Method and device for conveying micro-component on liquid surface based on magnetic drive microrobot

A micro-robot, liquid surface technology, applied in the directions of micro-manipulators, manipulators, chucks, etc., can solve the problems of inability to complete micro-components on the liquid surface with high precision, no reliability and high efficiency, uncomfortable micro-components, etc., and achieves simple structure, simple and reliable control. , the effect of small size

Active Publication Date: 2018-08-17
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, most of the liquid surface micro-robots studied at present are water strider-like structures, which are large in size and are not suitable for manipulating micro-components.
In addition, at present, there is no reliable and efficient method for the transfer and motion control of micro-components on the liquid surface, and it is impossible to complete the high-precision operation of micro-components on the liquid surface.

Method used

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  • Method and device for conveying micro-component on liquid surface based on magnetic drive microrobot
  • Method and device for conveying micro-component on liquid surface based on magnetic drive microrobot
  • Method and device for conveying micro-component on liquid surface based on magnetic drive microrobot

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Embodiment Construction

[0029] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0030] The operating environment of the present invention is as figure 1 As shown, it includes a micro robot 1, a liquid 2, a micro component 3, and a container 4. The micro-robot 1 is a pentagram-shaped magnetic sheet made of spring steel and obtained by laser cutting. The thickness of the robot is 0.04mm, the outer edge radius is 0.4mm, and it is magnetized along the radial direction. The micro-robot 1 and the micro-component 3 float on the surface of the liquid 2 under the action of surface tension, and the friction force is negligible.

[0031] The implementing device of the present invention is as figure 2 As shown, it consists of a stage 1, a CCD microscope 2, a CCD fixture 3 and a magnetic field driving device 4. when working figure 1 The middle container is placed in the center of the stage 1, and the rotating magnetic field is generated by adjusting...

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Abstract

The invention relates to a method and a device for conveying a micro-component on a liquid surface based on a magnetic drive microrobot, and relates to the field of microoperation control. The invention aims to provide the microrobot with a simple structure, the device convenient to operate, and the conveying method convenient to control which are used for conveying the micro-component on the liquid surface. Three pairs of orthorhombic Helmholtz coils are utilized for producing a rotating magnetic field, so that the microrobot is controlled to operate the micro-component on the liquid surfaceto accomplish movement. By utilizing a horizontal capillary force between the microrobot and an operation object, the operation object can be captured by the robot. By applying the rotating magnetic field to drive the microrobot, the micro-component moves along with the robot. Through changing a direction of a rotary shaft of the magnetic field, a movement direction of the microrobot can be changed; and through changing a rotating frequency of the magnetic field, the traveling speed of the microrobot can be changed. Through adjusting the rotating frequency and an axis direction of the magneticfield, with the help of a magnetic field gradient, the micro-component can be separated from the microrobot.

Description

technical field [0001] The invention relates to the field of micro-operation control, in particular to a device and method for transporting micro-components on a liquid surface based on a magnetic-driven micro-robot. Background technique [0002] With the development of micro-nano technology, micro-robots have been widely concerned and developed rapidly. Micro-robots have broad application prospects in the fields of micro-nano manufacturing, targeted drug delivery, minimally invasive surgery, and bioengineering. Facing the needs of in vivo medical treatment, chemical analysis and other fields, a lot of research has been carried out on microrobots in liquids. Various drive methods and control strategies for microrobots in liquid environments have been proposed, and related applications have been further expanded. However, there are still some applications, such as water quality monitoring, biological experiments, pollutant treatment, etc., that require microrobots working on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B25J15/00B25J15/02
CPCB25J7/00B25J15/00B25J15/0246
Inventor 王乐锋何元哲钟立夫荣伟彬孙立宁
Owner HARBIN INST OF TECH
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