CN113433043B - Four solenoid magnetic control formula magnetic droplet testing arrangement - Google Patents
Four solenoid magnetic control formula magnetic droplet testing arrangement Download PDFInfo
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- CN113433043B CN113433043B CN202110711671.9A CN202110711671A CN113433043B CN 113433043 B CN113433043 B CN 113433043B CN 202110711671 A CN202110711671 A CN 202110711671A CN 113433043 B CN113433043 B CN 113433043B
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- 238000012360 testing method Methods 0.000 title claims abstract description 39
- 239000007788 liquid Substances 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 10
- 239000000696 magnetic material Substances 0.000 description 6
- 230000005684 electric field Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009736 wetting Methods 0.000 description 2
- 241000219357 Cactaceae Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241000208720 Nepenthes Species 0.000 description 1
- 229920001872 Spider silk Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000002086 nanomaterial Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229940023569 palmate Drugs 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
- G01N27/74—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables of fluids
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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
Technical Field
The invention belongs to the technical field of magnetic control micro-robot driving, and particularly relates to magnetic coil magnetic field driving, which has the main functions of suspending a magnetic micro-robot above an electromagnetic coil by generating vertical and upward resultant force by a plurality of groups of electromagnetic coils, adjusting the position of the electromagnetic coil group and realizing the cableless movement of the two-dimensional plane of the micro-robot.
Background
The control of liquid is not separated from the life activities and the production technology, and the regulation and control of the directional liquid drop transport has important scientific research significance and wide engineering application value in the aspects of micro-fluidic, evaporation heat exchange, biological medicine, water collection and the like. Inspired by natural organisms such as directional water collection of cactus palmate, spontaneous formation of a lubricating layer at the edge of the nepenthes insect catching cage, mist collection of a spindle-shaped structure of spider silk and the like, scientists begin research on the regulation and control of droplet motion on the surface of a static micro-nano structure, and change surface characteristics by preparing micro-nano surfaces with different structures to realize directional wetting characteristics and gradient adhesiveness of droplets. However, due to the limitation of surface structure, the directional wetting behavior of static micro-nano surface-modulated droplets is generally irreversible. Subsequently, external field stimulation means such as a temperature field, an electric field, light, a magnetic field and the like are also used for controlling the orientation of the liquid drops, and the dynamic response surface can change the surface structure morphology, so that the adhesiveness, the wettability and the optical transmittance are changed, and the position and the movement mode of the liquid drops are changed. The liquid drop moves along a designated track by adjusting the surface wettability of the porous membrane through an electric field, however, the electric field is required to regulate the liquid drop movement to be connected with an electrode on the surface of the sample, and external energy supply is required. Compared with an electric field, a temperature field and the like, the magnetic field has the advantages of high response speed of regulating and controlling the directional transport of liquid drops, low energy consumption, wide application range and the like. In order to realize the magnetic driving of the liquid drop, the object to be measured is usually combined with the magnetic material, and the external magnetic field is controlled to control the movement of the object to be measured in different control planes, that is, the external magnetic field provides the magnetic material attraction, so that the object to be measured combined with the magnetic material moves according to the attraction provided by the external magnetic field. However, the controllable external magnetic field is generally a moving magnetic field generated by clamping a permanent magnet by a manipulator or a changing magnetic field generated by a helmholtz coil, the magnetic field intensity generated by the permanent magnet is not adjustable and complex to operate, and multiple helmholtz coils can generate a changing magnetic field space but the magnetic field space utilization rate is low, so that the cost is high.
Disclosure of Invention
The invention aims to provide a four-electromagnetic-coil magnetic control type magnetic liquid drop testing device. The position of the magnetic field direction of the electromagnetic coil is adjusted, the direction and the size of the magnetic field force acting on the micro-robot can be effectively controlled, and then the magnetic micro-robot is controlled to move on a two-dimensional plane according to a specified route, so that the performance test of the magnetic micro-robot is realized.
