CN112821574A - Spiral square transmitting coil for gastrointestinal tract micro-robot - Google Patents
Spiral square transmitting coil for gastrointestinal tract micro-robot Download PDFInfo
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- CN112821574A CN112821574A CN202110040725.3A CN202110040725A CN112821574A CN 112821574 A CN112821574 A CN 112821574A CN 202110040725 A CN202110040725 A CN 202110040725A CN 112821574 A CN112821574 A CN 112821574A
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- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 15
- 230000002496 gastric effect Effects 0.000 claims abstract description 15
- 238000004804 winding Methods 0.000 claims description 15
- 239000000758 substrate Substances 0.000 claims description 13
- 239000003990 capacitor Substances 0.000 claims description 9
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 5
- 229910001289 Manganese-zinc ferrite Inorganic materials 0.000 claims description 3
- JIYIUPFAJUGHNL-UHFFFAOYSA-N [O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[Mn++].[Mn++].[Mn++].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Zn++].[Zn++] Chemical compound [O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[O--].[Mn++].[Mn++].[Mn++].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Fe+3].[Zn++].[Zn++] JIYIUPFAJUGHNL-UHFFFAOYSA-N 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 239000004677 Nylon Substances 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 15
- 230000004323 axial length Effects 0.000 abstract 1
- 230000000968 intestinal effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F27/00—Details of transformers or inductances, in general
- H01F27/28—Coils; Windings; Conductive connections
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F38/00—Adaptations of transformers or inductances for specific applications or functions
- H01F38/14—Inductive couplings
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Power Engineering (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Computer Networks & Wireless Communication (AREA)
- Near-Field Transmission Systems (AREA)
Abstract
A helical square transmitting coil for a gastrointestinal tract micro-robot, comprising: the symmetry is established ties in the spiral square coil of double-deck in receiving coil both sides, is fixed in the dull and stereotyped magnetic core in the coil outside through the gasket, and external drive system, wherein: the external driving system is connected with the double-layer spiral square coil to generate an alternating magnetic field, and the receiving coil provides driving energy for the gastrointestinal robot by generating induced electromotive force in the alternating magnetic field. The invention relates to a transmitting coil structure for a WPT (Wireless Fidelity) system of an intestinal robot, which is formed by combining square spirally wound flat coil pairs, wherein a flat magnetic core is arranged on the outer side of the transmitting coil structure, and parameters of the coil are reasonably set, such as: the magnetic field generated by the transmitting coil is adjusted according to the wire diameter, the number of turns, the thickness of the magnetic core and the like, so that the uniformity of the magnetic field is improved, and the transmission efficiency of the system is improved. The axial length of the coil is reduced, the volume of the transmitting coil is effectively reduced, and the coil structure is simpler and thinner.
Description
Technical Field
The invention relates to a technology in the field of wireless energy transmission, in particular to a spiral square transmitting coil for a gastrointestinal tract micro-robot.
Background
The gastrointestinal tract micro-robot is influenced by factors such as size limitation and safety, and how to adopt an effective energy supply mode is an important research direction. The wireless energy transmission technology based on electromagnetic induction can provide an effective solution for a gastrointestinal robot, and a transmitting coil is a design key point of a Wireless Power Transmission (WPT) system, and currently, a typical transmitting coil structure mainly includes a solenoid, a solenoid pair, a split solenoid, a helmholtz coil, and the like. The traditional transmitting coils generally adopt a hollow cylinder axial winding mode, and have the problems of large occupied space, low transmission efficiency, poor magnetic field uniformity, complex winding and the like when in use.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the spiral square transmitting coil for the gastrointestinal tract micro-robot, the square spirally wound flat coil pair is adopted, and the magnetic core is arranged outside the coil, so that the volume of the transmitting coil is reduced, the transmission power is ensured to meet the requirement, and the uniformity of the magnetic field is also effectively improved.
The invention is realized by the following technical scheme:
the invention relates to a spiral square transmitting coil for gastrointestinal tract micro-robot, comprising: the symmetry sets up in the spiral square coil of double-deck of receiving coil both sides in series, is fixed in the dull and stereotyped magnetic core in the coil outside, and external drive system, wherein: the external driving system is connected with the double-layer spiral square coil to generate an alternating magnetic field, and the receiving coil provides driving energy for the gastrointestinal robot by generating induced electromotive force in the alternating magnetic field.
