Permanent magnetism minisize robot

Abstract

A permanent magnet miniature robot consists of a casing (5), an axially magnetized permanent magnet block (1), a radially magnetized permanent magnet block (2), a nonmagnetic miniature bearing (3) and a propeller (4). The head of the housing (5) is smooth, and the bottom (6) has a cavity (7), and the cavity is filled with grease. An axially magnetized permanent magnet block (1) and a radially magnetized permanent magnet block (2) are connected through a non-magnetic miniature bearing (3). The radially magnetized permanent magnet block (2) and the propeller (4) are fixedly connected through the shaft (8) of the propeller. The external magnetic field is generated by a rotating magnetic field device and a uniform magnetic field device. The rotating magnetic field device is composed of three sets of orthogonal Helmholtz coils, a sinusoidal current source and a phase shifter. The uniform magnetic field device is composed of three sets of orthogonal Helmholtz coils and three group of DC current sources. Under the action of the rotating magnetic field, the robot uses the radially magnetized permanent magnet block (2) to rotate and generate axial driving force for driving. At the same time, under the action of the deflection guidance of the uniform magnetic field, the robot realizes flexible steering and moves along the desired trajectory.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a micro robot. Background technique [0002] With the development of ultra-precision machining, micro-electro-mechanical integration and functional materials-based drive technology, micro-robots have become a research hotspot at home and abroad, especially wireless endoscopes that enter the human body, vascular robots, and small pipeline detection devices for industrial equipment. micro robots. Due to the special working environment, this type of micro-robot cannot be a simple miniaturization of ordinary robots, especially in the way of driving will be very different from ordinary robots. At present, the driving methods of micro-robots can be roughly divided into two categories: one is driven by the actuator of the robot body; The actuator realizes wireless drive through external field excitation. [0003] At present, the actuators of most micro-robots are still driven by body ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of existing micro-robots such as poor posture control and movement flexibility, and to design a permanent magnet micro-robot that can be used for inspection and operation in tiny non-magnetic pipelines, especially biological pipelines.

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