CN113900411B - Three-dimensional magnetic programming device and method based on laser - Google Patents
Three-dimensional magnetic programming device and method based on laser Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
- G05B19/40937—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of machining or material parameters, pocket machining
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F7/00—Regulating magnetic variables
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Abstract
The invention provides a laser-based three-dimensional magnetic programming device and a method, wherein the programming device comprises a triaxial linear moving device, a biaxial rotating device, a cooling device, a permanent magnet, a coaxial light path system and a magnetic field detection device, the flexible magnetic composite material is placed on the cooling device, the cooling device is arranged on the triaxial linear moving device, the permanent magnet is arranged on the biaxial rotating device and is positioned below the flexible magnetic composite material, the magnetic field detection device is used for detecting a magnetic field acting on the flexible magnetic composite material, and the coaxial light path system comprises an observation device, a laser light source, a white light source, a first refractive mirror and a second refractive mirror. The invention can realize the controllable adjustment of the size and the direction of the magnetic field according to the deflection arrangement condition of the magnetic particles, and effectively improves the magnetic programming precision.
Description
Technical Field
The invention relates to a laser-based three-dimensional magnetic programming device and method.
Background
The magnetic drive flexible structure has the advantages of no cable drive, remote operation, implantation, quick response, infinite endurance and the like, and is a research hotspot in the field of soft robots. The magnetic field driven motion or morphology control is achieved by creating different regions of magnetic anisotropy on the flexible magnetic composite. A technique for aligning magnetic particles in a flexible magnetic composite under the influence of a magnetic field is called magnetic programming. The magnetic programming technology is mainly applied to the directional arrangement of magnetic particles in a flexible matrix, and has high control requirements on the direction and the size of a magnetic field.
At present, magnetic driving intelligent structures and soft robots based on shape memory polymers, silica gel, hydrogels and photosensitive resins are greatly appeared, but related magnetic programming technologies and equipment are still less. In the prior art, magnetic programming is mainly realized in the following two ways: firstly, carrying out deflection arrangement of magnetic particles on a magnetic film through a uniform magnetic field, then generating magnetic anisotropy by using a viscous transfer printing method, secondly, placing a hydrogel/ferroferric oxide composite material in a mould, orienting the ferroferric oxide particles through the magnetic field, and then solidifying the hydrogel through laser sectional heating. Both of these approaches have drawbacks: for the former, only a large-area uniform magnetic field arrangement can be generated, the magnetic anisotropy is realized through splicing, and the size and the direction of the magnetic field cannot be adjusted at will, so that the accuracy of the magnetic programming process is not high; the latter is only suitable for hydrogel composite materials, and the magnetic field direction needs to be manually adjusted, but the magnetic field size and direction cannot be accurately and controllably adjusted.
Disclosure of Invention
The invention provides a laser-based three-dimensional magnetic programming device and a laser-based three-dimensional magnetic programming method, which realize controllable adjustment of the size and the direction of a magnetic field according to the deflection arrangement condition of magnetic particles and effectively improve the magnetic programming precision.
The invention is realized by the following technical scheme:
A three-dimensional magnetic programming device based on laser is used for carrying out magnetic programming on a flexible magnetic composite material and comprises a three-axis linear moving device, a two-axis rotating device, a cooling device, a permanent magnet, a coaxial light path system and a magnetic field detection device, wherein the flexible magnetic composite material is placed on the cooling device, the cooling device is arranged on the three-axis linear moving device, the permanent magnet is arranged on the two-axis rotating device and is positioned below the flexible magnetic composite material, the three-axis linear moving device and the two-axis rotating device are used for adjusting the distance and angle between the flexible magnetic composite material and the permanent magnet, the magnetic field detection device is used for detecting the magnetic field acting on the flexible magnetic composite material, the coaxial light path system comprises an observation device, a laser light source, a white light source, a first refractive mirror and a second refractive mirror, the observation device is used for vertically observing, the laser light source and the white light source are horizontally arranged, the first refractive mirror and the second refractive mirror are coaxially arranged, the laser light beam is changed into a vertical direction from the horizontal direction after passing through the first refractive mirror so as to irradiate the flexible magnetic composite material, and the white light beam is changed into a vertical direction from the horizontal direction after passing through the second refractive mirror, so that the observation device can observe the magnetization condition of the flexible magnetic composite material.
