A composite magnetic robot drive device combining electromagnetic and permanent magnets

Abstract

The present invention discloses a composite magnetic robot drive device that combines electromagnets and permanent magnets. The device comprises a magnetic field generating assembly and a support assembly. The magnetic field generating assembly comprises an electromagnet array and a permanent magnet. The electromagnet array comprises multiple electromagnets mounted on the support assembly. When energized, the multiple electromagnets generate a composite magnetic field. The permanent magnets are spherical permanent magnets rotatably mounted on the support assembly. The spherical permanent magnets generate a driving magnetic field when moved by the composite magnetic field. This invention addresses the difficulty of integrating high magnetic field strength and large magnetic field gradients in current microscale magnetic robot systems. The rotation direction of the permanent magnet can be precisely controlled by a rotating magnetic field, thus resolving the problems of existing magnetic robot drive devices based solely on permanent magnets or electromagnetic coils, such as poor flexibility and operability, and difficulty in generating high-intensity magnetic fields and magnetic gradients.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot drive control, in particular to the technical field of magnetic robot drive devices. Background Art

[0002] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art.

[0003] Magnetic robotic actuators in existing technology are primarily used to remotely control the motion of microrobots of various sizes. They offer advantages such as ease of acquisition, convenient debugging, and the ability to penetrate biological tissue without damage. Users can control the microrobot by adjusting the direction and magnitude of the magnetic field of the magnetic robotic actuator. Magnetic robotic actuators typically consist of permanent magnets or electromagnets (such as Helmholtz coils). Magnetic robotic actuators based on permanent magnets often control the magnetic field distribution around the microrobot through the rotation or drag of a motor. These devices directly utilize the permanent magnets and utilize motors, robotic arms, and other devices to achieve mechanical movement of the permanent magnets to generate a specific magnetic field. Most permanent magnet-based control devices employ cylindrical or rectangular permanent magnets to exert a greater attraction on the object being manipulated. Electromagnet-based magnetic robotic actuators are composed of multiple energized spiral tubes assembled in a specific geometric configuration. These coils are assembled using electromagnets to form a specific orthogonal structure. By passing an AC signal through the coils, an oscillating or rotating magnetic field is generated. A DC or AC current flows through the electromagnet-based magnetic robotic actuator, and the multiple coils work together to generate a static or rotating magnetic field in any direction in space, providing a gradient force or torque to the object being manipulated. The object being manipulated is often placed within an array of electromagnets or permanent magnets.

[0004] The magnetic robot drive device in the prior art has the following main problems:

[0005] ① In the magnetic robot drive device based on electromagnets, the magnetic field strength that can be provided is relatively weak, about 10mT-25mT. When the distance between the microscale magnetic robot and the field source (such as the coil) increases and the size of the magnetic part of the microscale magnetic robot decreases, the magnetic field gradient force generated by the coil will be greatly attenuated, making it difficult to control the microscale (especially micrometer or nanometer scale) magnetic robot by dragging. This causes control failure. Therefore, it is difficult to meet the motion control requirements of microscale weak magnetic robots;

[0006] ③ In the magnetic robot drive device based on electromagnets, a large amount of heat energy is often generated when a large current is passed through the coil, causing most of the energy to be lost. On the one hand, the available energy conversion efficiency is low, and on the other hand, the temperature increase will change the coil resistance, resulting in poor experimental stability.

[0007] ④ In the magnetic robot drive device based on permanent magnets, the permanent magnets are often physically connected to the rotating device. The gradient magnetic field generated has a single direction, making it difficult to achieve arbitrary switching of the magnetic field direction using mechanical drive, resulting in low flexibility and operability.

[0008] ⑤ In a magnetic robot drive device based on a permanent magnet, the angular velocity of the motor when it drags the permanent magnet is limited, often only reaching 10 to 30 Hz per second;

[0009] ⑥ Currently, magnetic robot drive devices (especially those based on electromagnets) are often large in overall size, but the central area of ​​their workspace (the space where the magnetic field drives and controls the magnetic robot) is very small. The internal workspace is closed, making it difficult to completely contain the object being operated or its environment, and difficult to adapt well to the task execution environment. A more flexible workspace and a stronger magnetic field are often not achieved at the same time.

[0010] In summary, the magnetic fields generated by current magnetic robot drive devices are either weak in intensity or poor in flexibility, making it difficult to achieve the unification of strong magnetic fields and strong magnetic gradient fields in arbitrary directions in a single device. Summary of the Invention

[0011] Therefore, the technical problem to be solved by the present invention is how to balance the magnetic field strength, magnetic field gradient and flexibility of the magnetic robot drive device.

