CN207058551U - A kind of 3 D electromagnetic Micro-Robot untethered drive device - Google Patents
A kind of 3 D electromagnetic Micro-Robot untethered drive device Download PDFInfo
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- CN207058551U CN207058551U CN201720812774.3U CN201720812774U CN207058551U CN 207058551 U CN207058551 U CN 207058551U CN 201720812774 U CN201720812774 U CN 201720812774U CN 207058551 U CN207058551 U CN 207058551U
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Abstract
The utility model discloses a kind of 3 D electromagnetic Micro-Robot untethered drive device, including a pair of X-axis helmholtz coils, a pair of X-axis Maxwell's coils, a pair of Y-axis helmholtz coils, a pair of Y-axis Maxwell's coils, a pair of Z axis helmholtz coils and a pair of Z axis Maxwell's coils, above-mentioned each pair coil be arranged in parallel, a pair of X-axis helmholtz coils are on the inside of a pair of X-axis Maxwell's coils, a pair of Y-axis helmholtz coils are on the inside of a pair of Y-axis Maxwell's coils, a pair of Z axis helmholtz coils are on the inside of a pair of Z axis Maxwell's coils, three pairs of helmholtz coil axial direction pairwise orthogonals, three pairs of Maxwell's coil axial direction pairwise orthogonals, the intermediate region that six pairs of coil axial directions point to jointly is the working space of Micro-Robot driving.The value of uniform magnetic field caused by the utility model and uniform gradient magnetic field is controllable within the specific limits；The untethered driving of three dimensions can be carried out to the Micro-Robot being made with magnetic material.
Description
Technical field
A kind of electromagnetic spool device technical field is the utility model is related to, more particularly to one kind can produce regular electricity
Magnetic field simultaneously can carry out manual control 3 D electromagnetic Micro-Robot untethered drive device.
Background technology
The operation of Micro-Robot untetheredization has extremely wide application in fields such as biology, medical science, micro assemby, minute manufacturings
Prospect, a kind of method are moved by the Micro-Robot for controlling externally-applied magnetic field to control magnetic material to be made, and energy is led to
The magneticaction for crossing magnetic field is converted into the kinetic energy of Micro-Robot, so as to realize that the untethered of Micro-Robot drives.Utilize external magnetic field pair
Micro-Robot carries out untethered driving, and it is one-dimensional or two dimensional drive systems designs and research that present analysis, which is tested more, and real
Micro-Robot potential application scenario in border often requires that Micro-Robot carries out the untethered driving on three dimensions.
Utility model content
The purpose of this utility model is to solve shortcoming present in prior art, and a kind of 3 D electromagnetic proposed is micro-
Robot untethered drive device.
To achieve these goals, the utility model employs following technical scheme：
A kind of 3 D electromagnetic Micro-Robot untethered drive device, including a pair of X-axis helmholtz coils, a pair of X-axis Mikes
This Wei coil, a pair of Y-axis helmholtz coils, a pair of Y-axis Maxwell's coils, a pair of Z axis helmholtz coils and a pair of Z axis
Maxwell's coil, above-mentioned each pair coil be arranged in parallel, and a pair of X-axis helmholtz coils are located at a pair of X-axis Maxwell's lines
Circle inner side, on the inside of a pair of Y-axis Maxwell's coils, a pair of Z axis helmholtz coils are located at a pair of Y-axis helmholtz coils
On the inside of a pair of Z axis Maxwell's coils, the pair of Y-axis helmholtz coil, a pair of Y-axis Maxwell's coils are located at a pair of X
On the outside of axle helmholtz coil, a pair of X-axis Maxwell's coils, a pair of Z axis helmholtz coils and a pair of Z axis Maxwell's lines
Circle is on the inside of a pair of X-axis helmholtz coils, a pair of X-axis Maxwell's coils, three pairs of helmholtz coil axial directions two
Two is orthogonal, and three pairs of Maxwell's coil axial direction pairwise orthogonals, the intermediate region that six pairs of coil axial directions point to jointly is
The working space of Micro-Robot driving.
Preferably, design is enclosed for the helmholtz coil on each direction of principal axis and Maxwell's line in same line
On ring framework.
Preferably, the coil rack of the helmholtz coil on each direction of principal axis and Maxwell's coil is non-interference, often
Individual coil rack leaves groove to wind wire, makes coil.
