CN113433043B - Four solenoid magnetic control formula magnetic droplet testing arrangement - Google Patents

Abstract

The invention discloses a four-electromagnetic-coil magnetic control type magnetic liquid drop testing device. The invention comprises a base, a test board and a two-dimensional magnetic control driving device, wherein the test board and the two-dimensional magnetic control driving device are arranged on the base. The two-dimensional magnetic control driving device is arranged right below a bedplate of the test bench. The two-dimensional magnetic control driving device comprises two shaft sliding tables, two arc-shaped guide rails, two pairs of arc-shaped sliding blocks and two pairs of electromagnetic coils. The guide rail bracket is arranged on the two-shaft sliding table. The electromagnetic coil can slide along the arc-shaped guide rail and can rotate, so that magnetic fields in various different distribution forms can be formed on the test bench, and the performance of the magnetic liquid drops can be fully tested. The invention can generate a vertical upward magnetic field in a working space by utilizing four electromagnetic coils, and the field intensity is adjustable, so that the driven magnetic liquid drop (micro-robot) can float and respond along with the movement of the two-axis sliding table.

Description

A four-electromagnetic coil magnetron magnetic droplet testing device

technical field

The invention belongs to the technical field of magnetron micro-robot drive, in particular to electromagnetic coil magnetic field drive, and the main function is to generate vertical upward force through multiple sets of electromagnetic coils to suspend a magnetic micro-robot above the electromagnetic coils, and to adjust the position of the electromagnetic coil group. , which can realize the cableless motion of the two-dimensional plane of the micro-robot.

Background technique

Life activities and production technologies are inseparable from the control of liquids. Regulating the directional transport of droplets has important scientific research significance and extensive engineering application value in microfluidics, evaporative heat transfer, biomedicine, and water collection. Inspired by natural organisms such as cactus thorns for directional collection of water, the lip of Nepenthes pitchers to spontaneously form a lubricating layer, and spider silk to collect mist and other natural organisms, scientists began to study the movement of droplets on the surface of static micro-nano structures. By preparing micro-nano surfaces with different structures and changing surface properties, droplet-oriented wetting properties and gradient adhesion can be achieved. However, the directional wetting behavior of droplets regulated by static micro-nano surfaces is usually irreversible due to the limitation of surface structure. Subsequently, external field stimulation methods such as temperature field, electric field, light, and magnetic field are also used for droplet orientation control. The dynamic response surface can change the surface structure and morphology, thereby changing the adhesion, wettability, optical transmittance, changing the droplet position and way of exercise. For example, the wettability of the surface of the porous membrane is adjusted by the electric field, so that the droplets can move along the specified trajectory. Compared with the electric field and temperature field, the magnetic field has the advantages of fast response speed, low energy consumption, and wide application range in regulating the directional transport of droplets. In order to realize the magnetic drive droplet, the object to be tested is usually combined with a magnetic material, and the movement of the object to be tested in different control planes is controlled by manipulating the external magnetic field, that is, the attraction of the magnetic material is provided by the external magnetic field, so that the magnetic material is attracted by the external magnetic field. The material-bound test object moves according to the attractive force provided by the external magnetic field. However, the controllable external magnetic field is generally the manipulator holding the permanent magnet to move the magnetic field or the Helmholtz coil to generate a changing magnetic field. The magnetic field strength generated by the permanent magnet is not adjustable and the operation is complicated. The multi-Helmholtz coil can generate a changing magnetic field space but The magnetic field space utilization rate is low and the cost is high.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a four electromagnetic coil magnetron magnetic droplet testing device. By adjusting the position of the magnetic field direction of the electromagnetic coil, it can effectively control the direction and magnitude of the magnetic field force acting on the micro-robot, and then control the magnetic micro-robot to move on a two-dimensional plane according to a specified route, so as to realize the performance test of the magnetic micro-robot.