[0012] In order to solve the above technical problems, the present invention provides a composite magnetic robot drive device that combines electromagnetism and permanent magnetism, including a magnetic field generating component and a support component. The magnetic field generating component includes an electromagnet array and a permanent magnet. The electromagnet array includes multiple electromagnets installed on the support component. When the multiple electromagnets are energized, a composite magnetic field is generated. The permanent magnet is a spherical permanent magnet rotatably installed on the support component. The spherical permanent magnet generates a driving magnetic field after moving under the action of the composite magnetic field.

[0013] As a further improvement, the multiple electromagnets are evenly distributed around the line connecting the two poles of the spherical permanent magnet, and the line connecting the two poles of each electromagnet is extended to intersect at the center position of the spherical permanent magnet. Each electromagnet has the same effect on the spherical permanent magnet in the horizontal and vertical directions.

[0014] As a further improvement, the composite magnetic robot drive device is overall in the shape of an upright cone, the spherical permanent magnet is arranged at the tip of the cone, the multiple electromagnets are evenly distributed around the axis of the cone, and the line connecting the two magnetic poles of the electromagnet is parallel to the busbar of the cone.

[0015] As a further improvement, above the cone is an observation space for placing a sample pool.

[0016] As a further improvement, the support assembly includes multiple first support mechanisms for respectively supporting the multiple electromagnets, a second support mechanism for supporting the spherical permanent magnet, and a base for supporting and fixing the multiple first support mechanisms and the second support mechanism. The first support mechanism includes a first support seat connected to the base and a first shell connected to the first support seat. The electromagnet is inserted into the first shell with a clearance fit. The second support mechanism includes a second support seat connected to the base and a second shell connected to the second support seat. The spherical permanent magnet is arranged in the second shell with a clearance fit.

[0017] As a further improvement, the first shell is a cylinder with one end open, and the electromagnet is cylindrical.

[0018] As a further improvement, the first support seat is connected to the base in an adjustable position, and the first shell is connected to the first support seat in an adjustable angle.

[0019] As a further improvement, the second shell is a hemispherical tray, and the tray opening of the hemispherical tray is provided with a flange for supporting the sample pool.

[0020] As a further improvement, the second shells are configured to be nested in sequence from the inside out, with the outermost second shells being fixed on the second support seat, and different second shells correspond to spherical permanent magnets of different sizes.

[0021] As a further improvement, the composite magnetic robot drive device is modularly designed.

[0022] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0023] (1) The composite magnetic robot driving device combining electromagnetism and permanent magnetism disclosed in the present invention utilizes the magnetic field generated by the electromagnet to drive the spherical permanent magnet, which is equivalent to amplifying the electromagnetic signal through the permanent magnet, so that a stronger rotating, gradient or other variant magnetic field is generated in the surrounding area, solving the problem that the current microscale magnetic robot is difficult to integrate strong magnetic field strength and large magnetic field gradient. The rotation direction of the permanent magnet can be precisely controlled by the rotating magnetic field, solving the problem that the original magnetic robot driving device based on permanent magnets has poor flexibility and operability and is difficult to generate high-speed rotating magnetic fields. Compared with the pure coil control device, it can generate a larger magnetic field strength (typical value >100mT) and gradient (typical value >1.5T / m), and requires less energy input (<8W), and the heat generation is also much less than the same type of products (>100W); compared with the system composed of permanent magnets, the invention can flexibly generate rotating, swinging or directional magnetic fields in any direction, and has a higher response speed.

[0024] (2) The composite magnetic robot drive device combining electromagnetism and permanent magnetism disclosed in the present invention utilizes a rotating magnetic field to drive a permanent magnet, which reduces the number of turns of the electromagnet coil required and reduces the power, thus solving the problems of high power, rapid coil heating, and weak surface magnetic induction intensity in the original rotating magnetic field magnetic control system.

[0025] (3) The present invention discloses a composite magnetic robot driving device combining electromagnetic and permanent magnets. The sample stage containing the microscale magnetic robot is located above the coil. The space between the sample stage and the microscopic observation module is open, and the observable viewing angle is larger. Compared with previous technologies, it has higher flexibility and a larger observable space.

