CN108724148B - Nanometer robot control system - Google Patents
Nanometer robot control system Download PDFInfo
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- CN108724148B CN108724148B CN201811081224.4A CN201811081224A CN108724148B CN 108724148 B CN108724148 B CN 108724148B CN 201811081224 A CN201811081224 A CN 201811081224A CN 108724148 B CN108724148 B CN 108724148B
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- magnetic field
- mechanical arm
- nanometer robot
- workbench
- field component
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Classifications
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of nanometer robot control systems, including workbench, mechanical arm, magnetic field component, motor, voltage controller, microscopic observation equipment and computer, the nanometer robot of ferrimagnet of this programme using size less than 500nm is as operating member, multiple mechanical arms around workbench circumferentially, magnetic field component is set on mechanical arm, motor is used to drive the space of mechanical arm mobile and the rotary motion of magnetic field component, voltage controller are used to adjust the voltage swing of magnetic field component.The present invention changes the magnetic field distribution in operating area by controlling position and the voltage swing of magnetic field component, and using the movement for the feeding force control nanometer robot that change of magnetic field strength generates, movement velocity is up to 5nm/s, to realize nanoscale operation precision.This programme realizes the high precision intelligentized control method process of nanometer robot, substantially increases the accuracy and success rate of accurate operation.
Description
Technical field
The present invention relates to nanometer robot technical field more particularly to a kind of nanometer robot control systems.
Background technique
People are limited and the limitation of tool when carrying out certain high precision manipulations by mankind itself's Operational Figure Of Merit,
And need the dynamics lower than human perception threshold value so that accurate operation becomes abnormal difficult, such as surgeon into
When row operation on retina, crystal-cut art etc. operate, since the operation precision of operation instrument is lower, inevitably cause hand
Art accident or the defects of lead to postoperative complications；Or scientific worker is when carrying out certain Bioexperiment, due to operating instrument
Precision it is lower, cannot achieve nanoscale directional operation etc..
Therefore, how a kind of control system that operation precision is high is provided, is that those skilled in the art need to solve at present
Technical problem.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of nanometer robot control system, which may be implemented to receive
The operation precision of meter level greatly improves the accuracy and success rate of accurate operation.
To achieve the goals above, the present invention provides the following technical scheme that
Nanometer robot control system, comprising:
Nanometer robot is process using ferrimagnet, and size is less than 500nm；
It is used to support the nanometer robot and the workbench of operating area is provided；
Multiple mechanical arms circumferentially around the workbench；
The magnetic field component being set on the mechanical arm, for providing the magnetic field intersected with the operating area of the workbench
And nanometer robot described in the feeding force control generated using change of magnetic field strength is moved, the magnetic field component includes for generating
The positive coil and reverse winding of opposed magnetic field；
Motor, including the mobile motor for driving the mechanical arm to move in three-dimensional space and for driving the magnetic
The rotating electric machine of field assembly rotary motion；
Voltage controller, for adjusting the voltage swing of the magnetic field component；
For observing the microscopic observation equipment of the nanometer robot motion state；
For running the computer of control program, the computer is connected to described by driver and signal transmitting apparatus
Voltage controller, the motor are connected to the computer by the driver, and the microscopic observation equipment is connected to described
Computer.
Preferably, in above-mentioned nanometer robot control system, multiple mechanical arms include the week around the workbench
To the horizontal mechanical arm and vertical mechanical arm being alternately arranged.
Preferably, the mobile motor includes translation motor and oscillating motor, and the translation motor is for driving the machine
Tool arm is moved radially along the workbench, and the oscillating motor is for driving the mechanical arm along perpendicular to the workbench
It is moved in radial vertical plane.
Preferably, the voltage controller is realized stepless by the voltage of magnetic field component described in silicon-controlled voltage regulation circuit control
It adjusts.
Preferably, the signal transmitting apparatus is PLC.
