CN209036521U - A kind of magnetism micro-robot 6 DOF magnetic drive and control device - Google Patents
A kind of magnetism micro-robot 6 DOF magnetic drive and control device Download PDFInfo
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- CN209036521U CN209036521U CN201821817816.3U CN201821817816U CN209036521U CN 209036521 U CN209036521 U CN 209036521U CN 201821817816 U CN201821817816 U CN 201821817816U CN 209036521 U CN209036521 U CN 209036521U
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Abstract
The utility model provides a kind of magnetic micro-robot 6 DOF magnetic drive and control device, is mainly made of electromagnetic coil, electromagnet core, operating space, binocular camera, computer, manual voltage regulation device and various connectors etc..Controlled magnetism micro-robot is placed in operating space, its position and posture are obtained by binocular camera, it is divided into when work manual with automatic two kinds of control modes: when manually controlling, each electromagnetic coil voltage swing and direction are adjusted by adjusting knob on manual voltage regulation device and driving switch, is manually controlled to change magnetic field strength realization；When automatic control, the position of magnetic micro-robot is obtained by binocular camera first, transports object location, changed again by the motion profile and posture of computer project robot, computer is according to the motion state of robot, position and posture in experimentation, new voltage value is generated by the next step movement of planning, it controls robot and completes certain task, realize and automatically control.
Description
Technical field
The utility model belongs to magnetic micro-robot control field, is related to the driving to magnetic micro-robot, control
And motion tracking.
Background technique
Micro-robot has many advantages, such as that small in size, flexible, adaptability is high, suffers from fields such as medicine, military affairs wide
Application prospect.The size of micro-robot is usually being flowed in submillimeter even micro-nano rank, the object of this size class
Low reynolds number environment will be in body, at this moment inertia force can be ignored substantially, and what is played a leading role is viscous force.So must
Power, which must persistently be provided, could drive micro-robot.But due to dimensional problem, traditional power source can not be loaded in small machine
On device people, and there is cable driving to be also not suitable for the micro-robot for needing to carry out complex task, it is therefore desirable to develop new driving
And control mode.
Micro-robot is quickly grown in recent years, and existing micro-robot can be divided into two types by driving method: from
Driving drives with outfield.Refer to from driving itself can obtain power from local environment, common to have from driving method from electrophoresis
Driving, bubble driving, from thermal drivers etc..Outfield driving refers to that power, common outfield driving side could be obtained by needing to apply outfield
Formula has sound field driving, field drives, optical drive etc..Its Medium and low intensity, low-frequency magnetic field can penetrate human body and will not be to people
Body tissue causes to damage, therefore field drives have huge application prospect in medical domain.As long as being made of magnetic material micro-
Small machine people can drive it and be controlled using magnetic field.Pass through the available required magnetic of design to electromagnet
, the current strength of electromagnetic coil is adjusted, magnetic field strength can be changed, thus magnetic of the adjustment effect on magnetic micro-robot
Power and magnetic torque are driven and are controlled to magnetic micro-robot.However the country has been in step to the research in the field
Section, research data is relatively external less, therefore designs magnetic drive for magnetic micro-robot and control device to magnetic
The development of the micro-robot of field driving is of great significance.
In conclusion there is an urgent need to a kind of devices for the development of magnetic micro-robot, it is micro- that field drives magnetism can be used
Small machine people is moved by certain track, and be can control its posture and completed certain movement, while can quickly test changes of magnetic field pair
It is moved and the influence of posture.A kind of magnetic drive for magnetic micro-robot and control device are designed and developed out, is had
Significance and researching value.
Utility model content
The purpose of this utility model is to provide a kind of devices of driving and control for magnetic micro-robot, can lead to
Cross field drives magnetism micro-robot control its carry out six-freedom motion and change posture complete certain movement, can be to it
Motion tracking is carried out, and manually or automatically two ways can realize control.
In order to achieve the above purposes, the technical solution adopted by the utility model is:
A kind of magnetism micro-robot 6 DOF magnetic drive and control device, mainly by calutron, control equipment, power supply
System, supporting system and ancillary equipment composition.Wherein calutron includes electromagnet core, electromagnetic coil and power amplifier.
Control equipment include manual voltage regulation device, operating space, image pick-up card, data acquisition/control card, binocular camera with
Computer.Power-supply system is made of the power supply adaptor that 220V alternating current and each electrical equipment correspond to model.Supporting system packet
Include outer case, internal box, case lid and leveling support.Ancillary equipment has radiator fan and LED illumination lamp.