The double-layer spiral square coil comprises: a litz coil fixedly disposed on the coil substrate, wherein: the litz coil adopts a double-layer spiral square winding method, the outer layer adopts anticlockwise winding, the inner layer adopts clockwise winding, and the spacing distance between the inner layer and the outer layer and the number of turns of the coil are determined according to the size of a magnetic field.
The coil substrate be the ya keli board, its thickness is 8mm, and the surface is equipped with the coil groove.
The litz coil is a stranded litz wire wrapped by an insulating layer.
The flat magnetic core is made of manganese zinc ferrite with high magnetic permeability, and the size of the flat magnetic core is the same as that of the coil substrate.
The external drive system comprises: external power supply, drive circuit board, vacuum capacitor and inductance, wherein: the external power supply is connected with the driving circuit board and supplies power to the driving circuit board, the driving circuit board is connected with the vacuum capacitor, the inductor and the litz coil to form a loop, and the driving circuit board generates a square wave excitation signal through the internal resistor.
Technical effects
The invention integrally solves the problems of large space occupation, low transmission efficiency, poor magnetic field uniformity, complex winding and the like in the prior art. Compared with the prior art, the invention can generate a uniform magnetic field between the symmetrical transmitting coils by the mode of the inner-layer reverse coil and the outer-layer reverse coil, thereby ensuring the position stability of the gastrointestinal robot, namely, the required energy can be stably received under the condition that the position of the receiving coil is randomly changed. And set up dull and stereotyped magnetic core in coil outside 6cm department, can guarantee the magnetic field homogeneity and improve transmission efficiency simultaneously.
Drawings
FIG. 1 is a schematic structural diagram of the present embodiment;
in the figure: a is a schematic diagram of a wireless power supply transmitting terminal and a gastrointestinal robot; b is a schematic diagram of an external driving system;
FIG. 2 is a schematic diagram of a transmit coil pair;
FIG. 3 is a schematic diagram of a single helical square transmitting coil;
in the figure: the device comprises a wireless energy supply transmitting terminal 1, a gastrointestinal robot 2, an external driving system 3, an external power supply 4, a driving circuit board 5, a vacuum capacitor 6, an inductor 7, a flat magnetic core 8, a coil substrate 9, a gasket 10, a litz coil 11, a first layer of anticlockwise winding coil 12 and a second layer of clockwise winding coil 13.
Detailed Description
As shown in fig. 1, the present embodiment includes: wireless energy supply transmitting terminal 1 and gastrointestinal robot 2 to and external actuating system 3, wherein: the gastrointestinal robot 2 is located to be measured internally, and wireless energy supply transmitting terminal 1 symmetry sets up in the both sides of the body of awaiting measuring, and external actuating system 3 links to each other and produces alternating magnetic field with wireless function transmitting terminal 1 to provide driving energy for the gastrointestinal robot 2.
The gastrointestinal robot 2 is internally provided with a receiving coil and is positioned in an alternating magnetic field generated by the wireless energy supply transmitting terminal 1, and induced electromotive force is generated by the electromagnetic induction principle, so that the gastrointestinal robot is driven to move in a body to be detected.
As shown in fig. 2, the wireless energy-supplying transmitting terminal 1 comprises: the double-layer spiral square coil is symmetrically arranged, and the flat magnetic core is arranged at the position 6cm away from the outer side of the coil substrate.
The flat magnetic core 8 is made of manganese-zinc-ferrite with high magnetic permeability, is arranged outside the coil substrate 9, and is separated by a gasket 10.
The gasket 10 is 6cm high and used for fixing the flat magnetic core 8.
The flat magnetic core has the characteristics of lightness, thinness, convenience in fixation and high transmission power density, can restrict the distribution of a surrounding magnetic field, improves the coupling coefficient between coils, and can reduce the surrounding leakage magnetic field.
The double-layer spiral square coil comprises: a coil substrate 9 and a litz coil 11, wherein: the litz coil 11 is fixed to the coil substrate 9.
The coil substrate 9 is an acrylic plate, the thickness of the acrylic plate is 8mm, and a coil slot is formed in the surface of the acrylic plate and used for fixing the litz coil 11.
The acrylic plate can reduce energy loss of magnetic field transmission generated by the double-layer spiral square coil, and is light in weight and good in insulativity.