Nanometer robot control system provided by the invention is less than the ferromagnetic nanometer robot of 500nm using size
As operating member, change the magnetic field strength in workbench operating area by controlling position and the voltage swing of magnetic field component
Distribution, using change of magnetic field strength generate feeding force control nanometer robot movement, movement velocity up to 5nm/s, thus
Realize nanoscale operation precision.It can change magnetic by the translational motion of control mechanical arm and the rotary motion of magnetic field component
The angle of field assembly can control the movement angle of nanometer robot using the torque that magnetic field generates nanometer robot.We
Case realizes the high precision intelligentized control method process of nanometer robot, substantially increases the accuracy and successfully of accurate operation
Rate.Accurate operation equipment in the prior art, such as eye hand are replaced using the nanometer robot control system that this programme provides
Art equipment or biological research equipment etc., can substantially reduce accident rate, improve operation accuracy and success rate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that the workbench of the nanometer robot control system in the specific embodiment of the invention and mechanical arm configuration arrangement are shown
It is intended to；
Fig. 2 is the control schematic diagram of the nanometer robot control system in the specific embodiment of the invention；
Fig. 3 is the structural front view of the mechanical arm in the specific embodiment of the invention；
Fig. 4 is the structure top view of the mechanical arm in the specific embodiment of the invention.
In Fig. 1 to Fig. 4:
1- first level mechanical arm, the second horizontal mechanical of 2- arm, 3- third horizontal mechanical arm, the 4th horizontal mechanical arm of 4-,
The first vertical mechanical of 5- arm, the second vertical mechanical of 6- arm, 7- third vertical mechanical arm, the 4th vertical mechanical arm of 8-, 9- workbench,
10- microscope, 11- computer, 12- driver, 13-PLC, 14- voltage controller, 15- power supply, 16- motor, the magnetic field 17- group
Part, 18- rotating electric machine, 19- guide rail, 20- translation motor, 21- oscillating motor, 22- swinging connecting rod.
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.
Please refer to Fig. 1 to Fig. 4, Fig. 1 be the nanometer robot control system in the specific embodiment of the invention workbench with
Mechanical arm structure arrangement schematic diagram, Fig. 2 are the control schematic diagram of the nanometer robot control system in the specific embodiment of the invention,
Fig. 3 is the structural front view of the mechanical arm in the specific embodiment of the invention, and Fig. 4 is the mechanical arm in the specific embodiment of the invention
Structure top view.
In a kind of specific embodiment scheme, the present invention provides a kind of nanometer robot control systems, specifically include: receiving
Rice robot, workbench 9, mechanical arm, magnetic field component 17, motor 16, voltage controller 14, microscopic observation equipment, computer 11,
Driver 12 etc..
Wherein, nanometer robot is process using ferrimagnet, such as ferroso-ferric oxide or titanium etc., is guaranteed
Enough to move in magnetic field force effect lower stress, the size of nanometer robot is less than 500nm.Workbench 9 be used to support mechanical arm etc. its
His component simultaneously provides operating area, can be used for the fixed object to be operated, such as operation patients or biological sample in operating area
Deng.Workbench 9 is made of insulating materials, such as glass or plastics etc., and to avoid magnetic field is influenced, workbench 9 needs to have one
Intensity is determined, to support the weight of mechanical arm.In addition, according to different application scenarios, such as specific operation or specific experiment scene
When can be designed as different shape and structures Deng, workbench 9, for example being applied to operated eye, the centre of workbench 9 offers confession
Eyes of patients are exposed and can be appropriate by handle hole when being applied to cerebral operations for the handle hole of nanometer robot operation
Expand.In order to preferably reduce interference of the electrostatic to magnetic field, it is preferable that this programme is also connected with a ground connection on workbench 9
Conducting wire, the electrostatic generated when the electrostatic generated on workbench 9 or other objects can be contacted guide.