Preferably, any each pair coil of six pairs of coils can use an independent current source, can also with two it is independent
Current source is passed through the electric current of coil to control；Six independent current sources are at least needed for whole 3 D electromagnetic drive device,
It at most can use 12 independent current sources.
Preferably, current source can use programmable current source, and the electric current for being passed through coil can be that direct current can also be
Alternating current.
Preferably, when coil is passed through direct current, working space produces the magnetic field of uniform magnetic field and uniform gradient, works as coil
Rotating excitation field can be produced when being passed through sine and cosine electric current in working space.
Preferably, the electric current of each coil is passed through by adjustment, can control Micro-Robot different in working space in real time
The motion in direction.
Preferably, magnetic field caused by 3 D electromagnetic Micro-Robot untethered drive device can be used as Micro-Robot driving application
Outside, the research of specific magnetic fields can also be provided as other field.
The utility model can produce uniform magnetic field and uniform gradient magnetic field in either direction in working space；3 D electromagnetic
The value of uniform magnetic field and uniform gradient magnetic field caused by Micro-Robot untethered drive device is controllable within the specific limits；Can be with
The untethered driving of three dimensions is carried out to the Micro-Robot being made with magnetic material；Three-dimensional untethered Magnetic driving Micro-Robot tool
There is the motion of five frees degree；Sine and cosine electric current, Ke Yi are passed through to three pairs of helmholtz coils in 3 D electromagnetic drive system
Rotating excitation field is produced in working space, and the field strength values in generation magnetic field keep constant, direction moves in a circle.
Brief description of the drawings
Fig. 1 be the utility model proposes a kind of 3 D electromagnetic Micro-Robot untethered drive device structural representation.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.
Reference picture 1, a kind of 3 D electromagnetic Micro-Robot untethered drive device, including a pair of X-axis helmholtz coils 1, one
To X-axis Maxwell's coil 2, a pair of Y-axis helmholtz coils 3, a pair of Y-axis Maxwell's coils 4, a pair of Z axis Helmholtzs
Coil 5 and a pair of Z axis Maxwell's coils 6, above-mentioned each pair coil be arranged in parallel, and a pair of X-axis helmholtz coils 1 are located at one
To the inner side of X-axis Maxwell's coil 2, a pair of Y-axis helmholtz coils 3 are positioned at a pair of inner sides of Y-axis Maxwell's coil 4, a pair of Z
Axle helmholtz coil 5 is positioned at a pair of inner sides of Z axis Maxwell's coil 6, the pair of Y-axis helmholtz coil 3, a pair of Y-axis
Maxwell's coil 4 is located at a pair of X-axis helmholtz coils 1, a pair of outsides of X-axis Maxwell's coil 2, a pair of Z axis He Muhuo
Hereby coil 5 and a pair of Z axis Maxwell's coils 6 are located at a pair of X-axis helmholtz coils 1, in a pair of X-axis Maxwell's coils 2
Side, three pairs of helmholtz coil axial direction pairwise orthogonals, three pairs of Maxwell's coil axial direction pairwise orthogonals, six pairs of coils
The intermediate region that axial direction points to jointly is the working space 7 of Micro-Robot driving.
In the utility model, design is enclosed same for the helmholtz coil on each direction of principal axis and Maxwell's line
On one coil rack.The coil rack of helmholtz coil and Maxwell's coil on each direction of principal axis is non-interference, often
Individual coil rack leaves groove to wind wire, makes coil.
In the utility model, any each pair coil of six pairs of coils can use an independent current source, can also use two
Independent current source is passed through the electric current of coil to control；In the present embodiment, at least needed for whole 3 D electromagnetic drive device
Six independent current sources, it at most can use 12 independent current sources；Current source can use programmable current source, be passed through line
The electric current of circle can be that direct current can also be alternating current.
In specific implementation, when coil is passed through direct current, working space 7 produces the magnetic of uniform magnetic field and uniform gradient
, it can produce rotating excitation field in working space 7 when coil is passed through sine and cosine electric current.The electricity of each coil is passed through by adjustment
Stream, can control the motion of Micro-Robot different directions in working space 7 in real time.
The utility model center line ring framework is made using non-magnet_conductible material, and the wire of coiling is that have absolutely in coil rack groove
Edge layer or the wire for scribbling insulated paint.