The invention includes a base, a test table and a two-dimensional magnetic control driving device mounted on the base. The two-dimensional magnetron driving device is arranged just below the table of the test bench. The two-dimensional magnetron drive device includes two-axis sliding tables, two arc-shaped guide rails, two pairs of arc-shaped sliders and two pairs of electromagnetic coils. The rail bracket is installed on the two-axis slide table.

Two arc guide rails are fixed on the guide rail bracket. Each of the two arc-shaped guide rails is in one vertical plane and is symmetrical with respect to the other vertical plane. Two arc-shaped sliding blocks are slidably connected to the two arc-shaped guide rails. Each arc-shaped sliding block can be locked at different positions on the corresponding arc-shaped guide rail. The two arc-shaped sliding blocks on the same arc-shaped guide rail are respectively located on both sides of the center position of the arc-shaped guide rail. Each arc-shaped sliding block is rotatably connected with a clamping piece. The electromagnetic coil is held on the holding member. The clamps can be locked when rotated to different positions. By adjusting the position of the arc-shaped slider on the arc-shaped guide rail and the rotation angle of the clamping piece relative to the arc-shaped slider, the distribution of the magnetic field on the platen of the test bench can be adjusted.

Preferably, the height of the platen of the test stand can be adjusted.

Preferably, the arc guide is a 180° arc guide.

Preferably, the top surface of the guide rail bracket is provided with four vertical mounting plates uniformly distributed along the circumference of its vertical central axis. The vertical mounting plate is used to fix the curved rail.

Preferably, the two arc-shaped guide rails are staggered up and down.

Preferably, the rotation axis of the clamping member is arranged horizontally. The central axis of the electromagnetic coil is parallel to the rotational axis of the holder.

Preferably, the two-axis slide table includes two sets of X-axis slide tables and a set of Y-axis slide tables; two X-axis slide tables arranged at intervals are installed side by side on the base. The Y-axis slide table is mounted on the sliding blocks of the two X-axis slide tables through two connecting plates.

Preferably, the X-axis sliding table and the Y-axis sliding table have the same structure, including a sliding table bracket, a drive motor, a motor seat, a lead screw, a sliding block and a guide rod. The two guide rods parallel to each other are fixed on the sliding table bracket. The lead screw is supported on the carriage bracket and is located between the two guide rods. The drive motor is fixed on the end of the sliding table bracket through the motor seat, and the output shaft is fixed with one end of the lead screw. The sliding block and two guide rods form a sliding pair, and a screw pair is formed by a nut and a lead screw.

Preferably, the two arc-shaped guide rails are staggered by 90° along the vertical axis.

Preferably, the test bench includes a base, a column, a clamping block and a platen; the vertical column is fixed on the base; the clamping block is provided with a connection hole; the clamping block is slidably connected to the column through the connection hole; The side of the connecting hole is provided with a locking seam; the locking seam separates two locking parts on the clamping block; the two locking parts are connected by locking bolts; by rotating the locking bolts, the connecting hole can be clamped Upright column; platen is fixed on the clamping block.

The beneficial effects that the present invention has are:

1. The electromagnetic coil in the present invention can slide along the arc guide rail and can rotate itself, so that various magnetic fields of different distribution forms can be formed on the test bench, so that the performance of the magnetic droplet can be fully tested.

2. The present invention uses four electromagnetic coils to generate a vertically upward magnetic field in the workspace, and the field strength is adjustable, so that the driven magnetic droplets (micro-robots) can float and move with the two-axis slide table response occurs.

3. The present invention can drive a micro-robot made of magnetic material to perform cableless driving in two-dimensional space; compared with a cumbersome three-dimensional trackless magnetic control device, the two-dimensional magnetic control driving device can provide a large moving space, simple structure, and consumables. It has good practical value and economic benefits.

Description of drawings

FIG. 1 is a perspective view of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of a two-axis slide table in the present invention.