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 a two-axis sliding table, 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.
Two arc guide rails are fixed on the guide rail bracket. The two arc-shaped guide rails are respectively positioned in one vertical plane and are symmetrical about the other vertical plane. Two arc-shaped sliding blocks are connected to the two arc-shaped guide rails in a sliding mode. Each arc-shaped sliding block can be locked at different positions on the corresponding arc-shaped guide rail. Two arc-shaped sliding blocks on the same arc-shaped guide rail are respectively positioned at two sides of the center of the arc-shaped guide rail. And each arc-shaped sliding block is rotatably connected with a clamping piece. The electromagnetic coil is clamped on the clamping piece. The clamp is capable of locking when 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 on the arc-shaped guide rail and the rotating angle of the clamping piece relative to the arc-shaped sliding block.
Preferably, the height of the bedplate of the test bench can be adjusted.
Preferably, the arc guide rail is a 180-degree arc guide rail.
Preferably, four vertical mounting plates which are uniformly distributed along the circumferential direction of the vertical central axis of the guide rail bracket are arranged on the top surface of the guide rail bracket. The vertical mounting plate is used for fixing the arc-shaped guide rail.
Preferably, the two arc-shaped guide rails are vertically staggered.
Preferably, the axis of rotation of the clamp is arranged horizontally. The central axis of the solenoid is parallel to the axis of rotation of the clamp.
Preferably, the two-shaft sliding tables comprise two groups of X-shaft sliding tables and one group of Y-shaft sliding tables; two X-axis sliding tables which are arranged at intervals are arranged on the base side by side. The Y-axis sliding table is arranged on the sliding blocks of the two X-axis sliding tables through two connecting plates.
Preferably, X axle slip table and Y axle slip table structure are the same, all include slip table support, driving motor, motor cabinet, lead screw, sliding block and guide arm. Two parallel guide rods are fixed on the sliding table bracket. The lead screw is supported on the sliding table bracket and is positioned between the two guide rods. The driving motor is fixed at the end part of the sliding table support through the motor base, and the output shaft is fixed with one end of the screw rod. The sliding block and the two guide rods form a sliding pair, and the sliding block and the two guide rods form a screw pair through nuts and a screw rod.
Preferably, the two arcuate rails are offset by 90 ° along the vertical axis.
Preferably, the test bench comprises a base, a stand column, 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.
The invention has the beneficial effects that:
1. 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.
2. 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.
3. The invention can drive the micro-robot made of magnetic material to do cable-free driving in two-dimensional space; compared with a heavy three-dimensional trackless magnetic control device, the two-dimensional magnetic control driving device has the advantages of large movable space, simple structure, less material consumption, and good practical value and economic benefit.
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 according to the present invention.
FIG. 3 is a schematic of the axial magnetic field strength of an electromagnetic coil.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, a four-electromagnetic-coil magnetic droplet testing device includes a base, and a testing table 18 and a two-dimensional magnetic control driving device mounted on the base. The height of the bedplate of the test bench can be adjusted. Specifically, the test station 18 includes a base, a column, a clamping block, and a platen. 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. Through rotating the locking bolt, the connecting holes can clamp the stand column, so that the bedplate is fixed with the test bench. The bedplate is fixed on the clamping block.
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 arc guide rail 6 adopts a 180-degree arc guide rail. The two-axis sliding table comprises two groups of X-axis sliding tables 1 and one group of Y-axis sliding tables 4, and can slide along the X-axis direction and the Y-axis direction; two X axle slip tables 1 that the interval set up are installed side by side on the base. 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. The guide rail bracket 3 is arranged on a sliding block of the Y-axis sliding table 4. 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 and used for mounting the arc-shaped guide rail 6. Two arc guide rails 6 are fixed on the guide rail bracket 3 through first bolts 7. The arc axes of the two arc guide rails 6 are respectively arranged in a vertical plane, so that the arc slide block 9 can slide along an 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 positioned right above the middle position of the other arc-shaped guide rail 6.
