig. 5 is the structural schematic diagram of magnetic helicity of embodiment of the present invention travelling Micro-Robot control system.
As shown in figure 5, magnetic helicity provided in an embodiment of the present invention travelling Micro-Robot control system include coil part,
Container platform, three drivers, 1, three DC power supply 2, digital quantity analog quantity conversion equipment, host computer 3 and observational record dress
It sets.The coil part includes supporting table 4, the nested coil mechanism being arranged in the supporting table 4 and is integrated in the support
Three pairs of positive negative terminals 5 on the table top of platform 4.The host computer 3 is by the digital quantity analog quantity conversion equipment respectively with three
The input end of analog signal of a driver 1 is electrically connected；The output end of three DC power supplies 2 respectively with three drivers
1 current input terminal electrical connection；The current output terminal of three drivers 1 pass through respectively twin-core shielding line and three pairs it is described just
Negative terminal 5 is electrically connected；The observational record device is vertically installed at the surface of the nested coil mechanism, and the observation
Optical lens 12 in recording device is directed at the container platform.
Wherein, the nested coil mechanism includes three pairs of Helmholtz coils 6 altogether；The nesting coil mechanism is three pairs of last of the twelve Earthly Branches
Mu Huozi coil 6 assembles the three dimensional coils mechanism to be formed using orthogonal nested mode.Each pair of Helmholtz coil 6 is by being two
A identical coil assembles to be formed using coaxial parallel arrangement.Each coil passes through enamel covered wire in bakelite skeleton
Upper coiling is formed, and two identical coils in each pair of Helmholtz coil 6 are connected by wiring, and passes through electricity in the same direction
Stream, each pair of Helmholtz coil 6 is drawn a pair of positive negative terminal 5, is integrated on the table top of supporting table 4, in order to electric current input.
The size of each pair of Helmholtz coil 6 is different, so the nesting coil mechanism is pressed by three pairs of Helmholtz coils 6
Hindsight to be formed using assembling by the way of orthogonal nesting cun from small to large；From inside to outside, three pairs in the nested coil mechanism
The axial direction of the Helmholtz coil 6 respectively corresponds the Z, X in three-dimensional controllable rotating magnetic field, Y-axis, and three pairs of Helmholtz's lines
The axis of circle 6 intersects at the central point of the nested coil mechanism.By Helmholtz coil in space structure and coil winding
Etc. calculation optimization so that the internal designated space regional magnetic field uniformity reaches best.
Container platform is placed in the central area of nested coil mechanism, for loading containing magnetic helicity travelling micro-machine
The solution of people.
Three drivers 1 are all made of widely applied analog quantity servo-driver in motor driven, current output terminal point
Not Tong Guo positive negative terminal 5 be connected with three pairs of Helmholtz coils 6, respectively three pairs of Helmholtz coils 6 provide corresponding electricity
Stream input.
Three DC power supplies 2 are D.C. regulated power supply；Three DC power supplies 2 are connected with three drivers 1 respectively, to drive
Dynamic device 1 provides power input.
Digital quantity analog quantity conversion equipment includes USB type conversion board 7 and external connection end daughter board 8, and USB type converts board 7
USB interface is connected with host computer 3, and the output port of USB type conversion board 7 is connect with external connection end daughter board 8 to facilitate wiring and pipe
Reason.USB type converts three road analog signal outputs of board 7, and corresponding by external connection end daughter board 8 using shielded signal line
The input end of analog signal of driver 1 is connected, and exports electric current for corresponding driver 1 and provides corresponding voltage control signal.
Observational record device includes gimbals 9, focus adjusting mechanism 10, CCD camera 11, optical lens 12.CCD camera 11 with
Optical lens 12 is connected, and CCD camera 11 and optical lens 12 are vertically installed at by the cantilever support on gimbals 9
The surface of nested coil mechanism adjusts the height of the cantilever on gimbals 9 by focus adjusting mechanism 10 to optical lens
12 focus, and realize real-time observational record.
Due to the presence of practical foozle, need to demarcate each pair of Helmholtz coil 6, to determine input voltage
Size of current direction in signal magnitude and Helmholtz coil, the relationship of corresponding magnetization direction, is obtained by linear fit
Corresponding relationship formula, as the foundation for carrying out parameter conversion in software program in host computer 3.
Fig. 6 is the course of work schematic diagram of magnetic helicity of the present invention travelling Micro-Robot control system, as shown in fig. 6,
The control system course of work of magnetic helicity travelling Micro-Robot of the present invention is as follows, and host computer 3 is write by C# language
Software program XYZ tri- is calculated according to three-dimensional magnetic field parameter set by user and corresponding relationship formula obtained by calibrating
To current parameters needed for Helmholtz coil 6, XYZ tri- is then calculated to voltage signal needed for Helmholtz coil 6.
