CN216435574U - Rotation/gradient composite magnetic field generating device - Google Patents
Rotation/gradient composite magnetic field generating device Download PDFInfo
- Publication number
- CN216435574U CN216435574U CN202123280751.8U CN202123280751U CN216435574U CN 216435574 U CN216435574 U CN 216435574U CN 202123280751 U CN202123280751 U CN 202123280751U CN 216435574 U CN216435574 U CN 216435574U
- Authority
- CN
- China
- Prior art keywords
- motor
- magnetic field
- permanent magnet
- screw rod
- generating device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
A rotating/gradient composite magnetic field generating device relates to the technical field of electromagnetism. The permanent magnet assembly is composed of a single permanent magnet or a plurality of permanent magnets in a spatial custom layout, the control system is connected with the permanent magnet assembly through the driving system, and the heat dissipation system is installed beside the driving system. The permanent magnet assembly is formed by installing a permanent magnet on the combined support, the spatial structure of the combined support is designed in a user-defined mode according to needs, and the combined support is prepared through a 3D printing technology. Through changing self-defined permanent magnet subassembly, realize producing the compound magnetic field of multiple type rotation/gradient with a set of device, adjust the direction, intensity and the rotational frequency in magnetic field through actuating system and control system in real time, through cooling system cooling, protection equipment, extension operating time, its simple structure, simple operation, with low costs, the application scene is extensive.
Description
Technical Field
The utility model relates to the field of electromagnetic technology, specifically relate to a rotatory/gradient composite magnetic field generating device.
Background
The magnetic field generator has wide application in the fields of biomedicine and the like, for example, the magnetic field generator is used for driving and controlling the magnetic micro-robot to move in the body to complete a series of work, and the magnetic field generator has important significance in the fields of biological detection, intelligent medicine carrying, controllable medicine release, thrombus removal and the like.
The magnetic field types for driving the magnetic micro-robot comprise a gradient magnetic field, a rotating magnetic field and the like, the gradient magnetic field can directly pull the micro-robot to do linear motion along the gradient difference of the space magnetic field, and the rotating magnetic field can drive the micro-robot to do rotating motion. The magnetic field type generated by the reported magnetic field generating device is single, the magnetic field intensity and the direction are difficult to adjust, the working time is short, and the application scene is very limited.
Disclosure of Invention
An object of the utility model is to solve the magnetic field type that current magnetic field generator produced single, magnetic field intensity and direction regulation difficulty, operating time is short, uses the limited scheduling problem of scene, provides a rotatory/gradient composite magnetic field generating device.
The utility model discloses constitute by permanent magnetism subassembly, actuating system, control system and cooling system, the permanent magnetism subassembly comprises single or a plurality of permanent magnet in the self-defined overall arrangement in space, actuating system and permanent magnetism subassembly fixed connection, control system links to each other with actuating system for control actuating system's each parameter, cooling system installs by actuating system.
The permanent magnet assembly is formed by installing one or more permanent magnets on the combined support, the spatial structure of the combined support is designed in a user-defined mode according to needs, the combined support is prepared through a 3D printing technology, and different permanent magnet assemblies can generate different magnetic field types in the space so as to meet the needs of different application scenes.
The driving system consists of a translation driving system and a rotation driving system and is used for controlling the position, the angle and the rotating speed of the permanent magnet assembly in the space.
The translation driving system is composed of an x screw rod, a z screw rod, a y screw rod, a first motor, a second motor, a third motor and a base.
The x screw rod is fixed on the base, and the z screw rod is vertically arranged on the x screw rod and can translate along the x screw rod; the y lead screw is vertically arranged on the z lead screw, is vertical to the x lead screw and can translate along the z lead screw; the three-axis lead screw is mutually vertical in space.
The output ends of the first motor, the second motor and the third motor are respectively connected with the end parts of the x screw rod, the z screw rod and the y screw rod, and the three motors are controlled by the control system to respectively realize the rotation of the three-axis screw rod so as to adjust the coordinate position of the permanent magnet assembly in the space.
The rotary driving system is composed of a fourth motor, a fifth motor, a sixth motor and a connecting support.
The motor of No. four is fixed at the tail end of a y lead screw of the translation driving system, the motor of No. five is vertically fixed on an output shaft of the motor of No. four through a connecting support, the motor of No. six is vertically fixed on an output shaft of the motor of No. five through a connecting support, output shafts of three motors are mutually vertical in space, the motor of No. four and the motor of No. five are controlled through a control system, and the angle of the motor of No. six in space can be adjusted.