[0026] (4) The present invention discloses a composite magnetic robot drive device combining electromagnetic and permanent magnets. Each first support sleeve of the present invention is connected to the base by a fastening screw. The stroke of the connection is large and can be adjusted manually at will, so that the working center area of ​​the system can be arbitrarily enlarged or reduced, greatly improving the adjustability of the entire system.

[0027] (5) The modular structure design of the combined electromagnetic and permanent magnetic composite magnetic robot drive device disclosed in the present invention can be conveniently combined in any way to achieve the overall scalability of the electromagnet and the on-demand regulation of the magnetic field strength, while also providing more possibilities for future product upgrades and modifications.

[0028] (6) The composite magnetic robot drive device combining electromagnetic and permanent magnet disclosed in the present invention has a simple and compact system structure, is more beautiful and practical than existing products, has a stronger and more refined overall sense of technology, has higher usability and operability in the fields of micro-scale magnetic robot drive control and in vivo application, and has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings in the specification, which constitute a part of this application, are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0030] Figure 1 Schematic diagram of the explosive disassembly of the composite magnetic robot drive device of the present invention;

[0031] Figure 2 This is a front view of the composite magnetic robot drive device of the present invention;

[0032] Figure 3 A top view of the composite magnetic robot drive device of the present invention;

[0033] Figure 4 Schematic diagram of disassembly and assembly of the second supporting mechanism in the present invention;

[0034] Figure 5 It is the voltage signal applied by each electromagnet coil when generating the horizontal rotating magnetic field in the present invention;

[0035] Figure 6 is the voltage signal applied by each electromagnet coil when generating a horizontal static magnetic field in the present invention;

[0036] Figure 7 This is a schematic diagram of the principle of the composite magnetic robot driving device of the present invention driving a micro-scale magnetic robot.

[0037] Among them, 11, electromagnet; 12, spherical permanent magnet; 21, base; 22, first support seat; 23, first shell; 24, second support seat; 25, second shell; 3, sample pool. DETAILED DESCRIPTION

[0038] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings and examples.

[0039] It should be noted that the following detailed descriptions are exemplary and are intended to provide further improved descriptions of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those generally understood by those skilled in the art to which this application belongs. It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof. In the present disclosure, the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" etc. are based on the directions or positional relationships shown in the accompanying drawings. They are only related words determined for the convenience of describing the structural relationships of the various components or elements of the present disclosure. They do not specifically refer to any component or element in the present disclosure and cannot be understood as limitations on the present disclosure. In this disclosure, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. Relevant researchers or technicians in this field may determine the specific meaning of these terms in this disclosure based on specific circumstances, and they should not be construed as limitations of this disclosure.

[0040] The following is a preferred embodiment for illustrating the present invention, but is not intended to limit the scope of the present invention.

[0041] Example 1

[0042] See also Figures 1 to 3 As shown in the figure, a composite magnetic robot drive device combining electromagnetism and permanent magnetism includes a magnetic field generating component and a support component. The magnetic field generating component includes an electromagnet array and a permanent magnet. The electromagnet array includes multiple electromagnets 11 installed on the support component. When the multiple electromagnets 11 are energized, a composite magnetic field is generated. The permanent magnet is a spherical permanent magnet 12 rotatably installed on the support component. The spherical permanent magnet 12 generates a driving magnetic field after moving under the action of the composite magnetic field.

[0043] In a preferred implementation manner in this embodiment, the above-mentioned multiple electromagnets 11 are evenly distributed around the line connecting the two magnetic poles of the above-mentioned spherical permanent magnet 12, and the line connecting the two magnetic poles of each of the above-mentioned electromagnets 11 is extended to intersect at the center position of the above-mentioned spherical permanent magnet 12, and each of the above-mentioned electromagnets 11 has the same effect on the above-mentioned spherical permanent magnet 12 in the horizontal and vertical directions.

[0044] In the preferred implementation manner of this embodiment, the composite magnetic robot drive device is in the shape of an upright cone as a whole, the spherical permanent magnet 12 is arranged at the tip of the cone, the multiple electromagnets 11 are evenly distributed around the axis of the cone, and the line connecting the two magnetic poles of the electromagnet 11 is parallel to the busbar of the cone.

[0045] In a preferred embodiment of this invention, the upper portion of the cone is an observation space for placing the sample pool 3 .