The quantity of mechanical arm be it is multiple, multiple mechanical arms around workbench 9 circumferentially, it is preferable that multiple mechanical arm packets
The horizontal mechanical arm and vertical mechanical arm being alternately arranged around the circumferential direction of workbench are included, it is further preferred that multiple mechanical arms are around work
The circumferential direction for making platform 9 is uniformly distributed, and so as to provide the field drives power of more perspective to nanometer robot, while avoiding acting
It interferes with each other in the process.As shown in Figure 1, the horizontal mechanical arm in this programme includes first level mechanical arm 1, the second horizontal mechanical
Arm 2, third horizontal mechanical arm 3 and the 4th horizontal mechanical arm 4, vertical mechanical arm include the first vertical mechanical arm 5, the second vertical machine
Tool arm 6, third vertical mechanical arm 7 and the 4th vertical mechanical arm 8.Mechanical arm is used to support magnetic field component 17, passes through mechanical arm
The angles and positions that move adjustable magnetic field component 17, the Torque Control nanometer robot generated using change of magnetic field strength
Movement angle and dimension.
Magnetic field component 17 is set on mechanical arm, for providing the magnetic field intersected with the operating area of workbench 9 and utilization
The feeding force control nanometer robot movement that change of magnetic field strength generates, magnetic field component 17 includes for generating opposed magnetic field
Positive coil and reverse winding, the coil of power on/off different directions can be with switching field polarity, to add to nanometer robot
Speed is slowed down；Change the magnetic in operating area by changing voltage swing and 17 present position of magnetic field component of magnetic field component 17
Field intensity distribution, the direction of motion and speed of nanometer robot are controlled using the propulsive force that change of magnetic field strength generates.It is default
Magnetic field strength can fully control nanometer robot when being 3000 Gauss, and the distance of manipulator motion is equal to nanometer machine at this time
The move distance of device people, but since the kinematic accuracy of mechanical arm can only control in several microns, it cannot achieve nanoscale fortune
Dynamic, therefore, this programme increases the function of reversely adjusting by changing magnetic field strength.It is mechanical in 3000 Gauss of magnetic field strength
Arm is 5 microns mobile, and nanometer robot is 5 microns mobile, and in moving process, computer calculates nanometer robot by algorithm in real time
Movement speed is reduced by adjusting magnetic field strength, to reduce the moving distance of nanometer robot.
Motor 16 includes mobile motor for driving mechanical arm to move in three-dimensional space and for driving magnetic field component
The rotating electric machine 18 of 17 rotary motions.Wherein, rotating electric machine 18 controls magnetic field component 17 and rotates, so that it is same to control nanometer robot
Walk rotating operation.Preferably, mobile motor includes translation motor 20 and oscillating motor 21, and translation motor 20 is for driving mechanical arm
Radial direction (it is Y direction that the direction, which is defined herein) along workbench 9 is mobile, and oscillating motor 21 is used to pass through swinging connecting rod 22
Driving mechanical arm is moved along the vertical plane perpendicular to workbench radial direction, and the swinging connecting rod 22 is as lifting and translation transmission
The rotary motion of oscillating motor 21 can be changed into the lifting and translational motion of driving mechanical arm by mechanism, wherein pendulum herein
Dynamic motor 21 drives horizontal direction of the mechanical arm along vertical in-plane moving when to be defined as X-direction, and vertical direction is defined as Z axis side
To.Magnetic field component 17, rotating electric machine 18, oscillating motor 21 and translation motor 20 are configured on each mechanical arm, such as Fig. 3 and figure
Shown in 4, moved along the y axis for the ease of driving mechanical arm, this programme is also provided with for guiding mechanical arm to slide along the y axis
The guide rail 19 of shifting.
Voltage controller 14 is used to adjust the voltage swing of magnetic field component 17, it is preferable that voltage controller 14 passes through controllable
The voltage that silicon regulating circuit controls magnetic field component 17 realizes step-less adjustment, specifically, voltage controller 14 is adjusted using potentiometer
Resistance value makes output voltage synchronous change therewith, to change Trigger Angle to achieve the purpose that step-less adjustment.
