CN114983572A - Magnetic pipeline robot driving device - Google Patents
Magnetic pipeline robot driving device Download PDFInfo
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- CN114983572A CN114983572A CN202210538149.XA CN202210538149A CN114983572A CN 114983572 A CN114983572 A CN 114983572A CN 202210538149 A CN202210538149 A CN 202210538149A CN 114983572 A CN114983572 A CN 114983572A
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000005389 magnetism Effects 0.000 claims abstract description 14
- 238000003491 array Methods 0.000 claims abstract description 5
- 229920001577 copolymer Polymers 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 239000006249 magnetic particle Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 2
- 101100168116 Magnaporthe oryzae (strain 70-15 / ATCC MYA-4617 / FGSC 8958) CON7 gene Proteins 0.000 description 1
- 101100168115 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) con-6 gene Proteins 0.000 description 1
- 101100168117 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) con-8 gene Proteins 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000011553 magnetic fluid Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention relates to a magnetic pipeline robot driving device, which relates to the field of robot driving and comprises: the electromagnet base is a hollow cylinder with a polygonal cross section, the sleeve is coaxially arranged in the electromagnet base, electromagnets are sequentially and equidistantly arranged from one end to the other end of each surface of the inner side wall of the electromagnet base, through holes are formed in the sleeve corresponding to the electromagnets, one end of each electromagnet is arranged on the electromagnet base, the other end of each electromagnet penetrates through the corresponding through hole in the sleeve, and M annular electromagnet arrays which are sequentially arranged are formed on each cross section of the electromagnet base in the axial direction; the working circuit is connected with each electromagnet and is used for controlling the working state of each electromagnet; the axial motion of the robot is realized by controlling whether each annular electromagnet array has magnetism, and the radial motion of the robot is realized by controlling the magnetism of each electromagnet in each annular electromagnet array. The invention realizes the movement of the controlled magnetic robot in the three-dimensional space.
Description
Technical Field
The invention relates to the technical field of robot driving, in particular to a magnetic pipeline robot driving device.
Background
At present, the existing magnetic robots working in pipelines mostly exist in the forms of magnetic particles, magnetic fluid and the like, and are mostly used for object carrying, targeted drug delivery, detection treatment and the like in blood vessels in human bodies. These robots all use magnetic fields as energy sources and the movement is controlled by the magnetic fields.
The existing control means mainly comprise a three-dimensional Helmholtz coil, a Maxwell coil, a multi-stage electromagnet and a permanent magnet. However, the above methods are all without exception capable of controlling the corresponding magnetic robot to move in a two-dimensional plane, and the environment in the human body is a three-dimensional space environment, which is much more complicated than the two-dimensional plane. Therefore, the diversity of functions and motions of the magnetic robot which can only move in a two-dimensional plane is greatly reduced.
Secondly, the existing control devices can only generate a large space magnetic field, and the magnetic robot can work in the space range, so the size of the corresponding device is huge.
Disclosure of Invention
The invention aims to provide a magnetic pipeline robot driving device, which realizes the movement of a controlled magnetic robot in a three-dimensional space.
In order to achieve the purpose, the invention provides the following scheme:
a magnetic pipeline robot drive comprising: the electromagnet base is a hollow cylinder with a polygonal cross section, the sleeve is coaxially arranged in the electromagnet base, the electromagnet base is fixedly connected with the two ends of the sleeve through a connecting piece between the sleeve bases, electromagnets are sequentially arranged on each surface of the inner side wall of the electromagnet base at equal intervals from one end to the other end in the axial direction of the electromagnet base, through holes are formed in the sleeve corresponding to the electromagnets, one end of each electromagnet is arranged on the electromagnet base, the other end of each electromagnet penetrates through the corresponding through hole in the sleeve, and M annular electromagnet arrays are formed on each cross section of the electromagnet base in the axial direction; the working circuit is connected with each electromagnet and is used for controlling the working state of each electromagnet, and the working state comprises the state that the N pole of the electromagnet points to the central axis of the sleeve, the S pole of the electromagnet points to the central axis of the sleeve and the electromagnet is not magnetic; the axial motion of the controlled magnetic robot is realized by controlling whether each annular electromagnet array has magnetism, and the radial motion of the controlled magnetic robot is realized by controlling the magnitude of each electromagnet in each annular electromagnet array.