The combined support of the permanent magnet assembly is fixedly connected with an output shaft of the motor VI, the motor VI is controlled by the control system, the rotating speed of the permanent magnet assembly can be adjusted, and the rotating frequency of a generated magnetic field is further adjusted.
The heat dissipation system is composed of 6 heat dissipation fans, and the heat dissipation fans are respectively installed beside the motors to cool the motors in operation, prolong the working time and prolong the service life.
Compared with the prior art, the utility model has the advantages of it is following:
rotatory/gradient composite magnetic field through changing self-defined permanent magnetism subassembly, realizes producing polytype rotatory/gradient composite magnetic field with one set of device, through direction, intensity and the rotational frequency in actuating system and the real-time regulation magnetic field of control system, through the cooling of cooling system, protective apparatus, extension operating time, its simple structure, the simple operation, it is with low costs, it is extensive to use the scene.
Drawings
Fig. 1 is a schematic structural diagram of a rotating/gradient composite magnetic field generating device according to the present invention;
fig. 2 is a structural example of the permanent magnet assembly combined bracket according to the present invention;
fig. 3 is a second exemplary structure of the permanent magnet assembly bracket of the present invention;
fig. 4 is a third structural example of the permanent magnet assembly combined bracket according to the present invention;
fig. 5 is a schematic structural diagram of the translation driving system according to the present invention;
fig. 6 is a schematic structural diagram of the rotary driving system of the present invention.
Each of the labels in the figure is: the motor comprises a permanent magnet assembly 1, a driving system 2, a translation driving system 21, a base 211, an x screw rod 212, a z screw rod 213, a y screw rod 214, a first motor 215, a second motor 216, a third motor 217, a rotation driving system 22, a fourth motor 221, a fifth motor 222, a sixth motor 223, a control system 3 and a heat dissipation system 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, 5 and 6, the rotating/gradient composite magnetic field generator of the present invention comprises a permanent magnet assembly 1, a driving system 2, a control system 3 and a heat dissipation system 4. In this embodiment, the permanent magnet assembly 1 is formed by installing a single permanent magnet on a support, the driving system 2 is fixedly connected with the permanent magnet assembly 1, the control system 3 is connected with the driving system 2 and used for controlling various parameters of the driving system 2, and the heat dissipation system 4 is installed beside the driving system 2.
Obviously, the permanent magnet assembly 1 is not limited to the structure in the present embodiment, as shown in fig. 2. The permanent magnet assemblies with different structures can be replaced as required, the permanent magnet assemblies can be formed by installing single or multiple permanent magnets on a combined support, the spatial structure of the combined support is designed in a user-defined mode as required and is prepared through technologies such as 3D printing and the like, other two structural design examples are given, and as shown in figures 3 and 4, different permanent magnet assemblies can generate different magnetic field types in the space so as to meet the requirements of different application scenes.
In particular, the drive system 2 is composed of a translational drive system 21 and a rotational drive system 22.
As shown in fig. 5, the translation driving system 21 is composed of an x lead screw 212, a z lead screw 213, a y lead screw 214, a first motor 215, a second motor 216, a third motor 217 and a base 211, wherein output ends of the first motor 215, the second motor 216 and the third motor 217 are respectively connected to end portions of the x lead screw 212, the z lead screw 213 and the y lead screw 214 for controlling rotation of the three-axis lead screw. The x screw 212 is fixed on the base 211, the z screw 213 is vertically installed on the x screw 212, and the z screw 213 can translate along the x screw 212 by the driving of a first motor 215; the y screw rod 214 is vertically arranged on the z screw rod 213 and is vertical to the x screw rod 212, and the y screw rod 214 can translate along the z screw rod 213 through the driving of a second motor 216; the y screw rod 214 can be driven by a third motor 217 to translate along the direction of the y screw rod. The three-axis screw rods are perpendicular to each other in space, and the translation driving system 21 is used for adjusting the coordinate position of the permanent magnet assembly in space.