Microscopic observation equipment is for observing nanometer robot motion state, motion profile and side including nanometer robot
To microscopic observation equipment is by observed result Real-time Feedback into computer 11.It should be noted that micro- used in this programme
Observation device specifically can be using microscope, nuclear magnetic resonance equipment, supersonic sounding equipment, Laser Distance Measuring Equipment etc., wherein micro-
Mirror is used for observation of the nanometer robot in body surface operation；Nuclear magnetic resonance equipment then can be used for nanometer robot and enter people
Observation when body or interior of articles operation, the position of nanometer robot can be accurately detected by nuclear magnetic resonance.Preferably, originally
Select microscope 10 as microscopic observation equipment in specific embodiment scheme, which may be implemented Nano grade distance
Accurate measurement, and measurement result Real-time Feedback can be handled into computer 11.
Computer 11 is connected to voltage by driver 12 and signal transmitting apparatus for running control program, computer 11
Controller 14, motor 16 are connected to computer 11 by driver 12, and microscopic observation equipment is connected to computer 11.Computer 11
For calculating operation data, display operational process and as a result, and can be carried out program setting；Driver 12 is for executing computer 11
The program instruction of sending simultaneously converts electric signal for program instruction and is sent to signal transmitting apparatus, can also receive feedback signal,
Operation deviation is adjusted in real time；Signal transmitting apparatus is used to for the control signal of driver 12 being sent to voltage controller 14 and will
The voltage signal of voltage controller 14 feeds back to driver 12.Wherein, signal transmitting apparatus preferably uses PLC13, certainly, this hair
It is bright to use other such as single-chip microcontroller signal transmitting apparatus.
In addition, the nanometer robot control system that this programme provides further includes power supply 15, power supply 15 be respectively driver 12,
The components such as voltage controller 14 and motor 16 provide electric energy.
In the following, this programme introduces the course of work of above-mentioned nanometer robot control system by concrete operations example:
Nanometer robot is placed on workbench 9, specifically, first mixing nanometer robot with liquid-carrier, using life
The harmless liquid-carriers such as salt water are managed, then by way of injecting or instilling, are placed in application site, such as people
Body or eyes or some platform etc.；The position coordinates of four horizontal mechanical arms are X-axis 50mm, Y-axis 25mm；Four vertical machines
The position coordinates of tool arm are X-axis 60mm, Y-axis 20mm；Magnetic field component 17 is powered, power-on voltage 240V；Nanometer robot when initial
Remain static, 11 program instruction driver 12 of computer, 12 response computer of driver, 11 program assign run signal to
Motor 16, it is X-axis 60mm, Y-axis 28mm, the vertical machine of third that motor 16, which controls mechanical arm to change the coordinate of the 4th horizontal mechanical arm 4,
The coordinate of tool arm 7 and the 4th vertical mechanical arm 8 is X-axis 70mm, Y-axis 25mm；11 program instruction driver 12 of computer, driver
12 response computer, 11 program assigns run signal to PLC13, and PLC13 command voltage controller 14 adjusts first level mechanical arm
1, the magnetic field group on the second horizontal mechanical arm 2, third horizontal mechanical arm 3, the first vertical mechanical arm 5 and the second vertical mechanical arm 6
The voltage of part 17 gradually drops to 235V by 240V；It is vertical to control the 4th horizontal mechanical arm 4, third vertical mechanical arm 7 and the 4th
The voltage of the magnetic field component 17 of mechanical arm 8 gradually rises to 250V, and nanometer robot is turned right by home position and gradually moved, and leads to
It crosses microscope 10 and observes operating status, run 24 seconds, detect that the position of nanometer robot moves 120nm, average mobile speed
Degree 5nm/ seconds；Further, 11 program instruction driver 12 of computer, 12 response computer of driver, 11 program assign run signal
To rotating electric machine 18, the starting of rotating electric machine 18 makes magnetic field component 17 by 10 revs/min of initial velocity, steps up to 200 revs/min,
Nanometer robot and magnetic field component 17 do equidirectional rotary motion, and directly proportional to 17 rotation speed of magnetic field component；Computer 11
Program instruction driver 12,12 response computer of driver, 11 program assigns run signal to rotating electric machine 18, while power on/off
Reverse winding in magnetic field component 17 generates reversed polarity, gradually reduces nanometer robot speed to stationary state.