The litz coil 11 comprises: stranded litz wire wrapped with an insulating layer.
The outer layer of the litz coil 11 is provided with nylon or yarn to reinforce the strength of the wire and to provide protection for the inner threads.
As shown in fig. 3, the double-layer spiral square coil adopts a double-layer spiral square winding method, and is specifically divided into an inner layer and an outer layer with a distance of 80mm, the two layers are wound by a litz wire from outside to inside, the outer layer is a first layer of anticlockwise wound coil 12 adopting a tight winding mode, and the inner layer is a second layer of clockwise wound coil 13 also adopting a tight winding mode.
The number of turns of the first layer of anticlockwise wound coil 12 is 15-30.
The number of turns of the clockwise winding coil 13 of the second layer is 15-30.
As shown in fig. 1b, the external driving system 3 includes: external power supply 4, drive circuit board 5, vacuum capacitor 6 and inductance 7, wherein: the external power supply 4 is connected with the driving circuit board 5 and supplies power to the driving circuit board 5, the wireless energy supply transmitting terminal 1 is connected with the driving circuit board 5 after being connected with the vacuum capacitor 6 and the inductor 7 in series, and the driving circuit board 5 generates a square wave excitation signal through an internal resistor.
The external power source 4 comprises: fixed direct currents of +5V and +12V, and an adjustable driving voltage.
The adjustable driving voltage is adjusted within the range of 0-100V.
The driving circuit board 5 outputs square waves with adjustable frequency by adjusting parameters of the driving circuit board, and the common frequency of the square waves is more than 200 kHz.
The peak value of the square wave is determined by the adjustable drive voltage provided by the external power source 4.
The vacuum capacitor 6 and the inductor 7 are both adjustable.
The above device works by the following ways: the area of the uniform magnetic field in the plane can be regulated and controlled by regulating the peripheral side length of the first layer of anticlockwise wound coil 12; the number of turns of the coil and the distance between the inner layer coil and the outer layer coil are changed to adjust the size of the magnetic field; adjusting the coil turn ratio of the first layer of anticlockwise wound coil 12 and the second layer of clockwise wound coil 13 to adjust the integral uniformity of the magnetic field; the vacuum capacitor 6 and the inductor 7 are adjusted to enable the transmitting coil to form resonance, and the receiving coil of the gastrointestinal robot 2 is also adjusted to be at the same resonance frequency as the transmitting coil, so that the transmitting part and the receiving part form a weak coupling system, and the whole energy transmission efficiency is highest.
When alternating current exists in the transmitting coil, the first layer of anticlockwise wound coil 12 generates magnetic field distribution with two weak sides and strong middle, and the second layer of clockwise wound coil 13 has opposite current directions and generates magnetic field distribution with two strong sides and weak middle, so that when the two layers of coils are combined, uniform magnetic field distribution can be realized, comprehensive regulation and control can be realized, and stable wireless energy supply can be realized. Meanwhile, after the uniform magnetic field is generated, the power supply voltage can be properly increased without influencing the body to be detected, and sufficient energy is provided for the gastrointestinal robot 2.
Through specific practical experiments: the size of the coil substrate is 500mm multiplied by 500 mm; the litz wire is phi 0.05 multiplied by 1100 strands, and the diameter of the wire is 2.5 mm; the number of turns of the outer-layer coil is 25, and the number of turns of the inner-layer coil is 20; the thickness of the flat magnetic core is 8 mm; the receiving coil is a solenoid with phi 12mm multiplied by 11 mm; the load is 30 Ω. The experimental data that can be obtained are: the uniformity of the magnetic field can reach 75%, the highest transmission efficiency of the system can reach 10%, 867mW energy can be transmitted, and the energy requirement of the gastrointestinal robot on the motion in the body to be detected can be met.