Optionally, the electromagnet base is a hollow prism with a hexagonal cross section.
Optionally, the electromagnet base further comprises a housing, the housing is sleeved outside the electromagnet base, the housing is a hollow prism with a polygonal cross section, and the number of the polygonal sides of the cross section of the housing is the same as that of the polygonal sides of the cross section of the electromagnet base.
Optionally, the device further comprises a plate, a front end cover and a rear end cover; the shell is a hollow prism with a hexagonal cross section, two ends of the shell respectively comprise a step formed by a first hexagonal step surface and a second hexagonal step surface, the second hexagonal step surface is positioned on the inner side of the first hexagonal step surface, and the two hexagonal step surfaces are used for fixedly connecting the shell with the electromagnet base through the plate; the front end cover and the rear end cover are both hexagonal, first circular through holes are formed in the centers of the front end cover and the rear end cover, the diameter of each first circular through hole is the same as the inner diameter of the sleeve, and the front end cover and the rear end cover are respectively buckled on the first hexagonal step surfaces at the two ends of the shell; the rear end cover is further provided with a second round through hole, and the second round through hole is used for wiring.
Optionally, the shell, the front end cover and the rear end cover are all made of ABS materials, the electromagnet base is made of PP copolymer, and the connecting member between the sleeve bases is made of stainless steel.
Optionally, the number of the connecting pieces between the sleeve bases is multiple, the connecting piece between each sleeve base is long-strip-shaped, one end of each connecting piece between each sleeve base is connected with the electromagnet base through a screw, and the other end of each connecting piece between each sleeve base is connected with the sleeve through a screw.
Optionally, the electromagnet base is in threaded connection with the electromagnet.
Optionally, still include the controller, the controller is used for through the operating circuit control every electro-magnet operating condition, the controller adopts Arduino Mega2560 development board.
Optionally, the working circuit includes a parent circuit and a sub-circuit, one parent circuit is connected in parallel with a plurality of sub-circuits, and the parent circuit is used for connecting a power supply and the controller; each sub-circuit is connected with an electromagnet, and each sub-circuit is used for controlling the working state of the corresponding electromagnet through an electromagnetic relay.
Optionally, each of the sub-circuits comprises a first electromagnetic relay and a second electromagnetic relay; when the first electromagnetic relay is closed, the N pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, when the second electromagnetic relay is closed, the S pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, and when the first electromagnetic relay and the second electromagnetic relay are both switched off, the electromagnet corresponding to the sub circuit does not generate magnetism.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a magnetic pipeline robot driving device, wherein M annular electromagnet arrays are sequentially arranged on each cross section on an electromagnet base in the axial direction, the axial motion of a controlled magnetic robot is realized by controlling whether each annular electromagnet array has magnetism, and the radial motion of the controlled magnetic robot is realized by controlling the magnetism of each electromagnet in each annular electromagnet array, so that the controlled magnetic robot moves in a three-dimensional space, and the freedom degree and the diversity of the motion of the controlled magnetic robot are increased.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of a magnetic pipeline robot driving device according to the present invention;
FIG. 2 is an enlarged view of the connection between the plate and the electromagnet base and between the electromagnet base and the sleeve according to the present invention;
FIG. 3 is an enlarged view of the sleeve and electromagnet connection of the present invention;
FIG. 4 is a schematic view of the housing structure of the present invention;
FIG. 5 is a schematic structural view of a rear end cap according to the present invention;
FIG. 6 is a schematic view of the sleeve structure of the present invention;
FIG. 7 is a schematic structural diagram of a plate member according to the present invention;
FIG. 8 is a schematic view of the electromagnet base of the present invention;
FIG. 9 is a schematic view of the connection between bases of the sleeve of the present invention;
FIG. 10 is a schematic diagram of a parent circuit of the present invention;