Further, the laser light source is an adjustable-focus laser emitting ultraviolet rays.
Further, the observation device comprises an industrial electronic camera, a focusing objective lens and a metallographic objective lens, wherein the industrial electronic camera, the focusing objective lens, the first refractor, the second refractor and the metallographic objective lens are sequentially arranged at vertical intervals from top to bottom, the first refractor and the second refractor are both arranged at an inclination of 45 degrees, the laser light source is horizontally arranged at intervals with the first refractor, and the white light source is horizontally arranged at intervals with the second refractor.
Further, the triaxial linear movement device comprises a Y-axis support which is longitudinally and horizontally fixedly arranged, a Y-axis sliding block which is longitudinally and horizontally arranged on the Y-axis support, an X-axis support which is transversely and horizontally arranged on the Y-axis sliding block, an X-axis sliding block which is transversely and horizontally arranged on the X-axis support, a Z-axis support which is vertically arranged on the X-axis sliding block, a Z-axis sliding block which is longitudinally and slidingly arranged on the Z-axis support, a first stepping motor, a second stepping motor and a third stepping motor which respectively drive X, Y, Z-axis sliding, and the cooling device is transversely and horizontally arranged on the Z-axis sliding block.
Further, the two-axis rotating device comprises a first rotating support, a rotating disc, a second rotating support, a rotating shaft, a fourth stepping motor and a fifth stepping motor, wherein the first rotating support is fixedly arranged, the rotating disc is horizontally and rotatably arranged on the first rotating support, the second rotating support is arranged on the rotating disc, the rotating shaft is vertically and rotatably arranged on the second rotating support, the fourth stepping motor and the fifth stepping motor are respectively used for driving the rotating disc and the rotating shaft to rotate, and the permanent magnet is arranged on the rotating shaft.
Further, the magnetic field detection device comprises a first supporting rod which is fixedly arranged, an adjusting bracket which is rotatably arranged on the first supporting rod in an up-down adjusting manner and a magnetic sensor which is arranged on the adjusting bracket, and when in detection, the magnetic sensor is positioned at the cooling device through the adjusting bracket.
Further, the cooling device comprises a cold guide frame and a semiconductor refrigerating sheet, wherein the cold guide frame comprises a T-shaped plate horizontally arranged on the triaxial linear moving device and a storage plate arranged at the end of the T-shaped plate, the flexible magnetic composite material is placed on the storage plate, and the semiconductor refrigerating sheet is arranged at the lower end of the T-shaped plate.
Furthermore, the magnetic programming device also comprises a control device, wherein the input end of the control device is respectively connected with the magnetic field detection device and the observation device, and the output end of the control device is respectively connected with the triaxial linear movement device and the biaxial rotation device.
Further, adjusting handwheels are arranged on the first stepping motor, the second stepping motor and the third stepping motor.
The invention is also realized by the following technical scheme:
A laser-based three-dimensional magnetic programming method comprising the steps of:
A. placing the flexible magnetic composite material on a cooling device;
B. the magnetic field detection device detects a magnetic field acting on the flexible magnetic composite material in real time; the flexible magnetic composite material is provided with magnetic particles which are randomly distributed;
C. Continuously adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet through the three-axis linear moving device and the two-axis rotating device according to the detection result of the magnetic field detection device until the detected magnetic field is the same as the expected magnetic field;
D. The laser light source emits laser, irradiates a specific area of the flexible magnetic composite material to generate phase change, and further deflects magnetic particles in the specific area under the action of the magnetic force of the permanent magnet, and is oriented and orderly arranged;
E. Observing the deflection arrangement condition of the magnetic particles in the specific area in the step D through an observation device of the coaxial light path system, adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet through a triaxial linear moving device and a biaxial rotating device when required according to the observation result until the deflection arrangement condition accords with the expected design, and entering the step F;
F. Stopping laser irradiation, and after the flexible magnetic composite material is cooled, flexibly locking the magnetic particles in the specific area;
G. Steps B through F are repeated multiple times to create magnetic anisotropy in different regions of the flexible magnetic composite that are affected by magnetic forces of different magnitudes and angles.
