Dual resonance frequency driving method of magnetic mini travel robot

Abstract

This invention belongs to automatic engineering technique field and relates to a basic method to realize the double-direction swim of micro robot in sealed tube through magnetic field driving. It provides a double-direction driving model with robot head and tail which have two resonance frequency driver thin films according to push characteristics of vibration thin film and liquid couple and thin film each phase of resonance frequency relation characteristics. It generates drive magnetic field through Helmholtz double coil driving between two resonance frequency of the front and back thin film driver to realize the continuous adjusting and position control of the robot swimming speed.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a basic method for driving and controlling a micro-robot to realize bidirectional bionic swimming in a liquid-filled closed pipeline through an external magnetic field. Background technique [0002] The magnetically controlled cableless drive micro-robot is closer to the natural state, and has the characteristics of high reliability and safety when working in the human body. With the body fluid in the soft and elastic tissues of the human body as the medium, it can reach deep parts in the body. Therefore, swimming microrobots provide an important operation form for in vivo interventional therapy, and have broad application prospects in the field of medical engineering. [0003] The operating environment of medical micro-robots is the intestinal tract, urinary system, blood vessels, etc. in the body. The environment is characterized by a narrow space surrounded by so...

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Problems solved by technology

[0004] The currently developed swimming micro-robots mainly include the following types. For example, Professor Toshio Fukuda of Japan developed a swimming micro-robot based on the principle of bionics using piezoelectric materials; Swimming micro-robots, the above-mentioned micro-robots have slow response and low efficiency due to dragging cables, and there are problems such as leakage safety when driving in the human body, especially the two-way swimming of entering and exiting the body required in medicine cannot be realized

[0005] Facts have proved that the cable-free driving method using magnetic field control is the key to improving the practicability and reliability of micro-robots. Therefore, magnetic-controlled micro-robots quickly become a research hotspot in the world. Tail fins, developed microrobots that swim in pipes; Mei Tao of the Institute of Intelligent Machinery, Chinese Academy of Sciences, used ferromagnetic rubber [4] A swimming micro-robot was developed for the driver, the control of the micro-robot was realized through an external magnetic field, and the problem of cable-free drive was solved, but the problem of two-way swimming was still not fundamentally solved. When the resonant frequency is driven, the robot can realize slow reverse swimming, which has the disadvantages of difficult robot control and high energy consumption.

[0006] To sum up, there are currently no reports on the bidirectional control of micro-swimming robots driven by magnetic fields using giant magnetostrictive films as drivers and dual-resonant frequency driving methods in an environment filled with liquid in the tube.

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