FIG. 11 is a schematic diagram of a sub-circuit of the present invention;
FIG. 12 is a schematic view of an annular electromagnet array of the present invention;
FIG. 13 is a schematic numbering diagram of an annular electromagnet array according to the present invention;
description of the symbols:
1-shell, 2-rear end cover, 3-sleeve, 4-electromagnet, 5-front end cover, 6-plate, 7-electromagnet base and 8-sleeve base connecting piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a magnetic pipeline robot driving device, which realizes the movement of a controlled magnetic robot in a three-dimensional space.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic view of a magnetic pipeline robot driving device according to the present invention, and as shown in fig. 1, the magnetic pipeline robot driving device includes: the electromagnet comprises an electromagnet base 7, electromagnets 4, a sleeve 3 and a working circuit, wherein the electromagnet base 7 is a hollow cylinder with a polygonal cross section, the sleeve 3 is coaxially arranged in the electromagnet base 7, the structure of the sleeve 3 is shown in figure 6, the structure of the electromagnet base 7 is shown in figure 8, the electromagnet base 7 is fixedly connected with the two ends of the sleeve 3 through a connecting piece 8 between the sleeve bases, the electromagnets 4 are sequentially arranged at equal intervals from one end to the other end of each surface of the inner side wall of the electromagnet base 7 in the axial direction of the electromagnet base 7, through holes are arranged at positions on the sleeve 3 corresponding to the electromagnets 4, one end of each electromagnet 4 is arranged on the electromagnet base 7, the other end of each electromagnet passes through the corresponding through hole on the sleeve 3, and each cross section on the axial direction of the electromagnet base 7 forms M annular electromagnet 4 arrays which are sequentially arranged; the working circuit is connected with each electromagnet 4 and is used for controlling the working state of each electromagnet 4, and the working state comprises a state that the N pole of the electromagnet 4 points to the central axis of the sleeve 3, the S pole of the electromagnet 4 points to the central axis of the sleeve 3 and the electromagnet 4 has no magnetism; the axial motion of the controlled magnetic robot is realized by controlling whether each annular electromagnet 4 array has magnetism, and the radial motion of the controlled magnetic robot is realized by controlling the magnetism of each electromagnet 4 in each annular electromagnet 4 array. M is an integer greater than 2.
The electromagnet base 7 is a hollow prism with a hexagonal cross section and is used for installing the electromagnet 4. M is 19, that is, 19 mounting positions of the electromagnets 4 at equal intervals are provided on each inner side surface corresponding to the hexagon, and a maximum of 114 electromagnets 4 can be mounted. The electromagnet base 7 is not directly connected with the sleeve 3, but indirectly connected through a connecting piece 8 between the sleeve bases at two ends.
As shown in fig. 4, the magnetic pipeline robot driving device further comprises a housing 1, the housing 1 is sleeved outside the electromagnet base 7, the housing 1 is a hollow prism with a polygonal cross section, and the number of the polygonal sides of the cross section of the housing 1 is the same as that of the polygonal sides of the cross section of the electromagnet base 7.
The magnetic pipeline robot driving device further comprises a plate 6, a front end cover 5 and a rear end cover 2, wherein the rear end cover 2 is shown in fig. 5, and the plate 6 is shown in fig. 7; the shell 1 is a hollow prism with a hexagonal cross section, two ends of the shell 1 respectively comprise a step formed by a first hexagonal step surface and a second hexagonal step surface, the second hexagonal step surface is positioned on the inner side of the first hexagonal step surface, and the two hexagonal step surfaces are used for fixedly connecting the shell 1 with the electromagnet base 7 through a plate 6; the front end cover 5 and the rear end cover 2 are both hexagonal, first circular through holes are formed in the centers of the front end cover 5 and the rear end cover 2, the diameter of each first circular through hole is the same as the inner diameter of the sleeve 3, and the front end cover 5 and the rear end cover 2 are respectively buckled on first hexagonal step surfaces at two ends of the shell 1; the rear end cover 2 is further provided with a second circular through hole for wiring, so that the wiring of the internal device is connected with an external drive.
Each hexagonal angle department of first hexagon step face and second hexagon step face all sets up the screw hole that nominal diameter is 3, and the total 24 screw holes that nominal diameter is 3 in shell 1 both ends promptly.