The invention has the following beneficial effects:
1. In the invention, the flexible magnetic composite material is arranged on the triaxial linear moving device, the permanent magnet is arranged on the two-axis rotating device and is positioned below the flexible magnetic composite material, the triaxial linear moving device can drive the flexible magnetic composite material to move in the X, Y and Z-axis directions so as to adjust the distance between the flexible magnetic composite material and the permanent magnet, thereby adjusting the size of a magnetic field acted by the flexible magnetic composite material, the two-axis rotating device can drive the permanent magnet to rotate on a horizontal plane and a vertical plane, thereby adjusting the direction of the magnetic field acted by the flexible magnetic composite material, the invention can randomly adjust the size and the direction of the magnetic field acted by the flexible magnetic composite material according to the requirement, provides conditions for improving the magnetic programming precision, and can adjust the position of the flexible magnetic composite material through the triaxial linear moving device, so that laser can irradiate a specific area thereof, magnetic particles in the specific area thereof deflect under the irradiation of the laser, and are oriented and orderly arranged in the process, the deflection arrangement condition of the magnetic particles can be observed through the observation device of a coaxial optical path system, and the magnetic field can be continuously adjusted in the same direction as required by the two-axis rotating device, and the magnetic field can be continuously adjusted in the different directions when the magnetic field is required, and the magnetic field is continuously stressed in the specific area can be further adjusted, and the magnetic field is not is completely stressed, and the magnetic field is continuously stressed in the specific area can be further adjusted, and the magnetic field is simultaneously has the magnetic field has different magnetic field directions, thereby completing magnetic programming; regarding the coaxial light path system, for convenient use, the observation device is set to vertical observation, and the arrangement of the first refractive mirror and the second refractive mirror can enable the laser beam and the white light beam to both displace in the horizontal direction and the vertical direction, so that the observation device can observe and enable the laser beam to irradiate on the flexible magnetic composite material.
2. The laser light source is a focusing laser capable of emitting ultraviolet light, the ultraviolet light can be simultaneously applied to the flexible magnetic composite material with the light curing characteristic and the flexible magnetic composite material with the heating phase-changing characteristic, the universality is stronger, the laser can be focused, the irradiation of the laser to the area of the flexible magnetic composite material can be controlled, and the magnetic programming precision is further improved.
3. The semiconductor refrigerating sheet is arranged on the cold guide frame, so that the temperature of a non-laser irradiation area of the flexible material can be reduced, and the magnetic programming precision and efficiency can be improved.
Drawings
The invention is described in further detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the coaxial optical path system of the present invention.
Fig. 3 is a schematic structural view of the cooling device of the present invention.
FIG. 4 is a schematic diagram of the magnetic detection device of the present invention.
FIG. 5 is a microscopic schematic of the magnetic programming process of the present invention.
FIG. 6 (a) is a schematic diagram of the flexible magnetic composite magnetic programming process of the present invention.
FIG. 6 (b) is a schematic diagram of the flexible magnetic composite of the present invention after magnetic programming.
FIG. 6 (c) is a schematic diagram of the magnetic response achieved by the magnetically programmed flexible magnetic composite material.
Wherein, the 11, Y-axis support; 12. a Y-axis slider; 13. an X-axis bracket; 14. an X-axis sliding block; 15. a Z-axis bracket; 16. a Z-axis slider; 17. a second stepping motor; 18. a first stepping motor; 19. a third stepper motor; 110. an adjusting hand wheel; 21. a first rotating bracket; 22. a turntable; 23. a second rotating bracket; 24. a rotating shaft; 25. a fourth stepping motor; 26. a fifth stepping motor; 3. a cooling device; 31. t-shaped board; 32. a storage plate; 33. a semiconductor refrigeration sheet; 4. a permanent magnet; 5. a coaxial optical path system; 51. a second support bar; 52. an industrial electronic camera; 53. a focusing objective lens; 54. a first refractive mirror; 55. a second refractive mirror; 56. a metallographic objective; 57. a laser light source; 58. a lens barrel; 59. cage cubes; 510. a white light source; 511. a sleeve; 6. a magnetic field detection device; 61. a first support bar; 62. adjusting the bracket; 63. a PCB board; 64. a magnetic sensor; 71. a flexible substrate; 72. magnetic particles; 73. a first portion; 74. a second portion; 8. a bottom plate.
Detailed Description
As shown in fig. 1 to 4, the laser-based three-dimensional magnetic programming device is used for magnetically programming a flexible magnetic composite material, in which magnetic particles are randomly distributed, and the magnetic particles can be a material with photo-curing characteristics or heating phase-changing characteristics. The magnetic programming device comprises a control device, a bottom plate 8, a triaxial linear movement device, a biaxial rotation device, a cooling device 3, a permanent magnet, a coaxial light path system 5 and a magnetic field detection device 6.