Compared with the prior art, this device adopts the spiral dull and stereotyped coil that has the reverse coiling of bilayer to carrying out the energy supply, sets up the dull and stereotyped magnetic core of high magnetic conductivity in the transmitting coil outside simultaneously, has promoted the transmission efficiency of magnetic field homogeneity and system when guaranteeing transmission power, guarantees the motion of gastrointestinal tract robot in the internal that awaits measuring, and magnetic field homogeneity promotes 50% than original system, and transmission efficiency improves 42%, can realize that the robot lasts, stable motion.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. A helical square transmitting coil for gastrointestinal tract micro-robot, comprising: the symmetry is established ties in the spiral square coil of double-deck in receiving coil both sides, is fixed in the dull and stereotyped magnetic core in the coil outside through the gasket, and external drive system, wherein: the external driving system is connected with the double-layer spiral square coil to generate an alternating magnetic field, and the receiving coil provides driving energy for the gastrointestinal robot by generating induced electromotive force in the alternating magnetic field;
the double-layer spiral square coil comprises: a litz coil fixedly disposed on the coil substrate, wherein: the litz coil adopts a double-layer spiral square winding method, the outer layer adopts anticlockwise winding, the inner layer adopts clockwise winding, and the spacing distance between the inner layer and the outer layer and the number of turns of the coil are determined according to the size of a magnetic field.
2. The helical square transmitting coil for the gastrointestinal tract micro-robot as claimed in claim 1, wherein the coil substrate is an acrylic plate having a thickness of 8mm and a coil groove formed on a surface thereof.
3. The helical square transmitting coil for gastrointestinal tract micro-robot as claimed in claim 1, wherein the litz coil is a stranded litz wire wrapped with an insulating layer.
4. The spiral square transmitting coil for the gastrointestinal tract micro-robot as claimed in claim 3, wherein the litz coil is provided with nylon or yarn at an outer layer thereof.
5. The spiral square transmitting coil for the gastrointestinal tract micro-robot as claimed in claim 1, wherein the flat magnetic core has the same size as the coil substrate and is fixed at a position 6cm outside the coil by a spacer.
6. The helical square transmitting coil for gastrointestinal tract micro-robot as claimed in claim 5, wherein the flat magnetic core is made of manganese zinc ferrite with high magnetic permeability.
7. The helical square transmitting coil for gastrointestinal tract micro-robot as claimed in claim 1, wherein the external driving system comprises: external power supply, drive circuit board, vacuum capacitor and inductance, wherein: the external power supply is connected with the driving circuit board and supplies power to the driving circuit board, the driving circuit board is connected with the vacuum capacitor, the inductor and the litz coil to form a loop, and the driving circuit board generates a square wave excitation signal through the internal resistor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110040725.3A CN112821574A (en) | 2021-01-13 | 2021-01-13 | Spiral square transmitting coil for gastrointestinal tract micro-robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110040725.3A CN112821574A (en) | 2021-01-13 | 2021-01-13 | Spiral square transmitting coil for gastrointestinal tract micro-robot |
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| Publication Number | Publication Date |
|---|---|
| CN112821574A true CN112821574A (en) | 2021-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110040725.3A Pending CN112821574A (en) | 2021-01-13 | 2021-01-13 | Spiral square transmitting coil for gastrointestinal tract micro-robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102611209A (en) * | 2012-03-21 | 2012-07-25 | 哈尔滨工业大学 | Magnetic coupling resonance type wireless energy transmission device based on panel magnetic core |
| CN103986245A (en) * | 2014-06-04 | 2014-08-13 | 中国矿业大学(北京) | Wireless electric energy transmission system and method based on double-layer two-way spiral coils |
| CN107146700A (en) * | 2017-05-02 | 2017-09-08 | 华中科技大学 | A kind of transmitting coil for being used to realize wireless charging plane constant-voltage charge |
| CN110912281A (en) * | 2019-11-28 | 2020-03-24 | 上海交通大学 | Honeycomb-shaped wireless energy supply device |
-
2021
- 2021-01-13 CN CN202110040725.3A patent/CN112821574A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102611209A (en) * | 2012-03-21 | 2012-07-25 | 哈尔滨工业大学 | Magnetic coupling resonance type wireless energy transmission device based on panel magnetic core |
| CN103986245A (en) * | 2014-06-04 | 2014-08-13 | 中国矿业大学(北京) | Wireless electric energy transmission system and method based on double-layer two-way spiral coils |
| CN107146700A (en) * | 2017-05-02 | 2017-09-08 | 华中科技大学 | A kind of transmitting coil for being used to realize wireless charging plane constant-voltage charge |
| CN110912281A (en) * | 2019-11-28 | 2020-03-24 | 上海交通大学 | Honeycomb-shaped wireless energy supply device |
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Application publication date: 20210518 |
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