The utility model is used for the motion that untethered drives the Micro-Robot being fabricated to by magnetic material to carry out three dimensions, micro-
Robot has the motion of five frees degree in working space 7.Embodiment is driven according to Micro-Robot untethered
Kinetics equation, motion mode, by the electric current in each coil of control input, required magnetic field is produced in working space,
Micro-Robot receives magnetic torque and magnetic force in magnetic field and overcomes other resistances such as self gravitation to carry out untethered in three dimensions 7
Control motion.The Three-Dimensional Magnetic drive system can also be used as generation specific magnetic fields to be applied to other field, such as magnetic compensation, magnetic
The research and application of field breeding etc..
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art is in the technical scope that the utility model discloses, according to this practicality
New technical scheme and its utility model design are subject to equivalent substitution or change, should all cover in protection model of the present utility model
Within enclosing.
Claims (3)
1. a kind of 3 D electromagnetic Micro-Robot untethered drive device, including a pair of X-axis helmholtz coils, a pair of X-axis Maxes
Wei coil, a pair of Y-axis helmholtz coils, a pair of Y-axis Maxwell's coils, a pair of Z axis helmholtz coils and a pair of Z axis wheats
Ke Siwei coils, it is characterised in that above-mentioned each pair coil be arranged in parallel, and a pair of X-axis helmholtz coils are located at a pair of X-axis wheats
On the inside of Ke Siwei coils, a pair of Y-axis helmholtz coils are on the inside of a pair of Y-axis Maxwell's coils, a pair of Z axis Helmholtzs
Coil is on the inside of a pair of Z axis Maxwell's coils, the pair of Y-axis helmholtz coil, a pair of Y-axis Maxwell's coil positions
On the outside of a pair of X-axis helmholtz coils, a pair of X-axis Maxwell's coils, a pair of Z axis helmholtz coils and a pair of Z axis wheats
Ke Siwei coils are located at a pair of X-axis helmholtz coils, a pair of X-axis Maxwell's coils inner sides, three pairs of helmholtz coil axles
To direction pairwise orthogonal, three pairs of Maxwell's coil axial direction pairwise orthogonals, during six pairs of coil axial directions point to jointly
Between region be Micro-Robot driving working space.
2. a kind of 3 D electromagnetic Micro-Robot untethered drive device according to claim 1, it is characterised in that for each
Helmholtz coil and Maxwell's line on individual direction of principal axis enclose design on same coil rack.
3. a kind of 3 D electromagnetic Micro-Robot untethered drive device according to claim 1 or 2, it is characterised in that each
The coil rack of helmholtz coil and Maxwell's coil on direction of principal axis is non-interference, and each coil rack leaves groove to twine
Around wire, coil is made.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720812774.3U CN207058551U (en) | 2017-07-06 | 2017-07-06 | A kind of 3 D electromagnetic Micro-Robot untethered drive device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720812774.3U CN207058551U (en) | 2017-07-06 | 2017-07-06 | A kind of 3 D electromagnetic Micro-Robot untethered drive device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406739A (en) * | 2018-03-23 | 2018-08-17 | 哈尔滨工业大学 | A kind of liquid surface micro structures transmission method and its device based on Magnetic driving Micro-Robot |
| CN109249375A (en) * | 2018-11-06 | 2019-01-22 | 吉林大学 | A kind of magnetism micro-robot 6 DOF magnetic drive and control device |
| CN111558929A (en) * | 2020-04-01 | 2020-08-21 | 杭州电子科技大学 | Magnetic bar framework full-magnetic-control robot based on space filling model and motion method thereof |
-
2017
- 2017-07-06 CN CN201720812774.3U patent/CN207058551U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406739A (en) * | 2018-03-23 | 2018-08-17 | 哈尔滨工业大学 | A kind of liquid surface micro structures transmission method and its device based on Magnetic driving Micro-Robot |
| CN108406739B (en) * | 2018-03-23 | 2020-10-02 | 哈尔滨工业大学 | Liquid surface micro-component transmission method and device based on magnetically driven micro-robot |
| CN109249375A (en) * | 2018-11-06 | 2019-01-22 | 吉林大学 | A kind of magnetism micro-robot 6 DOF magnetic drive and control device |
| CN111558929A (en) * | 2020-04-01 | 2020-08-21 | 杭州电子科技大学 | Magnetic bar framework full-magnetic-control robot based on space filling model and motion method thereof |
| CN111558929B (en) * | 2020-04-01 | 2022-02-18 | 杭州电子科技大学 | Magnetic bar framework full-magnetic-control robot based on space filling model and motion method thereof |
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Granted publication date: 20180302 |