FIG. 3 is a schematic diagram of the axial magnetic field strength of the electromagnetic coil.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in FIG. 1 , a four-electromagnetic coil magnetron magnetic droplet testing device includes a base, a test table 18 and a two-dimensional magnetron driving device mounted on the base. The height of the table top of the test bench can be adjusted. Specifically, the test table 18 includes a base, a column, a clamping block and a platen. Vertically arranged uprights are fixed on the base. The clamping block is provided with a connecting hole. The clamping block is slidably connected with the upright column through the connecting hole. The side part of the connection hole is provided with a locking seam. The locking seam separates two locking parts on the clamping block. The two locking parts are connected by locking bolts. By turning the locking bolt, the connecting hole can be clamped to the upright column, so that the platen and the test bench are fixed. The platen is fixed on the clamping block.

The two-dimensional magnetron drive device is arranged just below the table of the test bench. The two-dimensional magnetron drive device includes two-axis sliding tables, two arc-shaped guide rails 6 , two pairs of arc-shaped sliders 9 and two pairs of electromagnetic coils 10 . The arc guide 6 adopts a 180° arc guide. The two-axis slide table includes two sets of X-axis slide tables 1 and a set of Y-axis slide tables 4, which can slide along the X-axis direction as well as the Y-axis direction; two X-axis slide tables 1 arranged at intervals are installed side by side on the base superior. The Y-axis sliding table 4 is mounted on the sliding blocks of the two X-axis sliding tables 1 through two connecting plates 2 . The guide rail bracket 3 is installed on the sliding block of the Y-axis sliding table 4 . The top surface of the guide rail bracket 3 is provided with four vertical mounting plates evenly distributed along the circumference of the vertical center axis of the guide rail bracket 3 for installing the arc guide rail 6 . The two arc-shaped guide rails 6 are both fixed on the guide rail bracket 3 by the first bolts 7 . The arc axes of the two arc guide rails 6 are respectively in a vertical plane, so that the arc slider 9 can slide along the arc in a vertical plane. The arc axis of the arc guide 6 is symmetrical about a vertical axis. The middle position of one of the arc-shaped guide rails 6 is located just above the middle position of the other arc-shaped guide rail 6 .

Two arc-shaped sliding blocks 9 are slidably connected to the two arc-shaped guide rails 6 . Each arc-shaped sliding block 9 can be locked in position by means of a set bolt 11 . The two arc-shaped sliding blocks 9 on the same arc-shaped guide rail 6 are respectively located on both sides of the central position of the arc-shaped guide rail 6 . A clamping member 5 is rotatably connected to each arc-shaped sliding block 9 . The electromagnetic coil 10 is held on the holding member 5 . The side surface of the clamping member 5 is provided with a threaded through hole, and the electromagnetic coil 10 and the clamping member 5 are fixed by the second bolt 8 . A set screw for locking the position of the clamping member is provided between the clamping member 5 and the arc-shaped sliding block 9 . The rotation axis of the electromagnetic coil 10 is arranged horizontally. The central axis of the electromagnetic coil 10 is perpendicular to its own rotation axis. By adjusting the position of the arc slider 9 on the arc guide 6 and the rotation angle of the electromagnetic coil 10, the magnetic field for driving the magnetic droplets can be formed at different heights. There is a central driving point in this magnetic field. The magnetic field direction of the central driving point is directed upward, and the magnetic field directions of the positions around the central driving point are inclined toward the upper side of the central driving point.

As shown in FIG. 2 , the X-axis sliding table 1 and the Y-axis sliding table 4 have the same structure, including a sliding table bracket 12 , a driving motor 13 , a motor base 14 , a lead screw 15 , a sliding block 16 and a guide rod 17 . The two guide rods 17 parallel to each other are fixed on the sliding table bracket 12 . The lead screw 15 is supported on the slide bracket 12 and located between the two guide rods 17 . The drive motor 13 is fixed to the end of the slide bracket 12 through the motor base 14 , and the output shaft is fixed to one end of the lead screw 15 . The sliding block 16 and the two guide rods 17 constitute a sliding pair, and a screw pair is constituted by a nut and a lead screw 15 . The traverse movement of the sliding block 16 is driven by the rotation of the driving motor 13 .

