CN111975805A - Magnetic field control system for driving magnetic micro-nano robot - Google Patents
Magnetic field control system for driving magnetic micro-nano robot Download PDFInfo
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- CN111975805A CN111975805A CN202010893232.XA CN202010893232A CN111975805A CN 111975805 A CN111975805 A CN 111975805A CN 202010893232 A CN202010893232 A CN 202010893232A CN 111975805 A CN111975805 A CN 111975805A
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- magnetic field
- helmholtz coil
- nano robot
- magnetic
- microscopic observation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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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
Abstract
The invention provides a magnetic field control system for driving a magnetic micro-nano robot, which comprises a circuit board, a power amplifier, a base, a Helmholtz coil, a moving platform and a microscopic observation platform, wherein the circuit board, the power amplifier and the Helmholtz coil are sequentially connected, and the base is respectively connected with the Helmholtz coil, the moving platform and the microscopic observation platform; wherein, the circuit board: the power amplifier is used for receiving a digital signal and converting the received digital signal into a current signal to be output to the power amplifier; a power amplifier: the Helmholtz coil is used for receiving the current signal output by the circuit board and amplifying and outputting the current signal to the Helmholtz coil; a base: the device is used for connecting the Helmholtz coil, the mobile platform and the microscopic observation platform; helmholtz coil: the magnetic micro-nano robot is used for generating a corresponding magnetic field so as to control the three-dimensional motion of the magnetic micro-nano robot. The invention has the beneficial effects that: the magnetic field control system has the advantages of high control precision, stable working performance, easy kinematics calculation, simple mechanical structure design and convenient realization.
Description
Technical Field
The invention relates to the field of machinery, in particular to a magnetic field control system for driving a magnetic micro-nano robot.
Background
The synthetic micro-nano robot can provide power sources by different energy sources. Most commonly, micro-nano motors can be autonomously propelled in a directed manner by means of generated microbubbles (e.g., O2, H2, CO2) or molecular concentration gradients based on local chemical energy conversion.
However, fuel degradation is caused by the use of chemical sources outside the chemically powered micro-nano robot, which greatly hinders its application in biological environments. Biocompatible-based fuels and various other types of propulsion mechanisms have been extensively explored today, including enzymatic breakdown of glucose or urea, reaction of reactive metals with water or acids, and the like. Fuel-free synthetic micro-nano-robots, driven by an external field (e.g., optical, magnetic, ultrasonic, or electric), operate efficiently in bio-related environments (typically with high viscosity and high ionic strength). Because the motion of the micro-nano robot is controlled according to needs, the micro-nano robot has the advantages of long service life, good biocompatibility and the like, and has great potential in the research aspect of micro-nano robots in organisms.
The three-dimensional magnetic field control system is a complete set of control system which can generate a high-precision three-dimensional magnetic field, accurately drive a magnetically-driven structure in the device and consists of a Helmholtz coil, an observation system and magnetic field control software. The system can generate a high-precision three-dimensional magnetic field and accurately drive magnetic substances in the magnetic field, has a huge application prospect in the field of biomedicine, and is a current international research hotspot. Typically, to construct such a system, the entire design is required from the Helmholtz coil, to the microscope, and then to the control software. In some application scenarios in a laboratory, however, it is too expensive to design an integrated magnetic field control system.
Three-dimensional magnetic field control systems have been a hotspot in the research fields of biomedicine and the like. However, these fields require that the particles or magnetically-actuatable structures driven by magnetic fields be at a microscopic scale and require observation in conjunction with a microscope. At present, the key to constructing a three-dimensional magnetic field manipulation system is the combination of the helmholtz coil and the microscope and the duration of the coil operation. Many of the coils today are large, bulky and do not integrate well with the microscope. The strength of the magnetic field decays very rapidly, usually by too far from the center of observation. Meanwhile, as the coil generates a lot of heat during working, the energy conversion efficiency is lowered, the magnetic field intensity is correspondingly reduced, the energy consumption is increased, and the system can not work continuously even.
Disclosure of Invention
The invention provides a magnetic field control system for driving a magnetic micro-nano robot, which comprises a circuit board, a power amplifier, a base, a Helmholtz coil, a moving platform and a microscopic observation platform, wherein the circuit board, the power amplifier and the Helmholtz coil are sequentially connected, and the base is respectively connected with the Helmholtz coil, the moving platform and the microscopic observation platform; wherein the content of the first and second substances,
the circuit board: the power amplifier is used for receiving a digital signal and converting the received digital signal into a current signal to be output to the power amplifier;
the power amplifier: the Helmholtz coil is used for receiving the current signal output by the circuit board and amplifying and outputting the current signal to the Helmholtz coil;
the base is as follows: the Helmholtz coil is used for connecting the Helmholtz coil, the moving platform and the microscopic observation platform;
the Helmholtz coil: the magnetic micro-nano robot is used for generating a corresponding magnetic field so as to control the three-dimensional motion of the magnetic micro-nano robot;
the mobile platform is as follows: the device is used for regulating and controlling the position of a working area of the magnetic micro-nano robot to realize the regulation and focusing of an observation area of the microscopic observation platform;
the microscopic observation platform comprises: the magnetic micro-nano robot motion monitoring system is used for observing the motion condition of the magnetic micro-nano robot in the working area and feeding back the motion condition in real time.