Nanometer robot control system provided by the invention is less than the ferromagnetic nanometer robot of 500nm using size
As operating member, change the magnetic field in 9 operating area of workbench by controlling position and the voltage swing of magnetic field component 17
Intensity distribution, using the movement for the feeding force control nanometer robot that change of magnetic field strength generates, since magnetic field strength can be changed model
It encloses relatively extensively, when magnetic field strength dies down, nanometer robot is become smaller therewith by magnetic field tractive force, and continuing adjusting magnetic field strength can make
The movement velocity of nanometer robot reaches 5nm/s, to realize nanoscale operation precision.By the translational motion for controlling mechanical arm
And the rotary motion of magnetic field component 17 can change the angle of magnetic field component 17, the power generated using magnetic field to nanometer robot
Square can control the movement angle of nanometer robot.This programme realizes the high precision intelligentized control method mistake of nanometer robot
Journey substantially increases the accuracy and success rate of accurate operation.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (4)
1. nanometer robot control system characterized by comprising
Nanometer robot is process using ferrimagnet, and size is less than 500nm；
For providing the workbench (9) of operating area；
Multiple mechanical arms circumferentially around the workbench (9)；
The magnetic field component (17) being set on the mechanical arm is intersected for providing with the operating area of the workbench (9)
Nanometer robot described in magnetic field and the feeding force control generated using change of magnetic field strength is moved, and the magnetic field component (17) includes
For generating the positive coil and reverse winding of opposed magnetic field；
Motor (16), including the mobile motor for driving the mechanical arm to move in three-dimensional space and for driving the magnetic
The rotating electric machine (18) of field assembly (17) rotary motion, the mobile motor include translation motor (20) and oscillating motor (21),
The translation motor (20) is for driving the mechanical arm moving radially along the workbench (9), the oscillating motor (21)
For driving the mechanical arm to move along the vertical plane perpendicular to the workbench (9) radial direction；
Voltage controller (14), for adjusting the voltage swing of the magnetic field component (17)；
For observing the microscopic observation equipment of the nanometer robot motion state；
For running the computer (11) of control program, the computer (11) is connected by driver (12) and signal transmitting apparatus
It is connected to the voltage controller (14), the motor (16) is connected to the computer (11), institute by the driver (12)
It states microscopic observation equipment and is connected to the computer (11).
2. nanometer robot control system according to claim 1, which is characterized in that multiple mechanical arms include around institute
State horizontal mechanical arm and vertical mechanical arm that the circumferential direction of workbench (9) is alternately arranged.
3. nanometer robot control system according to claim 1, which is characterized in that the voltage controller (14) passes through
The voltage of magnetic field component described in silicon-controlled voltage regulation circuit control (17) realizes step-less adjustment.
4. nanometer robot control system according to claim 1, which is characterized in that the signal transmitting apparatus is PLC
(13)。
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| CN201811081224.4A CN108724148B (en) | 2018-09-17 | 2018-09-17 | Nanometer robot control system |
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| CN201811081224.4A CN108724148B (en) | 2018-09-17 | 2018-09-17 | Nanometer robot control system |
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| CN108724148B true CN108724148B (en) | 2019-01-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111333019B (en) * | 2018-12-19 | 2023-07-14 | 湖南早晨纳米机器人有限公司 | Nano robot and nano robot motion control system |
| CN112296996A (en) * | 2019-07-26 | 2021-02-02 | 湖南早晨纳米机器人有限公司 | Control method, device and system for motion state of nano robot |
| CN112438805A (en) * | 2019-08-28 | 2021-03-05 | 美国发现集团有限公司 | Magnetic therapy body nanometer robot control system |
| CN112438835B (en) * | 2019-08-28 | 2023-02-03 | 美国发现集团有限公司 | Control device and control system of nano robot |
| CN112740912B (en) * | 2021-02-01 | 2021-10-26 | 桂林航天工业学院 | Adjustable type momordica grosvenori is planted with picking frame |
| CN113433043B (en) * | 2021-06-25 | 2022-05-27 | 杭州电子科技大学 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
| CN117038251A (en) * | 2023-08-17 | 2023-11-10 | 哈尔滨工业大学 | Variable structure magnetic field generating device and magnetic field generating method |
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