During testing, the four solenoid coils 10 were adjusted to a position where the axes intersected the driven magnetic droplets. The four electromagnetic coils 10 are respectively driven by four current sources; or the electromagnetic coils 10 on the same arc-shaped guide rail are driven by the same current source. Therefore, the two-dimensional magnetron driving device is driven by two or four independent current sources; when the electromagnetic coil 10 is supplied with direct current, the position and orientation of the electromagnetic coil 10 are adjusted, so that each pair of electromagnetic coils can be used for the driven magnetic field. The resultant force of the droplet in the horizontal position is zero, so that the magnetic droplet is subjected to a vertical upward resultant force, so that the magnetic droplet can be in a suspended state.

The XY-axis slide table drives the electromagnetic coil that generates the magnetic field to move, thereby driving the micro-robot to move.

The expression of the magnetic field strength H at any point on the axis of the multi-winding electromagnetic coil is:

Among them, a is the radius of the electromagnetic coil; I is the current value passing into the electromagnetic coil; Z2 is the coordinate of the upper end of the central axis of the electromagnetic coil; Z1 is the coordinate of the lower end of the central axis of the electromagnetic coil; Z is the coordinate of any point on the axis of the electromagnetic coil (the point Corresponding magnetic field strength H); N is the number of turns of the spiral electromagnetic coil; h is the height of the spiral electromagnetic coil, as shown in Figure 3.

It can be seen from the above expression that the strength of the axial magnetic field generated by the electromagnetic coil can be calculated. The strength of the magnetic field generated by the two symmetrical and non-parallel electromagnetic coils in the horizontal direction is zero, and only the magnetic field in the vertical direction is generated. The current entering each electromagnetic coil can control the movement of the micro-robot (magnetic droplet) in different directions in the workspace in real time; the magnetic field generated by the two-dimensional magnetron drive device can be used as a micro-robot drive application, and can also be used as a specific tool in other fields. The study of magnetic fields.

The working principle of the four-electromagnetic coil magnetron two-dimensional cableless drive device is as follows:

When the electromagnetic coil 10 is supplied with direct current, a pair of electromagnetic coils fixed on the same set of arc-shaped guide rails 6 that are symmetrical about the arc-shaped guide rails will generate a vertical upward magnetic field under the magnetic field coupling. By moving the arc-shaped guide rail sliding block 16 to adjust the direction and position of the electromagnetic coil fixed on the sliding block 16 on the arc-shaped guide rail, and change the plane where the magnetic fields of a pair of electromagnetic coil axes intersect, so that the sliding block 16 fixed on the two sets of arc-shaped guide rails that are perpendicular to each other The two pairs of electromagnetic coils on the magnetron generate a vertical upward magnetic field force after coupling on a designated plane directly above the magnetron device and parallel to the ground, and the magnetic droplet containing the magnetic material is subjected to the vertical upward magnetic force in the working plane. while floating. At this time, the drive motor 13 on the X-axis slide table and the Y-axis slide table starts to work; the sliding blocks 16 on the two X-axis slide tables drive the Y-axis slide table and each electromagnetic coil to move along the X-axis; the Y-axis slide table The sliding block on the top drives each electromagnetic coil to move along the Y axis,

The movement of each electromagnetic coil causes the entire magnetic field to shift, thereby driving the suspended magnetic droplets to move. The characteristics of the magnetic droplets can be evaluated according to the speed at which the magnetic droplets respond to changes in the magnetic field. The field strength of the generated magnetic field can be changed by adjusting the current value of each electromagnetic coil, so it is suitable for driving or testing various types of micro-robots with different qualities and containing magnetic materials.

