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Device and method of regulating and controlling internal magnetization characteristics of magnetic soft robot

A control device and internal magnetization technology, applied in the direction of magnetic objects, circuits, electrical components, etc., can solve the problems of complex process and high equipment requirements, and achieve the effect of high magnetization efficiency, high magnetization strength and improved flexibility

Inactive Publication Date: 2020-02-11
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The first two magnetization modes are single, and the last one can show multiple magnetization modes, but the process is complex and requires high equipment requirements

Method used

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  • Device and method of regulating and controlling internal magnetization characteristics of magnetic soft robot
  • Device and method of regulating and controlling internal magnetization characteristics of magnetic soft robot
  • Device and method of regulating and controlling internal magnetization characteristics of magnetic soft robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] figure 1 The system three-dimensional diagram of a magnetic soft robot magnetization path regulating device provided in this embodiment includes a power supply system, a magnetization system and a magnetic soft robot 6 .

[0046] The power supply system is composed of three independent discharge circuits, and each discharge circuit includes a discharge capacitor 1 , a discharge switch 2 , a protection resistor 3 , a freewheel diode 4 and a freewheel resistor 5 .

[0047] The magnetization system includes six excitation units, each of which is a long straight wire with a circular cross section, and the distance between two adjacent excitation units is equal. All excitation units are embedded in the fixing member 8 to ensure that the excitation units will not be displaced or deformed under the action of electromagnetic force during the whole magnetization process. Among them, the first excitation unit 7a and the second excitation unit 7b form the first excitation unit gr...

Embodiment 2

[0050] image 3 The system three-dimensional diagram of a magnetic soft robot magnetization path regulating device provided in this embodiment includes a power supply system, a magnetization system and a magnetic soft robot 6 .

[0051] The power supply system is composed of two independent discharge circuits, and each discharge circuit includes a discharge capacitor 1 , a discharge switch 2 , a protection resistor 3 , a freewheel diode 4 and a freewheel resistor 5 .

[0052] The magnetization system includes six excitation units, each of which is a long straight wire with a circular cross section, and the distances between two adjacent excitation units are not all equal. All excitation units are embedded in the fixing member 8 to ensure that the excitation units will not be displaced or deformed under the action of electromagnetic force during the whole magnetization process. Among them, the first, second, and third excitation units 7a, 7b, 7c form the first excitation unit ...

Embodiment 3

[0055] Figure 5 It is a system three-dimensional diagram of a magnetic soft robot magnetization path regulating device provided by the present invention, including a discharge circuit, an excitation unit and a magnetic soft robot 6 .

[0056] The discharge circuit includes a discharge capacitor 1 , a discharge switch 2 , a protection resistor 3 , a freewheel diode 4 and a freewheel resistor 5 . The excitation unit 7 is a solenoid coil with an S-shaped structure, and the two ends of the coil are connected with the discharge circuit to form a closed loop. The excitation unit 7 is placed above the magnetic soft robot 6, and the distance between the two is several millimeters. In this connection mode, the discharge capacitor 1 is charged, and the discharge switch 2 is triggered to be turned on after the charging is completed. At this time, the pulse current flows in from the right side of the solenoid coil and flows out from the left side. According to the right-hand rule, the ...

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Abstract

The invention discloses a device and a method of regulating and controlling internal magnetization characteristics of a magnetic soft robot. The device comprises a power supply system and an excitation system, wherein the power supply system is used for providing pulse current for the excitation system, and the excitation system controls pulse type magnetization or amplitude reduction oscillationtype demagnetization of the magnetic soft robot through the pulse current. The method comprises the steps: according to a target magnetization path in the magnetic soft robot, the spatial layout of anexcitation unit is determined, a fixing component corresponding to the excitation unit is designed, and the excitation unit is embedded into the fixing component; and under the condition that charging of a discharging capacitor is completed, the discharging switch is triggered to be switched on, a space magnetization magnetic field is generated, and therefore magnetization or demagnetization happens in the magnetic soft robot. According to the device and the method of regulating and controlling internal magnetization characteristics of the magnetic soft robot provided in the invention, distribution of the space magnetization magnetic field is controlled by changing the excitation unit, so that regulation and control of the internal magnetization path of the robot are achieved, and the flexibility of regulation and control of the magnetization path of the magnetic soft robot is improved.

Description

technical field [0001] The invention belongs to the field of magnetic soft robots, and more particularly relates to a device and method for regulating the internal magnetization characteristics of a magnetic soft robot. Background technique [0002] Soft robots generally use a lower elastic modulus (10 4 ~10 9 Pa) made of soft materials, with the characteristics of multiple degrees of freedom and good continuous deformation, compared with rigid robots, it shows better adaptability and flexibility, and has broad application prospects in the fields of biomedicine and complex environment detection. . [0003] The magnetic soft robot is a new type of soft robot formed by embedding magnetic micro-nano particles into the soft robot (the soft material and magnetic micro-nano particles are fully mixed before the soft robot is solidified), and it performs well under the action of an external magnetic field. The magnetic response performance of the robot can be adjusted by the size...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H01F13/00
CPCH01F13/00
Inventor 曹全梁杜立蒙韩小涛巨雨薇李亮
Owner HUAZHONG UNIV OF SCI & TECH
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