Two arc-shaped sliding blocks 9 are connected to the two arc-shaped guide rails 6 in a sliding mode. Each arc-shaped slider 9 can be locked in position by a fastening bolt 11. Two arc-shaped sliding blocks 9 on the same arc-shaped guide rail 6 are respectively positioned at two sides of the center position of the arc-shaped guide rail 6. And each arc-shaped sliding block 9 is rotatably connected with a clamping piece 5. The electromagnetic coil 10 is held by the holder 5. The side of holder 5 is seted up threaded through-hole, and solenoid 10 passes through second bolt 8 with holder 5 and fixes. A set screw for locking the position of the clamping piece is arranged between the clamping piece 5 and the arc-shaped sliding block 9. The axis of rotation of the solenoid 10 is arranged horizontally. The central axis of the solenoid 10 is perpendicular to its own axis of rotation. By adjusting the position of the arc-shaped slider 9 on the arc-shaped guide rail 6 and the rotation angle of the electromagnetic coil 10, magnetic fields for driving magnetic droplets can be formed at different heights. There is a central drive point in the magnetic field. The magnetic field direction of the central driving point faces to the right upper side, and the magnetic field directions of the positions around the central driving point are inclined to 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, and each include 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 parallel to each other are fixed to the slide table bracket 12. The threaded spindle 15 is supported on the slide carriage 12 between two guide rods 17. The driving motor 13 is fixed at the end of the sliding table bracket 12 through a motor base 14, and the output shaft is fixed with one end of a screw 15. The sliding block 16 and two guide rods 17 form a sliding pair, and form a screw pair with the screw rod 15 through a nut. The transverse movement of the sliding block 16 is driven by the rotation of the driving motor 13.
In conducting the test, four electromagnetic coils 10 were adjusted to positions where the axes intersect the magnetic droplet being driven. The four electromagnetic coils 10 are driven by four current sources respectively; or the electromagnetic coils 10 on the same arc-shaped guide rail are driven by the same current source. Therefore, the two-dimensional magnetic control driving device is driven by two or four independent current sources; when the electromagnetic coils 10 are electrified with direct current, the position and the orientation of the electromagnetic coils 10 are adjusted to enable the resultant force of the magnetic liquid drops driven by each pair of electromagnetic coils on the horizontal position to be zero, so that the magnetic liquid drops are subjected to the resultant force in the vertical and upward direction to be in a suspension state, and the magnetic liquid drops can be in a suspension state through the adjustment of the position and the orientation of the electromagnetic coils 10
The XY axis sliding table drives an electromagnetic coil which generates a magnetic field to move, so that the micro-robot is driven to move.
The expression of the magnetic field intensity H at any point on the axis of the multi-winding electromagnetic coil is as follows:
wherein a is the radius of the electromagnetic coil; i is the current value introduced into the electromagnetic coil; z2 is the coordinate of the upper end of the central shaft of the electromagnetic coil; z1 is the coordinate of the lower end of the central shaft of the electromagnetic coil; z is the coordinate of any point on the axis of the electromagnetic coil (the point corresponds to the magnetic field intensity H); n is the number of turns of the spiral electromagnetic coil; h is the height of the solenoid coil, and the schematic diagram is shown in FIG. 3.
According to the expression, the axial magnetic field intensity generated by the electromagnetic coils can be obtained by calculation, the magnetic field intensity generated by the two symmetrical and nonparallel electromagnetic coils in the horizontal direction is zero, only the magnetic field in the vertical direction is generated, and the movement of the micro-robot (magnetic liquid drop) in different directions in a working space can be controlled in real time by adjusting the current led into each electromagnetic coil; the magnetic field generated by the two-dimensional magnetic control driving device can be used for driving the micro-robot and can also be used for providing research of specific magnetic fields in other fields.