The operating space is an organic glass cylindrical drum, carries out control in fact for placing magnetic micro-robot
It tests.
There are four grooves above the outer case side, are respectively used to place front/rear/electromagnet core of left/right four
The end of thread, play supporting role；The end of thread of one circular hole for electromagnet core below fixed is arranged at bottom；16 screw threads are arranged at bottom
Hole, for installing 4 leveling supports；There are two opposite circular holes below side, for across conducting wire.
The internal box is a square shell, and top is opening, for placing organic glass cylinder cylinder operating space
With upper electromagnetic coil；Bottom is provided with circular hole, cooperates with the non-threaded end of lower section electromagnet core；Side there are four circular hole, respectively with
The non-threaded end cooperation of four electromagnet cores all around.
There is screw thread in described electromagnet core one end, for cooperating with electromagnet locking nut；Material is ingot iron/soft
Iron DT4C, this kind of material, which is put into magnetic field, to be easily magnetized, and after removing magnetic field, can demagnetize at once, therefore the electromagnet core tool
The advantages of magnetization is with demagnetization fast response time when having coil electric current of make-and-break.
Described leveling support one end is dome-type shell, for bearing load with ground face contact；The other end is to be provided with four
The round tray in a hole, for being connect with experimental bench cabinet；Middle part is that a screw rod is connected with upper and lower two parts by screw thread, is used
In adjusting height of support.
The advantage of the utility model is: the present apparatus is designed based on electromagnet principle, assembly, convenient disassembly, can be conveniently fast
Magnetic field strength, direction are adjusted fastly.Operating space is replaceable, and the magnetic micro-robot control that can be simulated under a variety of environment is real
It tests, such as atmospheric environment, blood of human body environment, oil liquid environment etc..Image, cooperation image procossing etc. are obtained by binocular camera
Technology can realize the automatic control to magnetic micro-robot, and analog executes fixed point and object, landform exploration, traction conduit etc. is sent to appoint
Business.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model
Fig. 2 is the voltage regulating device detail view of the utility model
Fig. 3 is that the electromagnet of the utility model installs detail view
Fig. 4 is that detail view is placed in the cylindrical drum operating space of the utility model
Fig. 5 is that the radiator fan of the utility model installs detail view
Fig. 6 is the hand-control hardware architecture diagram of the utility model
Fig. 7 manually controls experiment flow figure for the utility model
Fig. 8 is the automatic control hardware architecture diagram of the utility model
Fig. 9 is Experiments of Automatic Control (fixed point is transported) flow chart of the utility model
Specific implementation method
The utility model is further described below in conjunction with attached drawing:
As shown in Figure 1, the utility model is a kind of magnetic micro-robot 6 DOF magnetic drive and control device, each section
Successively are as follows: power supply adaptor (1), manual voltage regulation device (2), data acquisition/control card (3), power amplifier (4), electricity
Magnet locking nut (5), poly (methyl methacrylate) plate outer case (6), electromagnetic coil (7), poly (methyl methacrylate) plate case lid (8), electromagnet core
(9), camera bracket fixing screws (10), binocular camera fixing screws (11), binocular camera (12), binocular camera branch
Frame (13), top electromagnetic coil (14), radiator fan (15), LED illumination lamp (16), organic glass cylindrical drum operating space
(17), poly (methyl methacrylate) plate internal box (18), support fixing screws (19), leveling support (20), image pick-up card (21)；Computer
Equal components are not shown in the figure.
Voltage regulating device in the utility model controls 6 coils as shown in Fig. 2, share 6 groups of knob/switches respectively.
Every group has 3 parts: driving switch (22), voltage value display screen (23), adjusting knob (24).Wherein driving switch (22) point
It is 3 grades, for adjusting voltage direction, centre is neutral gear no-voltage；Voltage value display screen (23) is for showing current voltage value；
Adjusting knob (24) is for adjusting voltage swing.There are two opposite wire guides (25) on manual voltage regulation device (2), use
In leading in/out conducting wire.