Corresponding voltage waveform is sent to USB type conversion board 7, USB type converts board 7 according to this waveform, respectively by three road voltages
Signal is input in corresponding three drivers 1, and electric current is respectively outputted to three pairs of last of the twelve Earthly Branches according to corresponding waveform by three drivers 1
In Mu Huozi coil 6, to generate the three-dimensional controllable rotating magnetic field for meeting parameter request in orthogonal intersection space region, realize magnetic
The corresponding manipulation of spiral shape travelling Micro-Robot.
The three-dimensional controllable rotating magnetic field strength that control system provided in an embodiment of the present invention generates can achieve 10mT, frequency
The axial rotary of the controllable adjustment in 0-100Hz, three-dimensional controllable rotating magnetic field can realize that according to demand three-dimensional space is arbitrarily directed toward.
It is calculated by the software program in host computer 3, changes magnetic field parameter in the appropriate range, so that control system is generated satisfaction and accordingly want
The three-dimensional controllable rotating magnetic field asked, to realize that the accurate movement to magnetic helicity travelling Micro-Robot manipulates.Pass through change
Magnetic field strength and speed, to change the fltting speed size of magnetic helicity travelling Micro-Robot.By changing magnetic field
Axial rotary, to change the direction of the fltting speed of magnetic helicity travelling Micro-Robot.
Fig. 7 is the manipulation effect photo of magnetic helicity of the present invention travelling Micro-Robot.
As shown in fig. 7, the moment is respectively 0s, 2s, 3s, 6s.The control of the control system provided through the embodiment of the present invention
System realizes that the movement to magnetic helicity travelling Micro-Robot manipulates, and is moved it along intended trajectory with required speed, completed micro-
The mission requirements of small scale.
Fig. 8 is that same magnetic helicity travelling Micro-Robot promotes speed in the rotating excitation field of varying strength and frequency parameter
Spend test curve.
As shown in figure 8, magnetic helicity travelling Micro-Robot of the present invention is in the rotating excitation field of varying strength and frequency
Fltting speed is different, Micro-Robot object (HM-1, spiral shell number are 1.5, and length is 105 μm, and coil width is 30 μm) in 20Gs,
Under 30Gs, 40Gs and 70Gs intensity, curve that fltting speed changes with three-dimensional controllable rotating field frequency.
Fig. 9 is rotation of the magnetic helicity travelling Micro-Robot in 30Gs intensity and different frequency parameter of Different structural parameters
Turn fltting speed test curve in magnetic field.
Using the different spirulina biological template of structural parameters, the magnetic helicity trip of corresponding construction parameter can be prepared
Dynamic Micro-Robot, the fltting speed in three-dimensional controllable rotating magnetic field are also different.As shown in figure 9, being three kinds of knots respectively
The magnetic helicity travelling Micro-Robot of structure parameter is in the rotating excitation field of 30Gs intensity, and fltting speed is with three-dimensional controllable rotating
(HM-2, spiral shell number are 2 to the relation curve of field frequency variation, and length is 154 μm, and coil width is 42 μm；HM-3, spiral shell number are
2.5, length is 270 μm, and coil width is 37 μm；HM-4, spiral shell number are 4, and length is 216 μm, and coil width is 28 μm).
A kind of magnetic helicity travelling Micro-Robot of the present invention, in the three-dimensional controllable rotating magnetic for adding suitable parameter outside
Under field action, it is vertical with magnetic field rotating plane that magnetic helicity travelling Micro-Robot is able to maintain helical structure axis, and three
Axis under the action of dimension controllable rotating magnetic field around helical structure rotates, and passes through the interaction with fluid, generates and promotes fortune
It is dynamic.The fltting speed size of magnetic helicity travelling Micro-Robot and parameter (magnetic field strength, magnetic field in three-dimensional controllable rotating magnetic field
Speed etc.) it is related, the direction of fltting speed is related with three-dimensional controllable rotating magnetic field rotation direction.Change in the appropriate range
Three-dimensional controllable rotating magnetic field parameter realizes that the accurate movement to magnetic helicity travelling Micro-Robot manipulates.Using different structure
Different magnetic helicity travelling Micro-Robots is prepared in the spirulina biological template of parameter, in three-dimensional controllable rotating magnetic field
In fltting speed also different from.
Compared with prior art, the invention has the benefit that
(1) magnetic helicity travelling Micro-Robot of the present invention is copied the microorganisms such as Escherichia coli to pass through flagellum and is revolved
The motion mode that life of changing the line of production promotes can be effectively pushed under the control of three-dimensional controllable rotating magnetic field in low reynolds number environment
Movement.