[0046] In a preferred implementation manner in this embodiment, the above-mentioned support assembly includes multiple first support mechanisms for respectively supporting the above-mentioned multiple electromagnets 11, a second support mechanism for supporting the above-mentioned spherical permanent magnet 12, and a base 21 for supporting and fixing the above-mentioned multiple first support mechanisms and the above-mentioned second support mechanism. The above-mentioned first support mechanism includes a first support seat 22 connected to the above-mentioned base 21 and a first shell 23 connected to the above-mentioned first support seat 22. The above-mentioned electromagnet 11 is inserted into the above-mentioned first shell 23 with a clearance fit. The above-mentioned second support mechanism includes a second support seat 24 connected to the above-mentioned base 21 and a second shell 25 connected to the above-mentioned second support seat 24. The above-mentioned spherical permanent magnet 12 is arranged in the above-mentioned second shell 25 with a clearance fit.

[0047] In a preferred embodiment of the present invention, the first housing 23 is a cylinder with one end open, and the electromagnet 11 is cylindrical.

[0048] In a preferred implementation manner of this embodiment, the first support seat 22 is connected to the base 21 in an adjustable position, and the first shell 23 is connected to the first support seat 22 in an adjustable angle.

[0049] In a preferred implementation manner of this embodiment, the second housing 25 is a hemispherical tray, and a tray opening of the hemispherical tray is provided with a flange for supporting the sample pool 3 .

[0050] See also Figure 4 As shown in the legend, in the preferred embodiment of this embodiment, the above-mentioned second shells 25 are arranged to be nested in sequence from the inside to the outside, and the outermost layer of the above-mentioned second shells 25 is fixed on the above-mentioned second support seat 24, and different above-mentioned second shells 25 correspond to the above-mentioned spherical permanent magnets 12 of different sizes.

[0051] In a preferred implementation manner of this embodiment, the above-mentioned composite magnetic robot drive device is modularly designed.

[0052] The core of the present invention is to realize a composite magnetic robot drive device that obtains a powerful external rotating magnetic field and gradient magnetic field by driving the permanent magnet to rotate through an electromagnet. Through ingenious structural design, the magnetic field generated by the electromagnet is combined with the gradient magnetic field of the permanent magnet, so that the microscale magnetic robot drive control system can generate a static magnetic field or a rotating magnetic field in any direction in space. Compared with the magnetic field generated by traditional technology, this magnetic field has a stronger magnetic field intensity, a larger magnetic field gradient, and higher flexibility, which is the core idea of ​​the present invention.

[0053] The electromagnet comprises a copper wire and an internal ferrite core. The four electromagnets are arranged opposite each other and symmetrically distributed along the circumference, and the electromagnets are inserted into the cylinder. The electromagnet and the cylinder are fitted with a clearance, which facilitates the installation and removal of the electromagnet. The cylinder is fastened to the first support seat via an ear-shaped structure. The electromagnet is centrally symmetrical about the geometric center of the chassis, and its inclination angle with the horizontal plane is consistent with the inclination angle of the diagonal of the cube with the horizontal plane, so that each coil has the same effect on the spherical permanent magnet in the vertical and horizontal directions; the symmetrical distribution of the four coils ensures that each electromagnet has the same effect on the spherical permanent magnet.

[0054] The above-mentioned spherical permanent magnet is a neodymium iron boron spherical permanent magnet. The spherical permanent magnet is arranged in a hemispherical tray, and the second support seat is fixed to the base by a set screw to ensure the stability of the spherical permanent magnet during operation. The spherical permanent magnet is installed inside the hemispherical tray, and the two are kept independent of each other, that is, the spherical permanent magnet can rotate freely inside the hemispherical tray. At the same time, in order to reduce the friction force when the spherical permanent magnet rotates, a layer of lubricating oil can be applied to the inside of the hemispherical tray. The function of the above-mentioned hemispherical tray is to constrain the spherical permanent magnet to rotate within a certain range and ensure that its center position is at the focus of the extension line of the electromagnet; in addition, the upper opening of the hemispherical tray is provided with a flange, which can be used to support the sample pool, so that the sample pool is located at the top of all coils, thereby providing an open environmental space for the movement of the microscale magnetic robot.

[0055] When selecting spherical permanent magnets of different sizes, magnetic fields of varying strengths and distributions are obtained. Therefore, making the spherical permanent magnets interchangeable is important for the flexibility of the equipment. However, a single tray cannot achieve compatible assembly of spherical permanent magnets of different sizes (the spherical permanent magnet and the hemispherical tray should not have too large a gap, otherwise it will easily cause the spherical permanent magnet to swing). To this end, the present invention adopts a method of nesting small spherical trays within a large spherical tray to achieve the assembly of spherical permanent magnets of various sizes.