As a further improvement of the present invention, the magnetic field manipulation system comprises a heat sink, the heat sink being connected to the base.
As a further improvement of the present invention, the heat dissipation device is a split-flow water cooling system, the split-flow water cooling system includes a split-flow water cooling channel and a refrigeration terminal, the refrigeration terminal is connected to the split-flow water cooling channel, and the split-flow water cooling channel is connected to the base.
As a further improvement of the present invention, the magnetic field control system includes a real-time control terminal, the real-time control terminal is respectively connected to the circuit board and the microscopic observation platform, and the real-time control terminal is used for implementing digital output of a control instruction and real-time monitoring of a motion working state of the magnetic micro-nano robot.
As a further improvement of the present invention, the magnetic field control system includes a real-time control terminal, the real-time control terminal is respectively connected to the circuit board and the microscopic observation platform, and the real-time control terminal is used for implementing digital output of a control instruction and real-time monitoring of a motion working state of the magnetic micro-nano robot.
As a further improvement of the invention, the mobile platform is a high-precision three-dimensional mobile platform.
The invention has the beneficial effects that: the magnetic field control system for driving the magnetic micro-nano robot has the advantages of high control precision, stable working performance, easiness in kinematics calculation, simple mechanical structure design and convenience in implementation.
Drawings
FIG. 1 is a functional block diagram of a magnetic field manipulation system of the present invention;
FIG. 2 is a front view of the magnetic field manipulation system of the present invention;
FIG. 3 is a left side view of the magnetic field manipulation system of the present invention;
FIG. 4 is a top view of the magnetic field manipulation system of the present invention;
FIG. 5 is an exploded view of the magnetic field manipulation system of the present invention;
fig. 6 is an axial view of the magnetic field manipulation system of the present invention.
Detailed Description
As shown in fig. 1, the invention discloses a magnetic field control system for driving a magnetic micro-nano robot, which comprises a circuit board 2, a power amplifier 3, a base 4, a helmholtz coil 7, a moving platform 8 and a microscopic observation platform 9, wherein the circuit board 2, the power amplifier 3 and the helmholtz coil 7 are sequentially connected, and the base 4 is respectively connected with the helmholtz coil 7, the moving platform 8 and the microscopic observation platform 9; wherein the content of the first and second substances,
the circuit board 2: the power amplifier is used for receiving a digital signal, converting the received digital signal into a current signal and outputting the current signal to the power amplifier 3;
the power amplifier 3: the device is used for receiving the current signal output by the circuit board 2 and amplifying and outputting the current signal to the Helmholtz coil 7, so that the movement of the magnetic micro-nano robot is controlled; the base 4: the Helmholtz coil is used for connecting the Helmholtz coil 7, the moving platform 8 and the microscopic observation platform 9 and providing a three-dimensional structural support for the whole magnetic field control system;
the helmholtz coil 7: the magnetic micro-nano robot is used for generating a corresponding magnetic field so as to control the three-dimensional motion of the magnetic micro-nano robot;
the moving platform 8: the micro-observation platform is used for regulating and controlling the position of a working area of the magnetic micro-nano robot and realizing regulation and focusing of an observation area of the micro-observation platform 9;
the microscopic observation platform 9: the magnetic micro-nano robot motion monitoring system is used for observing the motion condition of the magnetic micro-nano robot in the working area and feeding back the motion condition in real time.
The magnetic field control system comprises a heat dissipation device, and the heat dissipation device is connected with the base 4.
The heat dissipation device is a split-flow water cooling system 5 which comprises a split-flow water cooling channel and a refrigeration terminal, wherein the refrigeration terminal is connected with the split-flow water cooling channel, and the split-flow water cooling channel is connected with the base 4. Shunting water cooling system 5 is responsible for providing the heat dissipation for helmholtz coil 7, because helmholtz coil 7 can produce heat in a large number at the during operation, if the unable effective heat dissipation of magnetic field control system itself, can cause the decline of magnetic control precision to cause irreversible damage even to helmholtz coil 7. Therefore, the shunting type water cooling system 5 is added, the surface working temperature of the Helmholtz coil 7 is greatly reduced, and the sensitivity of the magnetic field control system is enhanced.
The magnetic field control system comprises a real-time control terminal 1, wherein the real-time control terminal 1 is respectively connected with a circuit board 2 and a microscopic observation platform 9, and the real-time control terminal 1 is used for realizing digital output of control instructions and real-time monitoring of the motion working state of the magnetic micro-nano robot.
The microscopic observation platform 9 comprises a high power microscope, and the microscopic observation platform 9 observes the motion condition of the magnetic micro-nano robot in the working area by using the high power microscope and reflects the motion condition to the real-time control terminal 1 in real time.
The mobile platform is a high-precision three-dimensional mobile platform.