(2) preparation method of the present invention is adopted using having the spirulina cells of natural micro- helical structure as template
Surface magnetism modification, overlay coating even compact are carried out with the chemical plating process of optimization, shape and structure keeps good, manufactures work
Skill is simple, can be realized controllableization, the mass preparation of the magnetic helicity travelling Micro-Robot of Different structural parameters.
(3) control system of the present invention passes through the software program control of host computer based on three-dimensional Helmholtz coil
System carries out electric current output using digital quantity analog quantity conversion equipment and driver, generates three-dimensional controllable rotating magnetic field, entire to manipulate
System structure is simple and compact, and integrated level is high, and operation is convenient flexibly, can be realized the accurate behaviour of magnetic helicity travelling Micro-Robot
Control.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (3)
1. a kind of control system of magnetic helicity travelling Micro-Robot, which is characterized in that the control system includes: coil
Portion, container platform, three drivers, three DC power supplies, digital quantity analog quantity conversion equipment, host computer and observational record dress
It sets；The coil part includes supporting table, nested coil mechanism on the supporting table is arranged and is integrated in the supporting table
Table top on three pairs of positive negative terminals；The nesting coil mechanism is that three pairs of Helmholtz coils use orthogonal nested mode group
The three dimensional coils mechanism formed is filled, each pair of Helmholtz coil is by two identical coils using coaxial parallel cloth
The mode of setting assembles to be formed；Each pair of Helmholtz coil draws a pair of positive negative terminal；
The host computer is inputted with the analog signal of three drivers respectively by the digital quantity analog quantity conversion equipment
End electrical connection；Three DC power supplies are connected with three drivers respectively, provide power input for the driver；Three
The current output terminal of a driver passes through twin-core shielding line respectively and is electrically connected with three pairs of positive negative terminals；The container
Platform, positioned at the center of the nested coil mechanism, for holding the solution of magnetic helicity travelling Micro-Robot；The observation
Recording device is vertically installed at the surface of the nested coil mechanism, and the optical lens alignment in the observational record device
The container platform；
The digital quantity analog quantity conversion equipment includes USB type conversion board and external connection end daughter board, and the USB type converts board
USB interface and the upper mechatronics, three road analog signal outputs of the USB type conversion board, using shielded signal
Line is connected by the external connection end daughter board with the input end of analog signal of the corresponding driver, is the corresponding drive
The electric current of dynamic device output provides corresponding voltage control signal.
2. control system according to claim 1, which is characterized in that the size of each pair of Helmholtz coil is different；
The nesting coil mechanism is assembled by the way of orthogonal nesting by three pairs of Helmholtz coils according to size from small to large
It is formed；From inside to outside, the axial direction of three pairs of Helmholtz coils in the nested coil mechanism respectively correspond three-dimensional can
Z, X, the Y-axis of rotating excitation field are controlled, and the axis of three pairs of Helmholtz coils intersects at the central point of the nested coil mechanism.
3. control system according to claim 1, which is characterized in that the observational record device includes gimbals, adjusts
Focusing mechanism, CCD camera, optical lens；The CCD camera is connected with the optical lens, the CCD camera and the optics
Camera lens is vertically installed at the surface of the nested coil mechanism, by described by the cantilever support on the gimbals
Focus adjusting mechanism adjusts the height of the gimbals upper cantilever to carry out the optical lens focusing.
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| CN110270978B (en) * | 2019-07-15 | 2020-11-10 | 哈尔滨工业大学 | Micro-nano robot control platform system under coupling action of multiple physical energy fields |
| CN112421988B (en) * | 2020-11-12 | 2022-04-12 | 福州大学 | Spiral magnetic micron motor and preparation method thereof |
| CN114601509B (en) * | 2020-12-08 | 2023-08-08 | 长春工业大学 | Design, preparation method and driving mode of magnetic driving micro-nano robot |
| CN113831543A (en) * | 2021-09-02 | 2021-12-24 | 华南师范大学 | Preparation method of spiral MOF (Metal organic framework) micro motor based on biomass |
| CN114645014B (en) * | 2021-12-07 | 2024-04-02 | 深圳先进技术研究院 | Immune cell modification method, immune cell robot and immune cell modification system |
| CN114474997B (en) * | 2022-03-16 | 2023-06-16 | 北京航空航天大学 | Inkjet printing deposition equipment based on magnetic field regulation and control |
| CN116362151B (en) * | 2023-02-24 | 2024-02-06 | 深圳市人工智能与机器人研究院 | Micro-actuator design method driven by micro-screw combined motor and related equipment |
| CN116330248B (en) * | 2023-05-30 | 2023-08-08 | 中国科学院深圳先进技术研究院 | Magnetic control system of micro-nano robot |
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