The shell 1, the front end cover 5 and the rear end cover 2 encapsulate the internal structure, and the internal structure is protected, so that the internal complex structure is contained, and the appearance is simple and attractive.
The shell 1, the front end cover 5 and the rear end cover 2 are all made of ABS materials, the electromagnet base 7 is made of PP copolymer, and the connecting piece 8 between the sleeve bases is made of stainless steel.
As shown in fig. 2 and 3, the connection between the parts of the magnetic pipeline robot driving device of the present invention is a threaded connection, except that the connection between the sleeve 3 and the sleeve base connection part 8 is performed by using a screw of national standard M2, and the connection between the other parts is performed by using a screw of national standard M3.
The sleeve bases are connected with each other through a plurality of connecting pieces 8, the connecting pieces 8 among the sleeve bases are in a strip shape, one end of each connecting piece 8 among the sleeve bases is connected with the electromagnet base 7 through a screw, and the other end of each connecting piece 8 among the sleeve bases is connected with the sleeve 3 through a screw. The sleeve-to-base connection 8 is shown in figure 9.
The electromagnet base 7 is connected with the electromagnet 4 by screw thread.
The electromagnet 4 is used for generating a control magnetic field and is a core component of the whole set of driving device, and the electromagnet 4 is a KK-P20/15 electromagnet produced by the card electric limited company in the city of Leqing.
The working circuit of the invention is a reversing circuit, and each electromagnet has three working states of an upward N pole (the N pole of the electromagnet points to the central axis of the sleeve), an upward S pole (the S pole of the electromagnet points to the central axis of the sleeve) and a non-working state (the electromagnet does not generate magnetism). The different electromagnets work in a matching way in three working states, so that the requirements of controlling the movement and the work of the magnetic robot are met, and the electromagnet control system is suitable for the independent control of the single robot.
The working circuit comprises a father circuit and a plurality of sub circuits, wherein one father circuit is correspondingly connected with the plurality of sub circuits in parallel, and the father circuit is used for connecting a power supply and the controller; each sub-circuit is connected with one electromagnet and is used for controlling the working state of the corresponding electromagnet through an electromagnetic relay.
Each sub-circuit comprises a first electromagnetic relay and a second electromagnetic relay; when the first electromagnetic relay is closed, the N pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, when the second electromagnetic relay is closed, the S pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, and when the first electromagnetic relay and the second electromagnetic relay are both disconnected, the electromagnet corresponding to the sub circuit does not generate magnetism.
The utility model provides a magnetic pipeline robot drive arrangement still includes the controller, and the controller is used for through the operating condition of every electro-magnet of operating circuit control, and the controller adopts Arduino Mega2560 development board.
As shown in fig. 10, in the parent circuit diagram, pins 1 and 3 of the row pins of CON6 are connected to 5V and ground as the input of the control circuit (working circuit), pin 2 is connected to the digital output pin of the controller as the control pin of the semaphore, and the semaphore VD17 is NCD805Y1 YELLOW; pins 1, 2, and 3 in the pin bank of CON5 are used as signal inputs of the control circuit to connect to the digital output pin of the controller, where pin 1 is a serial data input pin (pin 14 connected to chip 74HC595N (U1)), pin 2 is a clock pin of the latch (pin 12 connected to chip 74HC 595), and pin 3 is a pin of the data shift clock (pin 11 connected to chip 74HC 595). Pins 1 and 2 in the pin bank of CON7 are used as the input of the load circuit and are respectively connected with the power supply + VCC and-VCC. Pins 1 and 2 in the row pins of CON8 are connected to the chip U2 for resetting the working circuit.
As shown in fig. 11, pins 1 and 2 of the row pin of CON11 in the sub-circuit diagram are connected to an electromagnet as the output pin of the load circuit.
The parent circuit is connected with eight sub-circuit diagrams in total, I0 and I1 in the parent circuit are connected with eight sub-circuits in parallel (Repeat (MODE,1,8), Repeat (I0) and Repeat (I1) in the parent circuit), each sub-circuit serves as one output, each output comprises two electromagnetic relays, and the working states of electromagnets in the array are controlled by controlling the on-off of the electromagnetic relays to achieve three working states of off, upward N pole and upward S pole. One father circuit can control 8 paths of electromagnets, and output circuits are in parallel connection and independent from each other and do not interfere with each other. The parent circuit diagram in fig. 10 is the circuit of one PCB circuit board, and thus the device of the present invention requires 15 such circuit boards in total.