The working principle of the four-electromagnetic-coil magnetic-control two-dimensional cable-free driving device is as follows:
when the electromagnetic coils 10 are electrified with direct current, a pair of electromagnetic coils which are fixed on the same group of arc-shaped guide rails 6 and are symmetrical about the circular points of the arc-shaped guide rails can generate a vertically upward magnetic field under the magnetic field coupling, the direction and the position of the electromagnetic coils which are fixed on the sliding blocks 16 on the arc-shaped guide rails are adjusted by moving the sliding blocks 16 of the arc-shaped guide rails, the intersecting plane of the axial magnetic fields of the pair of electromagnetic coils is changed, two pairs of electromagnetic coils which are fixed on the sliding blocks 16 of the two groups of arc-shaped guide rails which are perpendicular to each other generate a vertically upward magnetic field force after coupling on a specified plane which is parallel to the ground right above the magnetic control device, and magnetic liquid drops containing magnetic materials are suspended by the vertically upward magnetic force in the working plane. At this time, the driving motors 13 on the X-axis sliding table and the Y-axis sliding table start to work; the sliding blocks 16 on the two X-axis sliding tables drive the Y-axis sliding table and each electromagnetic coil to move along the X axis; the sliding block on the Y-axis sliding table drives each electromagnetic coil to move along the Y axis,
the movement of each electromagnetic coil enables the whole magnetic field to shift, so that the suspended magnetic liquid drop is driven to move, and the characteristics of the magnetic liquid drop can be evaluated according to the speed of the magnetic liquid drop responding to the change of the magnetic field. The magnitude of the field intensity of the generated magnetic field can be changed by adjusting the current value introduced into each electromagnetic coil, so that the magnetic field intensity measuring device is suitable for driving or testing various micro robots with different masses 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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| CN202110711671.9A CN113433043B (en) | 2021-06-25 | 2021-06-25 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06320446A (en) * | 1993-05-17 | 1994-11-22 | Mitsubishi Heavy Ind Ltd | Guide rail device for welding robot |
| JP2665875B2 (en) * | 1993-10-01 | 1997-10-22 | 株式会社巴技研 | Mounting method and apparatus for traveling rail for welding robot |
| US7948141B2 (en) * | 2007-11-22 | 2011-05-24 | Seiko Epson Corporation | Electric motor device |
| CN104875804B (en) * | 2015-04-23 | 2017-05-10 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| KR101623907B1 (en) * | 2015-05-19 | 2016-05-24 | (주)가온솔루션 | assemblage apparatus for a magnet |
| CN106249179A (en) * | 2016-08-20 | 2016-12-21 | 湖南科技大学 | Automatically multiple degrees of freedom measurement of magnetic field laboratory table |
| US10478048B2 (en) * | 2016-09-23 | 2019-11-19 | Ankon Medical Technologies (Shanghai) Co., Ltd. | System and method for using a capsule device |
| CN108724148B (en) * | 2018-09-17 | 2019-01-01 | 湖南早晨纳米机器人有限公司 | Nanometer robot control system |
| CN112294240A (en) * | 2019-07-25 | 2021-02-02 | 北京微纳灵动科技有限公司 | Magnetic control method of capsule robot |
| CN111030509B (en) * | 2019-11-27 | 2023-10-03 | 重庆大学 | Device and method for two-dimensional plane suspension movement based on force unbalance driving |
| CN111077484A (en) * | 2019-12-09 | 2020-04-28 | 芜湖光束电子科技有限公司 | Adjustable nuclear magnetic resonance carotid artery imaging coil device |
| CN111282751B (en) * | 2020-04-12 | 2021-05-04 | 青岛迪丰机械有限公司 | Precision part spraying device |
| CN112809661B (en) * | 2020-12-31 | 2022-03-11 | 华中科技大学 | Driving device for magnetic soft robot imitating inchworm movement |
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