The electromagnet installation details of the utility model is as shown in Figure 3.Six electromagnet are divided into the part of upper, middle and lower three: on
Portion's iron-core-free, only top electromagnetic coil (14)；There are front/rear/four groups of left/right electromagnetic coil (7) and electromagnet core in middle part
(9)；Lower part only has one group of electromagnetic coil (7) and electromagnet core (9).When installation, first respectively assembling in, each electromagnetism in lower part
Iron iron core (9) and electromagnetic coil (7)；Each electromagnet core (9) non-threaded end is passed through to the circular hole on internal box (19) again；Then
Outer case (6) will be integrally put into, match it with the groove on outer container body sidewall and the circular hole on bottom surface；Locking nut is used again
(5) from electromagnet core (9), the end of thread is fixed, thus in realizing, the positioning of lower part electromagnet.Top electromagnetic coil (7)
It is put into after having placed organic glass cylindrical drum operating space (17), bottom surface connects with organic glass cylindrical drum operating space (17)
Touching, upper surface outer rim and poly (methyl methacrylate) plate internal box (18) inner wall are tangent.The conducting wire that electromagnetic coil (7) is drawn is led across outer case
String holes (25) is connected with manual voltage regulation device (2).So far solenoid part is installed.
It is as shown in Figure 4 that details is placed in the organic glass cylindrical drum operating space of the utility model.Poly (methyl methacrylate) plate cylindrical drum
Operating space (17) is placed in poly (methyl methacrylate) plate internal box (18), exterior side wall and bottom surface and five electromagnet cores (9)
Non-threaded end be close to；LED illumination lamp (16) is a band-like annulus being affixed on above the internal side wall of operating space, is evenly equipped with thereon
Several LED light.
The radiator fan installation details of the utility model is as shown in Figure 5.It is total to there are six radiator fan (15), is divided to upper and lower two
Layer installation: upper layer fan altogether there are four, respectively on four side walls of the gluing inside the outer case, for giving four electromagnetism at middle part
Coil (7) heat dissipation, four radiator fans (15) make internal gas circulation flow to form circulated air；There are two lower fan is total, glue
Outer case inner bottom surface is sticked at, is 45 degree with side wall angle, for electromagnetic coil (7) heat dissipation to lower part.By six radiation airs
Fan (15) pushes outer case interior air-flow to flow to form air flow field accelerated heat and distribute.
Each component part of the utility model is further described below in conjunction with attached drawing 1:
In the supporting system, four leveling supports (20) are fixed on poly (methyl methacrylate) plate by support fixing screws (19)
In the outside bottom surface of outer case (6)；It is provided with groove on outer container body sidewall, is provided with circular hole on bottom surface, with poly (methyl methacrylate) plate internal box
(18) the fixed each electromagnet core of cooperation；Organic glass cylindrical drum operating space (17) is that the movement of magnetic micro-robot is empty
Between, to guarantee that its internal light is uniform, material therefor is milky acrylic.
In the ancillary equipment, radiator fan (15) is driven by power supply adaptor (1), for radiating to electromagnetic coil (7),
The thermal accumlation generated when coil being prevented to be powered causes temperature excessively high and damages device；LED illumination lamp (16) is by power supply adaptor
(1) it drives, for guaranteeing there is enough brightness to adopt binocular camera (12) can in organic glass cylindrical drum operating space (17)
Collect clearly image.Before powering on, driving switch (22) is adjusted to intermediate neutral gear, should be first turned on after powering on scattered
The anti-locking apparatus damage of Hot-air fan (15), is then turned on LED illumination lamp (16) and guarantees that binocular camera (12) can collect clear image.
In the control system, binocular camera (12) acquires picture signal and shows after image pick-up card (21) processing
In motion state, position and the posture of on computer, observing magnetic micro-robot in real time by computer.
Embodiment 1 is described below in conjunction with attached drawing 1,6,7: being manually controlled
When being manually controlled, AC rectification is manual voltage regulation by power supply adaptor (1) by the calutron
The electricity of 12V DC needed for device (2), then magnetic field is generated by respectively driving each coil after power amplifier (4) amplifying power.
Controlled magnetism micro-robot is placed in organic glass cylindrical drum operating space (17), by adjusting manual voltage regulation device
(2) driving switch (22) on controls it with adjusting knob (24) and is moved, and changes posture and completes certain movement, records phase
Answer voltage.By the change of the motion state of the magnetic micro-robot of binocular camera record, position and posture, it is stored in calculating
In machine.
Have the shortcomings that not flexible, slow without continuity, service speed due to manually controlling, therefore manual control mode is mainly used
In completing some simple movements, the voltage data for controlling magnetic micro-robot is obtained.