As shown in fig. 6, the rotation driving system 22 is composed of a fourth motor 221, a fifth motor 222, a sixth motor 223 and a plurality of connecting brackets, the fourth motor 221 is fixed at the end of the y-screw 214 of the translation driving system, the fifth motor 222 is vertically fixed to the output shaft of the fourth motor 221 through the connecting brackets, the sixth motor 223 is vertically fixed to the output shaft of the fifth motor 222 through the connecting brackets, and the combined bracket of the permanent magnet assembly 1 is fixedly connected to the output shaft of the sixth motor 223. The output shafts of the three motors are mutually vertical in the space, and the angle of the six motors in the space can be adjusted by controlling the four motors and the five motors; by controlling the number six motor, the rotating speed of the permanent magnet assembly can be adjusted, and further the rotating frequency of the generated magnetic field can be adjusted.
Parameters of the magnetic field generator are adjusted according to requirements of application scenes on a working space and a magnetic field. The control system 3 is used for controlling six motors of the driving system 2, the control system 3 is fixedly connected with the permanent magnet assembly 1, and the permanent magnet assembly 1 is enabled to translate along the directions of an x lead screw 212, a z lead screw 213 and a y lead screw 214 respectively by controlling a first motor 215, a second motor 216 and a third motor 217 so as to adjust the coordinate position of the permanent magnet assembly 1 in the space; similarly, the control system 3 controls the fourth motor 221, the fifth motor 222 and the sixth motor 223 to rotate the permanent magnet assembly 1 around the output shafts of the fourth motor 221, the fifth motor 222 and the sixth motor 223, respectively, so as to adjust the placing angle of the permanent magnet assembly 1 in the space. The adjustment of the magnetic field intensity and direction generated by the permanent magnet component is realized by controlling the three position coordinates and the three angle coordinates of the permanent magnet component 1.
A gradient magnetic field always exists in the space around the permanent magnet assembly 1, after the position and the angle of the permanent magnet assembly 1 in the space are adjusted, if the rotating speed of the motor 223 six is adjusted by the control system 3, the motor 223 six drives the permanent magnet assembly 1 to rotate around the output shaft of the permanent magnet assembly 1 according to a certain rotating frequency, and then a rotating/gradient composite magnetic field with controllable magnetic field intensity, direction and rotating frequency can be generated around the permanent magnet assembly 1. Furthermore, if the permanent magnet assembly in this embodiment is replaced with another customized permanent magnet assembly, various types of rotating/gradient complex magnetic fields can be generated therearound.
The heat dissipation system 4 is composed of a plurality of heat dissipation fans, the plurality of heat dissipation fans are respectively installed near each motor, the motors can generate heat when being electrified and work, and the heat dissipation fans cool the motors beside the motors so as to prolong the working time and the service life of the magnetic field generating equipment.
Compare in current magnetic field generator, the utility model discloses a change self-defined permanent magnet subassembly, realize producing polytype rotation/gradient composite magnetic field with one set of device, through direction, intensity and the rotational frequency in actuating system and the real-time regulation magnetic field of control system, through the cooling of cooling system, protective apparatus prolongs operating time, its simple structure, the simple operation.
The utility model can be applied to a plurality of scenes, such as long-time in-vitro individual/cluster control of the magnetic micro robot; different types of rotation/gradient composite magnetic fields are generated by replacing different permanent magnet assemblies so as to control the translation, rotation and other movements of various types of magnetic particles, and some micro-operation technologies such as magnetic separation, magnetic stirring and the like are realized. Furthermore, magnetic field generating device has better instrument compatibility, can use with imaging device cooperation such as microscope, optoacoustic, supersound, CT.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art may make equivalent changes or substitutions to the related technical features, such as changing the number and arrangement of the magnets of the permanent magnet assembly, changing the driving control mode, changing the mechanical movement mode, changing the cooling mode, etc., and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.
Claims (7)
1. The utility model provides a rotatory/gradient composite magnetic field generating device, its characterized in that comprises permanent magnetism subassembly (1), actuating system (2), control system (3) and cooling system (4), permanent magnetism subassembly (1) comprises the self-defined overall arrangement in space by the permanent magnet, actuating system (2) and permanent magnetism subassembly (1) fixed connection, control system (3) link to each other with actuating system (2), cooling system (4) are installed by actuating system (2).
2. The rotating/gradient composite magnetic field generating device as claimed in claim 1, wherein the permanent magnet assembly (1) is formed by mounting permanent magnets on a combined bracket, the spatial structure of which is designed by self-definition as required and is prepared by 3D printing technology.
3. A rotating/gradient complex magnetic field generating device according to claim 1, characterized in that the driving system (2) consists of a translational driving system (21) and a rotational driving system (22).