Claims (10)

1. A four-electromagnetic-coil magnetic control type magnetic liquid drop testing device comprises a base, a test board and a two-dimensional magnetic control driving device, wherein the test board and the two-dimensional magnetic control driving device are installed on the base; the method is characterized in that: the two-dimensional magnetic control driving device is arranged right below a bedplate of the test bench; the two-dimensional magnetic control driving device comprises a two-axis sliding table, two arc-shaped guide rails (6), two pairs of arc-shaped sliding blocks (9) and two pairs of electromagnetic coils (10); the guide rail bracket (3) is arranged on the two-axis sliding table;

two arc-shaped guide rails (6) are fixed on the guide rail bracket (3); the two arc-shaped guide rails (6) are respectively positioned in a vertical plane and are symmetrical about the other vertical plane; two arc-shaped sliding blocks (9) are connected to the two arc-shaped guide rails (6) in a sliding manner; each arc-shaped sliding block (9) can be locked at different positions on the corresponding arc-shaped guide rail (6); two arc-shaped sliding blocks (9) on the same arc-shaped guide rail (6) are respectively positioned at two sides of the central position of the arc-shaped guide rail (6); each arc-shaped sliding block (9) is rotatably connected with a clamping piece (5); the electromagnetic coil (10) is clamped on the clamping piece (5); the clamping piece (5) can be locked when being rotated to different positions; the magnetic field distribution condition on the bedplate of the test bench can be adjusted by adjusting the position of the arc-shaped sliding block (9) on the arc-shaped guide rail (6) and the rotating angle of the clamping piece (5) relative to the arc-shaped sliding block (9).

2. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the height of the bedplate of the test bench can be adjusted.

3. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the arc guide rail (6) adopts a 180-degree arc guide rail.

4. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: four vertical mounting plates which are uniformly distributed along the circumferential direction of the vertical central axis of the guide rail bracket (3) are arranged on the top surface of the guide rail bracket; the vertical mounting plate is used for fixing the arc-shaped guide rail.

5. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the two arc-shaped guide rails (6) are staggered up and down.

6. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the rotating axis of the clamping piece (5) is horizontally arranged; the central axis of the electromagnetic coil (10) is parallel to the rotation axis of the clamping piece (5).

7. A four electromagnetic coil magnetic control type magnetic droplet testing apparatus as claimed in claim 1, wherein: the two-axis sliding table comprises two groups of X-axis sliding tables (1) and one group of Y-axis sliding tables (4); two X-axis sliding tables (1) which are arranged at intervals are arranged on the base side by side; the Y-axis sliding table (4) is arranged on the sliding blocks of the two X-axis sliding tables (1) through the two connecting plates (2).

8. A four electromagnetic coil magnetic droplet testing apparatus as claimed in claim 7, wherein: the X-axis sliding table (1) and the Y-axis sliding table (4) are identical in structure and respectively comprise a sliding table bracket (12), a driving motor (13), a motor base (14), a lead screw (15), a sliding block (16) and a guide rod (17); two guide rods (17) which are parallel to each other are fixed on the sliding table bracket (12); the screw rod (15) is supported on the sliding table bracket (12) and is positioned between the two guide rods (17); the driving motor (13) is fixed at the end part of the sliding table bracket (12) through a motor base (14), and an output shaft is fixed with one end of a screw rod (15); the sliding block (16) and the two guide rods (17) form a sliding pair, and a screw pair is formed by the nut and the screw rod (15).

9. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the two arc-shaped guide rails are staggered by 90 degrees along the vertical axis.

10. The four-solenoid magnetic controlled magnetic droplet testing device of claim 1, wherein: the test bench (18) comprises a base, an upright post, a clamping block and a bedplate; the upright post which is vertically arranged is fixed on the base; the clamping block is provided with a connecting hole; the clamping block is connected with the upright column in a sliding manner through the connecting hole; the side part of the connecting hole is provided with a locking seam; the locking seam separates two locking parts on the clamping block; the two locking parts are connected through a locking bolt; the upright post can be clamped by the connecting hole by rotating the locking bolt; the bedplate is fixed on the clamping block.

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