The magnetic field control system for driving the magnetic micro-nano robot can observe and control the magnetic micro-nano robot, the magnetic field control system enables the magnetic micro-nano robot to move in three dimensions by changing the direction of a magnetic field generated by the Helmholtz coil 7, and a good heat dissipation device can ensure that the system can work stably for a long time.
The invention discloses a magnetic field control system for driving a magnetic micro-nano robot, which is a magnetic field control system applied to control the magnetic micro-nano robot to directionally move in a three-dimensional environment, and can generate a controllable three-dimensional magnetic field through a Helmholtz coil 7 to control the magnetic micro-nano robot to directionally move in a bionic environment; the purposes of accurately adjusting an observation area and focusing are achieved by using a high-precision three-dimensional moving platform; and finally, the shunting type water cooling system 5 is additionally arranged on the periphery of the Helmholtz coil 7, so that the surface temperature of the Helmholtz coil 7 during working is greatly reduced, and the stable working time of the magnetic field control system is effectively prolonged.
The invention has the beneficial effects that: the magnetic field control system for driving the magnetic micro-nano robot has the advantages of high control precision, stable working performance, easiness in kinematics calculation, simple mechanical structure design and convenience in implementation.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (6)
1. The utility model provides a magnetic field control system of little nanometer robot of drive magnetism which characterized in that: the device comprises a circuit board (2), a power amplifier (3), a base (4), a Helmholtz coil (7), a mobile platform (8) and a microscopic observation platform (9), wherein the circuit board (2), the power amplifier (3) and the Helmholtz coil (7) are sequentially connected, and the base (4) is respectively connected with the Helmholtz coil (7), the mobile platform (8) and the microscopic observation platform (9); wherein the content of the first and second substances,
the circuit board (2): the power amplifier is used for receiving a digital signal and converting the received digital signal into a current signal to be output to the power amplifier (3);
the power amplifier (3): the Helmholtz coil is used for receiving the current signal output by the circuit board (2) and amplifying and outputting the current signal to the Helmholtz coil (7);
the base (4): for connecting the Helmholtz coil (7), the moving platform (8) and the microscopic observation platform (9);
the Helmholtz coil (7): the magnetic micro-nano robot is used for generating a corresponding magnetic field so as to control the three-dimensional motion of the magnetic micro-nano robot;
the mobile platform (8): the magnetic micro-nano robot is used for regulating and controlling the position of a working area of the magnetic micro-nano robot to realize the regulation and focusing of an observation area of the microscopic observation platform (9);
the microscopic observation platform (9): the magnetic micro-nano robot motion monitoring system is used for observing the motion condition of the magnetic micro-nano robot in the working area and feeding back the motion condition in real time.
2. The magnetic field manipulation system of claim 1, wherein: the magnetic field control system comprises a heat dissipation device, and the heat dissipation device is connected with the base (4).
3. The magnetic field manipulation system of claim 2, wherein: the heat dissipation device is a split-flow water cooling system (5), the split-flow water cooling system comprises a split-flow water cooling channel and a refrigeration terminal, the refrigeration terminal is connected with the split-flow water cooling channel, and the split-flow water cooling channel is connected with the base (4).
4. The magnetic field manipulation system of claim 1, wherein: the magnetic field control system comprises a real-time control terminal (1), wherein the real-time control terminal (1) is respectively connected with the circuit board (2) and the microscopic observation platform (9), and the real-time control terminal (1) is used for realizing digital output of control instructions and real-time monitoring of the motion working state of the magnetic micro-nano robot.
5. The magnetic field manipulation system of claim 4, wherein: the microscopic observation platform (9) comprises a high-power microscope, the microscopic observation platform (9) observes the motion condition of the magnetic micro-nano robot in the working area by using the high-power microscope, and reflects the motion condition to the real-time control terminal (1) in real time.
6. The magnetic field manipulation system of claim 1, wherein: the mobile platform is a high-precision three-dimensional mobile platform.
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| CN202010893232.XA CN111975805A (en) | 2020-08-31 | 2020-08-31 | Magnetic field control system for driving magnetic micro-nano robot |
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| CN202010893232.XA CN111975805A (en) | 2020-08-31 | 2020-08-31 | Magnetic field control system for driving magnetic micro-nano robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114376991A (en) * | 2022-02-18 | 2022-04-22 | 北京大学深圳医院 | Magnetic mesoporous silica nanosphere motion trajectory regulation method and drug delivery system |
| CN114601509A (en) * | 2020-12-08 | 2022-06-10 | 长春工业大学 | Design of magnetic drive micro-nano robot, preparation method and drive mode thereof |
| CN114932543A (en) * | 2022-03-24 | 2022-08-23 | 中国科学院深圳先进技术研究院 | Robot and system thereof, preparation method of robot and motion control mode of robot |
| CN115556085A (en) * | 2022-09-26 | 2023-01-03 | 苏州大学 | Water-cooled magnetic robot driving and controlling device |
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| CN115556085A (en) * | 2022-09-26 | 2023-01-03 | 苏州大学 | Water-cooled magnetic robot driving and controlling device |
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Application publication date: 20201124 |