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Permanent magnetism minisize robot

A technology of micro-robots and robots, which is applied in the direction of mechanical equipment, pipes/pipe joints/fittings, special pipes, etc., can solve the problems of poor posture control and movement flexibility, achieve flexible movements, convenient operation, and solve mobility flexibility Poor effect

Inactive Publication Date: 2008-04-30
INST OF ELECTRICAL ENG CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Permanent magnetism minisize robot

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Embodiment Construction

[0014] As shown in Figure 1. The permanent magnet micro-robot of the present invention is composed of a shell 1, an axially magnetized permanent magnet block 2, a radially magnetized permanent magnet block 4, a non-magnetic miniature bearing 3 and a propeller 6. The head of the shell 1 is smooth, without protrusions and grooves in the middle. There is a spiral groove at the inner rear end of the fuselage shell 1, which is airtightly matched with the bottom 7 peripheral spiral grooves, so that it is convenient for the disassembly of the robot. The robot bottom 7 has a cavity 8, and an axial through hole is opened in the middle of the cavity 8. Filling the lubricating grease in the cavity 8 can prevent the liquid in the pipeline from entering the fuselage. The inner upper end of the shell 1 is made into two protrusions, and the axially magnetized permanent magnet block 2 is pasted on the two protrusions. The axially magnetized permanent magnet block 2 is connected with the ra...

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Abstract

A permanent-magnet micro-robot consists of a casing (5), an axially magnetized permanent magnet (1), a radially magnetized permanent magnet (2), a non-magnetic miniature bearing (3) and a propeller (4), wherein, the head of the casing (5) is round and smooth, and a bottom (6) has a cavity (7) which is filled with lubricating grease; the axially magnetized permanent magnet (1) and the radially magnetized permanent magnet (2) are connected by the non-magnetic miniature bearing (3); the radially magnetized permanent magnet (2) and the propeller (4) are fixed via an axle (8) of the propeller. An outside magnetic field is generated by a rotation magnetic field device and a uniform magnetic field device, wherein, the rotation magnetic field consists of three groups of perpendicular Helmholtz coils, a sinusoidal current source and a phaser; the uniform magnetic field device consists of three groups of perpendicular Helmholtz coils and three groups of direct current sources. Under the effect of the rotation magnetic field, the robot rotates with the radially magnetized permanent magnet (2) and produces the axial driving force to drive; at the same time, under the deflecting guidance of the uniform magnetic field, the robot realizes flexible steering and moves along an expected locus.

Description

technical field [0001] The invention relates to the technical field of micro robots, in particular to a permanent magnet 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 ar...

Claims

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Application Information

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IPC IPC(8): F16L55/30F16L101/30
Inventor 宋涛杨岑玉王铮王喆于阳
Owner INST OF ELECTRICAL ENG CHINESE ACAD OF SCI
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