The three-axis linear moving device comprises a Y-axis support 11 longitudinally and horizontally fixedly arranged on a bottom plate 8, a Y-axis sliding block 12 longitudinally and horizontally arranged on the Y-axis support 11 through a linear guide rail pair, an X-axis support 13 transversely and horizontally arranged on the Y-axis sliding block 12, an X-axis sliding block 14 transversely and horizontally arranged on the X-axis support 13 through a linear guide rail pair, a Z-axis support 15 vertically arranged on the X-axis sliding block 14, a Z-axis sliding block 16 vertically arranged on the Z-axis support 15 through a linear guide rail pair, a first stepping motor 18, a second stepping motor 17 and a third stepping motor 19 respectively arranged on the X-axis support 13, the Y-axis support 11 and the Z-axis support 15, and output ends of the first stepping motor 18, the second stepping motor 17 and the third stepping motor 19 are respectively connected with the X-axis sliding block 14, the Y-axis sliding block 12 and the Z-axis sliding block 16 so as to drive the X-axis sliding block to slide. The cooling device 3 comprises a cold guide frame and a semiconductor refrigerating sheet 33, wherein the cold guide frame comprises a T-shaped plate 31 horizontally arranged on the Z-axis sliding block 16 and a storage plate 32 arranged at the end part of the T-shaped plate 31, the flexible magnetic composite material is placed on the storage plate 32, and the semiconductor refrigerating sheet 33 is arranged at the lower end of the T-shaped plate 31. In this embodiment, the cooling rack is made of an aluminum material.
The two-axis rotating device comprises a first rotating bracket 21 fixedly arranged on the bottom plate 8, a rotary table 22 horizontally rotatably arranged on the first rotating bracket 21, a second rotating bracket 23 arranged on the rotary table 22, a rotating shaft 24 vertically rotatably arranged on the second rotating bracket 23, a fourth stepping motor 25 arranged on the first rotating bracket 21 and a fifth stepping motor 26 arranged on the second rotating bracket 23, wherein the fourth stepping motor 25 is connected with the rotary table 22 to drive the rotary table 22 to rotate, the output end of the fifth stepping motor 26 is the rotating shaft 24, and the permanent magnet is adhered on the rotating shaft 24 through resin adhesive and is positioned below the flexible magnetic composite material. The triaxial linear moving device and the two-axis rotating device are matched to adjust the distance and the angle between the flexible magnetic composite material and the permanent magnet, namely the size and the direction of the magnetic field acting on the flexible magnetic composite material.
The magnetic field detection device 6 is used for detecting a magnetic field acting on the flexible magnetic composite material, and comprises a first support rod 61 fixedly arranged on the bottom plate 8, an adjusting support 62 rotatably arranged on the first support rod 61 in an up-and-down adjusting manner, a PCB (printed circuit board) arranged at the end part of the adjusting support 62 and a magnetic sensor 64 arranged on the PCB.
The coaxial optical path system 5 is arranged on the bottom plate 8 by a second support rod 51 for providing laser beams to irradiate the flexible magnetic composite material and observe the deflection arrangement of the magnetic particles of the flexible magnetic composite material. The coaxial light path system 5 specifically comprises an observation device, a laser light source 57, a lens barrel 58, a white light source 510, a first refractor 54, a second refractor 55 and a cage cube 59, wherein the observation device comprises an industrial electronic camera 52, a focusing objective 53, a sleeve 511 and a metallographic objective 56 with fixed times, the industrial electronic camera 52, the focusing objective 53, the first refractor 54, the second refractor 55 and the metallographic objective 56 are sequentially and vertically arranged at intervals from top to bottom, the industrial electronic camera 52 can be any specification of industrial electronic camera with CS interfaces, the focusing objective 53 and the metallographic objective 56 are used for amplifying images, the laser light source 57 and the white light source 510 are horizontally arranged, the laser light source 57 and the first refractor 54 are horizontally arranged at intervals, the white light source 510 and the second refractor 55 are horizontally arranged at intervals, the first refractor 54 and the second refractor are inclined at 45 degrees and coaxially arranged, the first refractor 54 is arranged in the sleeve 511, the second refractor 55 is arranged in the cage cube 59, the lens barrel 58 is arranged between the laser light source 57 and the cage cube 59 so as to ensure that the first refractor 57 is vertically arranged, the first refractor and the second refractor is horizontally arranged to be a composite magnetic particle, and the composite magnetic material is horizontally arranged in the direction after the first refractor is vertically deflected, and the composite magnetic material is horizontally arranged, and the magnetic direction is changed to the magnetic direction after the composite magnetic material is deflected, and the magnetic material is the magnetic direction is the magnetic and the magnetic direction is the magnetic direction.