4. The rotating/gradient complex magnetic field generating device as claimed in claim 3, wherein the translation driving system (21) is composed of an x-lead screw (212), a z-lead screw (213), a y-lead screw (214), a first motor (215), a second motor (216), a third motor (217) and a base (211);
the x screw rod (212) is fixed on the base (211), and the z screw rod (213) is vertically arranged on the x screw rod (212) and can translate along the x screw rod (212); the y lead screw (214) is vertically arranged on the z lead screw (213) and is vertical to the x lead screw (212), and can translate along the z lead screw (213); the three-axis screw rods are mutually vertical in space;
the output ends of the first motor (215), the second motor (216) and the third motor (217) are respectively connected with the end parts of the x screw rod (212), the z screw rod (213) and the y screw rod (214).
5. The rotating/gradient compound magnetic field generating device as claimed in claim 3, wherein the rotating drive system (22) is composed of a number four motor (221), a number five motor (222), a number six motor (223) and a connecting bracket;
the fourth motor (221) is fixed at the tail end of a y screw rod (214) of the translation driving system, the fifth motor (222) is vertically fixed to an output shaft of the fourth motor (221) through a connecting support, the sixth motor (223) is vertically fixed to an output shaft of the fifth motor (222) through a connecting support, and output shafts of the three motors are mutually vertical in space.
6. The rotating/gradient composite magnetic field generator as claimed in claim 5, wherein the combined bracket of the permanent magnet assembly (1) is fixedly connected with the output shaft of the number six motor (223).
7. The rotating/gradient complex magnetic field generating device as claimed in claim 1, wherein the heat dissipating system (4) is composed of six heat dissipating fans, and the heat dissipating fans are installed beside the motors, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123280751.8U CN216435574U (en) | 2021-12-24 | 2021-12-24 | Rotation/gradient composite magnetic field generating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123280751.8U CN216435574U (en) | 2021-12-24 | 2021-12-24 | Rotation/gradient composite magnetic field generating device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216435574U true CN216435574U (en) | 2022-05-03 |
Family
ID=81320116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123280751.8U Active CN216435574U (en) | 2021-12-24 | 2021-12-24 | Rotation/gradient composite magnetic field generating device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216435574U (en) |
-
2021
- 2021-12-24 CN CN202123280751.8U patent/CN216435574U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106329814B (en) | The displacement drive to be interacted based on permanent magnet and electromagnet | |
| CN102355103B (en) | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor | |
| CN110065232B (en) | Printing method adopting multi-coordinate system to cooperate with 3D printer | |
| CN102640399A (en) | A linear-rotary electromagnetic actuator | |
| CN216435574U (en) | Rotation/gradient composite magnetic field generating device | |
| Lu | Force ripple attenuation of 6-DOF direct drive permanent magnet planar levitating synchronous motors | |
| CN202085108U (en) | Orthogonal winding type magnetic suspension spherical induction motor | |
| CN108145699A (en) | The six-degree-of-freedom parallel device arm and its control method of tube type linear electric motors driving | |
| KR101194909B1 (en) | Dual coil bobbin and spherical motor having the same | |
| Yang et al. | Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force | |
| CN114121401A (en) | Rotating/gradient composite magnetic field generating device | |
| ATE87528T1 (en) | MAGNETICALLY SUSPENDED ROBOT WRIST FOR SMALL MOVEMENTS AND WITH PROGRAMMABLE COMPENSATION. | |
| CN105108746A (en) | Multi-degree-of-freedom joint robot arm | |
| CN205725528U (en) | A kind of vector magnetic suspension engine and vector magnetic suspension power system | |
| CN110102764B (en) | Printer support and 3D biological printer based on electromagnetism suspension | |
| EP3270493B1 (en) | A multi-degree of freedom electromagnetic machine with input amplitude modulation control | |
| CN113997797B (en) | Permanent magnet electric suspension guiding driving integrated device | |
| CN116019565A (en) | Semi-open type magnetic control device for micro-robot | |
| CN114977721A (en) | Bidirectional integrated Lorentz force motor | |
| EP2966298B1 (en) | Movement generating device | |
| CN202151865U (en) | Orthogonal winding inductive magnetic suspension spherical active joint | |
| CN113029235A (en) | Small-stroke nanoscale motion platform and heat-related hysteresis data measuring method | |
| Lahdo et al. | A novel high-precision magnetic levitation system | |
| Rossini et al. | An open-loop control strategy of a reaction sphere for satellite attitude control | |
| CN100468944C (en) | Magnetic suspension planar electric machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |