Dual resonance frequency driving method of magnetic mini travel robot

A dual-resonant frequency, driving method technology, applied in piezoelectric effect/electrostrictive or magnetostrictive motors, generators/motors, electrical components, etc., can solve the problem of inability to achieve two-way swimming, difficult robot control, leakage Safety and other issues, to achieve the effect of improving reliability and practicability, easy detection, and stable attitude
CN100444510CInactive Publication Date: 2008-12-17DALIAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
DALIAN UNIV OF TECH
Publication Date
2008-12-17
Estimated Expiration
Not applicable · inactive patent

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Abstract

This invention belongs to automatic engineering technique field and relates to a basic method to realize the double-direction swim of micro robot in sealed tube through magnetic field driving. It provides a double-direction driving model with robot head and tail which have two resonance frequency driver thin films according to push characteristics of vibration thin film and liquid couple and thin film each phase of resonance frequency relation characteristics. It generates drive magnetic field through Helmholtz double coil driving between two resonance frequency of the front and back thin film driver to realize the continuous adjusting and position control of the robot swimming speed. íí
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Description

technical field

[0001] The invention belongs to the technical field of automation engineering, and relates to a basic method for driving and controlling a micro-robot to realize bidirectional bionic swimming in a liquid-filled closed pipeline through an external magnetic field. Background technique

[0002] The magnetically controlled cableless drive micro-robot is closer to the natural state, and has the characteristics of high reliability and safety when working in the human body. With the body fluid in the soft and elastic tissues of the human body as the medium, it can reach deep parts in the body. Therefore, swimming microrobots provide an important operation form for in vivo interventional therapy, and have broad application prospects in the field of medical engineering.

[0003] The operating environment of medical micro-robots is the intestinal tract, urinary system, blood vessels, etc. in the body. The environment is characterized by a narrow space surrounded by so...

Claims

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