In the present embodiment, the laser light source 57 is an adjustable-focus laser that emits ultraviolet rays in a wavelength range of 365 to 410 nm.
In this embodiment, a control device is further provided, the input end of the control device is respectively connected with the magnetic sensor 64 and the industrial electronic camera 52, the output end of the control device is respectively connected with the first to fifth stepper motors 26, and the control device automatically controls the first to fifth stepper motors 26 according to the magnitude and direction of the magnetic field fed back by the magnetic sensor 64 and the deflection arrangement condition of the magnetic particles of the flexible magnetic composite material fed back by the industrial electronic camera 52. The control device can be a single-chip microcomputer, a microprocessor or a computer, can store the observation result, and can be connected with the display device to display the observation result of the observation device. The control device can be a single chip microcomputer, a microprocessor, a PLC or the like.
In another embodiment, the adjusting handwheel 110 may be disposed on the first to fifth stepper motors 26, and the first to fifth stepper motors 26 may be manually controlled by the adjusting handwheel 110 according to the magnitude and direction of the magnetic field fed back by the magnetic sensor 64 and the deflection arrangement of the magnetic particles of the flexible magnetic composite material fed back by the industrial electronic camera 52.
In the embodiment, the permanent magnet is a square neodymium iron boron permanent magnet, and the square design can enable the flexible magnetic composite material to be close to the surface of the permanent magnet as much as possible. In other embodiments, other shapes of neodymium iron boron permanent magnets can be adopted, or an electromagnet is adopted to replace the permanent magnet 4 to generate a magnetic field, but the adoption of the permanent magnet can effectively reduce the volume of the magnetic field.
The flexible matrix 71 of the flexible magnetic composite material may be a material such as liquid metal, a shape memory polymer, hydrogel, a photo-curing resin, or silica gel, and the magnetic particles 72 may be a hard magnetic material such as NdFeB or CrO2, or a soft magnetic material such as Fe3O4, fe, co, N i.
A laser-based three-dimensional magnetic programming method comprising the steps of:
A. Placing the flexible magnetic composite material on the cooling device 3, as in stage I in fig. 5, wherein the magnetic particles 72 in the flexible magnetic composite material are randomly distributed in the flexible matrix 71;
B. The magnetic field detection device 6 detects the magnetic field acting on the flexible magnetic composite material in real time;
C. Continuously adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet 4 through the three-axis linear moving device and the two-axis rotating device according to the detection result of the magnetic field detection device 6 until the detected magnetic field is the same as the expected magnetic field;
D. The laser light source 57 emits laser light to irradiate a specific area of the flexible magnetic composite material so as to generate phase change, and then the magnetic particles 72 in the specific area deflect under the action of the magnetic force B of the permanent magnet 4 and are oriented and orderly arranged, as shown in a stage II in fig. 5;
E. Observing the deflection arrangement condition of the magnetic particles 72 in the specific area in the step D through an observation device of the coaxial light path system 5, adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet 4 through a triaxial linear moving device and a biaxial rotating device according to the observation result when needed until the deflection arrangement condition accords with the expected design, and entering the step F;
F. Stopping the laser irradiation, and after the flexible magnetic composite material cools, flexibly locking the magnetic particles 72 in the specific region, as shown in the third stage of fig. 5;
G. Steps B through F are repeated multiple times to create magnetic anisotropy in different regions of the flexible magnetic composite that are affected by magnetic forces of different magnitudes and angles.
In the example of fig. 6 (a), the flexible magnetic composite material is divided into a first portion 73 and a second portion 74, and by adjusting the angle of the permanent magnet, the first portion 73 and the second portion 74 are respectively magnetically programmed with a magnetic field as shown in fig. 6 (B), and as a result of the magnetic programming, the first portion 73 and the second portion 74 respectively have anisotropies as shown by two arrows in fig. 6 (B), and as shown in fig. 6 (c), a magnetic field B is applied to the flexible magnetic composite material, and the flexible magnetic composite material generates a triangular morphology change with a raised middle portion.
The following description of the magnetic programming process is made using two different flexible magnetic composites as examples:
1. Magnetic programming was performed for Polycaprolactone (PCL)/neodymium iron boron (NdFeB) particle composites. PCL is a common shape memory polymer material, the glass transition temperature is 60 ℃, and when the PCL is heated to a temperature exceeding the glass transition temperature, the Young modulus of the PCL is greatly reduced, and the fluidity of the PCL is enhanced. The magnetized NdFeB particles can generate high residual magnetization in an orderly arranged state. The specific area of the PCL/NdFeB composite material is irradiated by a laser light source, when the temperature of the specific area exceeds the phase transition temperature, the PCL matrix is softened, the NdFeB particles can freely rotate in the PCL matrix, the NdFeB particles are directionally arranged under the action of a magnetic field generated by a permanent magnet, then the specific area is cooled, when the temperature of the specific area is changed to be lower than the phase transition temperature, the PCL matrix is hardened, the NdFeB particles are locked and can not rotate any more, when the laser irradiates other areas, the changed areas are not irradiated by the laser, the NdFeB particles can keep the magnetic programming direction and can not change, so that the programmed PCL/NdFeB composite material can generate residual magnetization with different directions and different sizes in different areas, and the magnetic programming can be repeatedly performed.
2. Magnetic programming is performed for the photocurable resin/iron particle composite material. Photocurable resins are common 3D printing materials that can be converted from a liquid state to a solid state under the action of ultraviolet light, a process that is irreversible. The iron particles can freely rotate in the photo-curing liquid, are directionally arranged under the action of the magnetic field generated by the permanent magnet, the specific area is irradiated by ultraviolet rays, the irradiated part is subjected to phase change, the liquid is converted into solid, the ferromagnetic particles in the specific area are locked and cannot rotate any more, the part which is not irradiated by the ultraviolet rays is still in a liquid state, and programming can be continued through the magnetic field with the other size and direction. The programmed photo-curing resin/iron particle composite material can also generate magnetic anisotropy in different areas, but the magnetic programming can not be repeatedly performed because the curing process is irreversible.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, i.e., the invention is not to be limited to the details of the claims and the description, but rather is to cover all modifications which are within the scope of the invention.
Claims (10)
1. A three-dimensional magnetic programming device based on laser for carry out magnetic programming to flexible magnetic composite material, its characterized in that: the device comprises a triaxial linear moving device, a two-axis rotating device, a cooling device, a permanent magnet, a coaxial light path system and a magnetic field detection device, wherein the flexible magnetic composite material is placed on the cooling device, the cooling device is arranged on the triaxial linear moving device, the permanent magnet is arranged on the two-axis rotating device and is positioned below the flexible magnetic composite material, the triaxial linear moving device and the two-axis rotating device are used for adjusting the distance and angle between the flexible magnetic composite material and the permanent magnet, the magnetic field detection device is used for detecting a magnetic field acting on the flexible magnetic composite material, the coaxial light path system comprises an observation device, a laser light source, a white light source, a first refraction mirror and a second refraction mirror, the observation device is used for vertically observing, the laser light source and the white light source are horizontally arranged, the first refraction mirror and the second refraction mirror are arranged along the same optical axis, the laser beam is changed into the vertical direction from the horizontal direction after passing through the first refraction mirror so as to irradiate the flexible magnetic composite material, and the white light beam is changed into the vertical direction from the horizontal direction after passing through the second refraction mirror, so that the observation device can observe the magnetization condition of the flexible magnetic composite material.
2. A laser-based three-dimensional magnetic programming device as defined in claim 1, wherein: the laser light source is an adjustable-focus laser which emits ultraviolet rays.
3. A laser-based three-dimensional magnetic programming device as defined in claim 1, wherein: the observation device comprises an industrial electronic camera, a focusing objective lens and a metallographic objective lens, wherein the industrial electronic camera, the focusing objective lens, the first refractor, the second refractor and the metallographic objective lens are sequentially arranged at vertical intervals from top to bottom, the first refractor and the second refractor are both obliquely arranged at 45 degrees, the laser light source is horizontally arranged at intervals with the first refractor, and the white light source is horizontally arranged at intervals with the second refractor.