The steps of controlling the micro-sized magnetic robot according to the present invention will be described with the magnetic particles as an example.
Step1, connecting the controller Arduino Mega2560 to the computer, and turning on the main switch of the control circuit to electrify the control circuit.
Step2, relevant signals are given by a circuit inspection program of the computer, whether the control circuit is in good condition is determined by inspecting the opening and closing of the electromagnetic relays of the control circuit, and all output pins of the controller Arduino Mega2560 are in low level after the inspection is finished, so that all the electromagnetic relays are closed.
Step3, turning on the DC power supply of the load circuit, firstly adjusting the output voltage to 12V, and ensuring that all the electromagnets in the array can work normally.
And Step4, opening the main switch of the load circuit, and keeping all the electromagnets in the array in an off state on the premise of Step 2.
Step5, a container such as a pipeline is inserted through the driving device of the invention by a sleeve, and a controlled object is placed in the pipeline.
And Step6, controlling the opening and closing of the electromagnetic relays in the sub-circuits according to the control requirements. When a KV13 electromagnetic relay (a first electromagnetic relay) in the sub-circuit is closed, the N pole of a magnetic field generated by the corresponding electromagnet faces upwards; when the KV15 electromagnetic relay (second electromagnetic relay) is closed, the S pole of the magnetic field generated by the corresponding electromagnet faces upwards; when the relays are all disconnected, the corresponding electromagnets stop working;
step7, firstly, controlling six electromagnets on the annular electromagnet array 1 (the number of the electromagnets is shown in fig. 13, the number represents the number of the annular electromagnet array, ABCDEF represents six electromagnets on one ring, and is shown in fig. 12) to work simultaneously, wherein the directions of magnetic fields generated by the six electromagnets ABCDEF should be the same, and the magnetic fields are all N-pole upward or S-pole upward. The voltage of each electromagnet is finely adjusted by adjusting the voltage of the input power source, so that the controlled magnetic particles can be suspended in the liquid.
Step8, controlling the six electromagnets on the annular electromagnet array 2 to be opened and closed, and closing the six electromagnets on the annular electromagnet array 1 at the same time, so that the magnetic particles will advance from the position of the annular electromagnet array 1 to the position of the annular electromagnet array 2. According to the direction and the opening and closing of the electromagnets on the annular electromagnet array 2 and the adjustment of the voltage of each electromagnet, the movement paths generated when the magnetic particles move from the annular electromagnet array 1 to the annular electromagnet array 2 are different, and the three-dimensional movement path can be planned according to the three parameters (the directions, the opening and the closing of the six electromagnets on the annular electromagnet array and the magnitude of the working voltage);
step9, according to Step8, the six electromagnets on the ring-shaped electromagnet array 3 are controlled to work and the electromagnets on the ring-shaped electromagnet array 2 are closed, the magnetic particles move to the ring-shaped electromagnet array 3 according to the planned three-dimensional path, and the magnetic particles move forward gradually in a repeated mode, so that the positions of the magnetic particles are changed continuously.
The magnetic pipeline robot driving device has the characteristics of small size and wearability, for example, the characteristic that a human arm penetrates through a sleeve to be used for being wearable does not need huge occupied space. A magnetic field is generated in space by adopting a multi-path electromagnet, so that the magnetic robot can be controlled to perform three-dimensional motion in a pipeline.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the foregoing, the description is not to be taken in a limiting sense.