Embodiment 2 is described below in conjunction with attached drawing 1,8,9: being automatically controlled
Compared with manually controlling, the working method of device is varied when automatic control.At this point, manual voltage regulation fills
The connection for setting (2) and power amplifier (4) disconnects, and can not manually control.Data acquisition/control card (3) and power amplifier (4)
Connection, driving electromagnetic coil (7) and (14) work；Voltage is adjusted by computer and data acquisition/control card (3) output signal
Size and Orientation controls magnetic micro-robot movement.Wherein, computer is for receiving and processing image data；Planning is magnetic
The motion profile and posture of micro-robot；Position and the appearance of controlled magnetic micro-robot are obtained by image processing techniques
State judges robot next step action which be to be and plans the new voltage value of each coil；New voltage signal is exported to number
According to acquisition/control card (3), magnetic field strength is adjusted, realizes the automatic control to magnetic micro-robot.
Automatic control flow chart is illustrated by taking attached fixed point transport task shown in Fig. 9 as an example: being put into magnetic small machine
Radiator fan (15) and LED illumination lamp (16) are opened after people and transport object；It opens binocular camera (12) and obtains magnetic small machine
Device people and transport object initial position；The motion profile and posture of magnetic this subtask of micro-robot are planned；It gives just
Beginning voltage drives robot, and control robot is mobile by track；Judge whether robot moves to transport object location, if reaching
It adjusts voltage value control robot and changes posture clamping transport object, whether inspection machine people deviates setting track simultaneously if not reaching
It is mobile that modification track controls robot again；Robot carries transport object to be continued to move by track；Judge whether robot moves
To terminal, voltage value control robot change posture is adjusted if reaching home and unloads transport object, if not reaching inspection machine
Whether people deviates setting track and modify track controls robot movement again；By identifying whether terminal has transport object to judge
Whether robot completes task, controls robot if the task of completion and returns to initial position, if the task of not completing checks mistake
Modification data are tested again afterwards.
Claims (4)
1. a kind of magnetism micro-robot 6 DOF magnetic drive and control device, mainly by power supply adaptor (1), manual voltage tune
Regulating device (2), power amplifier (4), poly (methyl methacrylate) plate outer case (6), electromagnetic coil (7), has data acquisition/control card (3)
Machine glass plate case lid (8), electromagnet core (9), binocular camera (12), binocular camera shooting head bracket (13), top electromagnetic coil
(14), radiator fan (15), LED illumination lamp (16), organic glass cylindrical drum operating space (17), poly (methyl methacrylate) plate internal box
(18), leveling support (20), image pick-up card (21) etc. form, it is characterised in that: automatic or manual mode can be used and pass through tune
Realize the sextuple driving and control to magnetic micro-robot in the magnetic field that section generates.
2. magnetic drive according to claim 1 and control device, it is characterised in that: controlled magnetism micro-robot is placed in
In replaceable organic glass cylindrical drum operating space (17)；It is radiated by power supply adaptor (1) driving radiator fan (15),
Driving LED illumination lamp (16) is illuminated；Binocular camera (12) and image pick-up card (21) carry out Image Acquisition and are shown in meter
On calculation machine.
3. magnetic drive according to claim 1 and control device, it is characterised in that: when manually controlling, power supply adaptor
(1), manual voltage regulation device (2) and power amplifier (4) driving electromagnetic coil (7) and top electromagnetic coil (14) generate magnetic
?；It adjusts manual voltage regulation device (2) and changes the magnetic micro-robot movement of magnetic field control；Experimental data is stored in computer
In.
4. magnetic drive according to claim 1 and control device, it is characterised in that: when automatic control, pass through computer
Task is executed to magnetic micro-robot to plan；The movement shape of magnetic micro-robot is judged by image processing techniques
State, position and posture generate the voltage value of movement needs in next step each electromagnetic coil (7) and top electromagnetic coil (14)；It is logical
It crosses computer and outputs voltage signal to the voltage value that data acquisition/control card (3) changes each electromagnetic coil (7) and (14), adjust
Magnetic field controls magnetic micro-robot movement.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821817816.3U CN209036521U (en) | 2018-11-06 | 2018-11-06 | A kind of magnetism micro-robot 6 DOF magnetic drive and control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821817816.3U CN209036521U (en) | 2018-11-06 | 2018-11-06 | A kind of magnetism micro-robot 6 DOF magnetic drive and control device |
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| CN209036521U true CN209036521U (en) | 2019-06-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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