4. A laser-based three-dimensional magnetic programming device according to claim 1 or 2 or 3, characterized in that: the three-axis linear moving device comprises a Y-axis support, a Y-axis sliding block, an X-axis support, an X-axis sliding block, a Z-axis support, a Z-axis sliding block, a first stepping motor, a second stepping motor and a third stepping motor, wherein the Y-axis support is longitudinally and horizontally fixed, the Y-axis sliding block is longitudinally and horizontally arranged on the Y-axis support, the X-axis sliding block is transversely and horizontally arranged on the Y-axis sliding block, the Z-axis sliding block is vertically arranged on the X-axis sliding block, the Z-axis sliding block is longitudinally and slidably arranged on the Z-axis support, the first stepping motor, the second stepping motor and the third stepping motor are respectively driven to slide along X, Y, Z axes, and the cooling device is transversely and horizontally arranged on the Z-axis sliding block.
5. A laser-based three-dimensional magnetic programming device as defined in claim 4, wherein: the two-axis rotating device comprises a first rotating support, a turntable, a second rotating support, a rotating shaft, a fourth stepping motor and a fifth stepping motor, wherein the first rotating support is fixedly arranged, the turntable is horizontally and rotatably arranged on the first rotating support, the second rotating support is arranged on the turntable, the rotating shaft is vertically and rotatably arranged on the second rotating support, the fourth stepping motor and the fifth stepping motor are respectively used for driving the turntable and the rotating shaft to rotate, and the permanent magnet is arranged on the rotating shaft.
6. A laser-based three-dimensional magnetic programming device according to claim 1 or 2 or 3, characterized in that: the magnetic field detection device comprises a first supporting rod which is fixedly arranged, an adjusting bracket which is rotatably arranged on the first supporting rod and is adjusted up and down, and a magnetic sensor which is arranged on the adjusting bracket, and when in detection, the magnetic sensor is positioned at the cooling device through the adjusting bracket.
7. A laser-based three-dimensional magnetic programming device according to claim 1 or 2 or 3, characterized in that: the cooling device comprises a cold guide frame and a semiconductor refrigerating sheet, wherein the cold guide frame comprises a T-shaped plate horizontally arranged on the triaxial linear moving device and a storage plate arranged at the end of the T-shaped plate, the flexible magnetic composite material is placed on the storage plate, and the semiconductor refrigerating sheet is arranged at the lower end of the T-shaped plate.
8. A laser-based three-dimensional magnetic programming device according to claim 1 or 2 or 3, characterized in that: the magnetic programming device also comprises a control device, wherein the input end of the control device is respectively connected with the magnetic field detection device and the observation device, and the output end of the control device is respectively connected with the triaxial linear movement device and the biaxial rotation device.
9. A laser-based three-dimensional magnetic programming device as defined in claim 5, wherein: and the first to fifth stepping motors are respectively provided with an adjusting hand wheel.
10. A laser-based three-dimensional magnetic programming method based on the laser-based three-dimensional magnetic programming device of any one of claims 1-9, characterized by: the method comprises the following steps:
A. placing the flexible magnetic composite material on a cooling device;
B. the magnetic field detection device detects a magnetic field acting on the flexible magnetic composite material in real time; the flexible magnetic composite material is provided with magnetic particles which are randomly distributed;
C. Continuously adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet through the three-axis linear moving device and the two-axis rotating device according to the detection result of the magnetic field detection device until the detected magnetic field is the same as the expected magnetic field;
D. The laser light source emits laser, irradiates a specific area of the flexible magnetic composite material to generate phase change, and further deflects magnetic particles in the specific area under the action of the magnetic force of the permanent magnet, and is oriented and orderly arranged;
E. Observing the deflection arrangement condition of the magnetic particles in the specific area in the step D through an observation device of the coaxial light path system, adjusting the distance and the angle between the flexible magnetic composite material and the permanent magnet through a triaxial linear moving device and a biaxial rotating device when required according to the observation result until the deflection arrangement condition accords with the expected design, and entering the step F;
F. Stopping laser irradiation, and after the flexible magnetic composite material is cooled, flexibly locking the magnetic particles in the specific area;
G. Steps B through F are repeated multiple times to create magnetic anisotropy in different regions of the flexible magnetic composite that are affected by magnetic forces of different magnitudes and angles.
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