Electromagnetic and permanent magnet combined composite magnetic robot driving device

Abstract

The invention discloses an electromagnetic and permanent magnet combined composite magnetic robot driving device which comprises a magnetic field generating assembly and a supporting assembly, wherein the magnetic field generating assembly comprises an electromagnet array and a permanent magnet, the electromagnet array comprises a plurality of electromagnets installed on the supporting assembly, the electromagnets generate a composite magnetic field after being powered on, the permanent magnet is a spherical permanent magnet which is rotatably installed on the supporting assembly, and the spherical permanent magnet generates a driving magnetic field after moving under the action of the composite magnetic field. The problem that a current micro-scale magnetic robot system is difficult to integrate high magnetic field intensity and large magnetic field gradient is solved, and the rotating direction of the permanent magnet can be accurately regulated and controlled through a rotating magnetic field; and the problems that an original magnetic robot driving device purely based on a permanent magnet or an electromagnetic coil is poor in flexibility and operability, and a high-intensity magnetic field and a magnetic gradient field are difficult to generate are solved.

Description

technical field [0001] The invention belongs to the technical field of robot drive control, in particular to the technical field of magnetic robot drive devices. Background technique [0002] The information disclosed in this Background section is only intended to enhance the understanding of the general background of the present invention, and should not be considered as an acknowledgment or any form of suggestion that the information constitutes the prior art that is already known to those skilled in the art. [0003] The magnetic robot driving device in the prior art is mainly used to realize the remote motion control of micro-robots of various sizes. It has the advantages of simple acquisition, convenient debugging, and the ability to penetrate biological tissues without damage. Users can adjust the magnetic field of the magnetic robot driving device To control the direction and size of the micro-scale robot, the magnetic robot drive device is generally composed of perma...

AI Technical Summary

Problems solved by technology

cause control failure

Therefore, it is difficult to satisfy the motion control of micro-scale weak magnetic robots;

[0006] ③In the electromagnet-based magnetic robot driving device, a large amount of heat energy is often generated after the coil is fed with a large current, causing most of the energy to be lost. On the one hand, the conversion efficiency of available energy is low, and on the other hand, the resistance of the coil will be changed when the temperature rises. Poor stability;

[0007] ④ In the permanent magnet-based magnetic robot driving device, the permanent magnet and the rotating device are often physically connected, and the direction of the gradient magnetic field generated is single. It is difficult to use the mechanical drive to switch the direction of the magnetic field. Low;

[0009] ⑥ At present, the overall volume of the magnetic robot drive device (especially the magnetic robot drive device based on electromagnet) is often large, but the central area of ​​its working space (the space for the magnetic field drive to control the magnetic robot) is rather small, and the internal working space is closed, making it difficult to It completely includes the object to be operated or its environment, and it is difficult to adapt to the task execution environment well. A more flexible working space and a stronger magnetic field are often incompatible;

[0010] To sum up, the magnetic field generated by the current magnetic robot driving device is either weak in strength or poor in flexibility, and it is difficult to realize the unification of strong magnetic field and strong magnetic gradient field in any direction on a single device

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