Claims (10)
1. A magnetic pipeline robot drive apparatus, comprising: the electromagnet base is a hollow cylinder with a polygonal cross section, the sleeve is coaxially arranged in the electromagnet base, the electromagnet base and the two ends of the sleeve are fixedly connected through a connecting piece between the sleeve bases, electromagnets are sequentially arranged on each surface of the inner side wall of the electromagnet base from one end to the other end at equal intervals in the axial direction of the electromagnet base, through holes are formed in the sleeve corresponding to the electromagnets, one end of each electromagnet is arranged on the electromagnet base, the other end of each electromagnet penetrates through the corresponding through hole in the sleeve, and M annular electromagnet arrays are sequentially formed on each cross section of the electromagnet base in the axial direction; the working circuit is connected with each electromagnet and is used for controlling the working state of each electromagnet, and the working state comprises a state that the N pole of the electromagnet points to the central axis of the sleeve, the S pole of the electromagnet points to the central axis of the sleeve and no magnetism exists in the electromagnet; the axial motion of the controlled magnetic robot is realized by controlling whether each annular electromagnet array has magnetism, and the radial motion of the controlled magnetic robot is realized by controlling the strength of each electromagnet in each annular electromagnet array.
2. The magnetic pipeline robot drive of claim 1, wherein the electromagnet base is a hollow prism having a hexagonal cross-section.
3. The magnetic pipeline robot driving device of claim 1, further comprising a housing, wherein the housing is sleeved outside the electromagnet base, the housing is a hollow prism with a polygonal cross section, and the number of the polygonal cross section of the housing is the same as that of the polygonal cross section of the electromagnet base.
4. The magnetic pipeline robot drive of claim 3, further comprising a plate, a front end cap, and a rear end cap; the shell is a hollow prism with a hexagonal cross section, two ends of the shell respectively comprise steps formed by a first hexagonal step surface and a second hexagonal step surface, the second hexagonal step surface is positioned on the inner side of the first hexagonal step surface, and the two hexagonal step surfaces are used for fixedly connecting the shell with the electromagnet base through the plate; the front end cover and the rear end cover are both hexagonal, first circular through holes are formed in the centers of the front end cover and the rear end cover, the diameter of each first circular through hole is the same as the inner diameter of the sleeve, and the front end cover and the rear end cover are respectively buckled on the first hexagonal step surfaces at the two ends of the shell; the rear end cover is further provided with a second round through hole, and the second round through hole is used for wiring.
5. The magnetic pipeline robot driving device of claim 4, wherein the housing, the front end cap and the rear end cap are all made of ABS material, the electromagnet base is made of PP copolymer, and the connecting piece between the sleeve bases is made of stainless steel.
6. The magnetic pipeline robot driving device according to claim 1, wherein the plurality of inter-sleeve-base connecting members are elongated, and one end of each inter-sleeve-base connecting member is connected to the electromagnet base by a screw, and the other end thereof is connected to the sleeve by a screw.
7. The magnetic pipeline robot drive of claim 1, wherein the electromagnet base is threadably connected to the electromagnet.
8. The magnetic pipeline robot driving device of claim 1, further comprising a controller for controlling the operation state of each electromagnet through the operation circuit, wherein the controller employs an Arduino Mega2560 development board.
9. The magnetic pipeline robot driving device of claim 8, wherein the working circuit comprises a parent circuit and a child circuit, one parent circuit is connected in parallel with a plurality of child circuits, and the parent circuit is used for connecting a power supply and the controller; each sub-circuit is connected with an electromagnet, and each sub-circuit is used for controlling the working state of the corresponding electromagnet through an electromagnetic relay.
10. The magnetic pipeline robot drive of claim 9, wherein each of the sub-circuits includes a first electromagnetic relay and a second electromagnetic relay; when the first electromagnetic relay is closed, the N pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, when the second electromagnetic relay is closed, the S pole of the electromagnet corresponding to the sub circuit points to the central axis of the sleeve, and when the first electromagnetic relay and the second electromagnetic relay are both switched off, the electromagnet corresponding to the sub circuit does not generate magnetism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538149.XA CN114983572A (en) | 2022-05-17 | 2022-05-17 | Magnetic pipeline robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538149.XA CN114983572A (en) | 2022-05-17 | 2022-05-17 | Magnetic pipeline robot driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114983572A true CN114983572A (en) | 2022-09-02 |
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| CN202210538149.XA Pending CN114983572A (en) | 2022-05-17 | 2022-05-17 | Magnetic pipeline robot driving device |
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