[0056] In traditional technology, the observed micro-scale robot is generally located inside a semi-enclosed space composed of multiple electromagnets, making it difficult to observe the robot from different angles. In the present invention, the driving magnetic field is located in the external space at the top of the coil group, and the top of the spherical permanent magnet is located in an open area, so that the space between the sample stage and the microscopic observation module is open, the observable viewing angle is larger, and it has higher flexibility and observable space compared to previous technologies. In addition, the existing technology products also have the problem of small working space, and can only regulate the magnetic field in the space inside the coil. In the present invention, since the working space is located outside the entire system, the present invention can regulate the magnetic field in the open space at the top.

[0057] A hole is punched in the middle of the base to facilitate fixing to various experimental platforms.

[0058] See also Figure 5 and Figure 6 As shown in the figure, by applying specific voltage signals to the four electromagnets, the electromagnets can be stimulated to generate a magnetic field in any direction. This magnetic field, as the background magnetic field of the permanent magnet, can drive the spherical permanent magnet to rotate, thus generating a magnetic field in a specific direction. For example, when the timing of the voltage signals applied to the four electromagnets (①, ②, ③, ④) is as follows Figure 5 As shown, a rotating magnetic field is generated around the coil, and the spherical magnet rotates with a certain phase difference under the action of the magnetic field, thereby generating a stronger rotating magnetic field with a specific speed around it; similarly, when a DC voltage is applied to the coil, as shown Figure 6 As shown, the electromagnetic field rotates the spherical magnet in a specific direction to generate a static magnetic field with a specific polarization tendency, which is used for dragging or shape control of the magnetic robot.

[0059] See also Figure 7As shown in the figure, when the composite magnetic robot drive device of the present invention is used to drive a microscale magnetic robot, an external computer acts as the host of the control system and is used to display the human-machine interaction interface and data visualization; a National Instruments DAQ board is used to generate and send control signals; four power amplifiers are used to further amplify the control signal and connect it to four electromagnets, so that the voltage signal in each electromagnet is independently controlled and adjusted, so that the electromagnet can generate a dynamic or static magnetic field on a specific driving plane. Ultimately, under the mutual action of the four energized electromagnets, a synthetic magnetic field in a specific direction is generated in the workspace. This synthetic magnetic field is used as a medium to further drive the permanent magnet ball to move in a specific direction, thereby generating a more powerful controllable magnetic field to drive the microscale robot in the workspace to rotate or slide in any direction in the plane. In this system, the electromagnets can generate a fixed corresponding magnetic field according to pre-programmed control signals, or receive remote control signals from the handle to activate the corresponding electromagnet to generate a magnetic field for more flexible control. In addition, the wide field of view above the device allows imaging observation using an upright microscope.

[0060] The process of driving the micro-scale magnetic robot by the composite magnetic robot driving device of the present invention is described below:

[0061] 1. Initialize the system by placing a 20 mm spherical permanent magnet in a hemispherical tray. Then, place the prepared microscale magnetic droplet robot (composed of magnetic fluid droplets) into a sample pool filled with water and install it on top of the first support mechanism.

[0062] 2. Turn on the top camera and move the camera position to adjust the imaging field of view. Use the microscope to initially locate the position of the magnetic robot. Select the experimental area of ​​interest and position the area at the center of the microscope's field of view.

[0063] 3. Connect the coils of the four electromagnets to the output terminals of the power amplifier module, connect the signal output terminal of the DAQ board to the input terminal of the power amplifier module, and turn on the power supply.

[0064] 4. Open the host control software of this system, start the program and connect the handle.

[0065] 5. Adjust the maximum value of the output signal to prevent the coil from burning due to excessive current and start the signal output function of the host.

[0066] 6. According to the position of the micro-scale magnetic droplet robot in the field of view, adjust the state of the joystick in the handle to make the host generate four specific voltage signals (see Figure 5 and Figure 6), the voltage signal is amplified by a power amplifier and connected to four electromagnets, which work together to generate a dynamic magnetic field that rotates along a specific direction in space, thereby driving the spherical magnet to rotate and generate a spatial magnetic field of larger range and intensity.

[0067] 7. The microscale magnetic droplet robot rotates under the action of the magnetic field generated by the movement of the permanent magnet. When the rotating plane is tangent to the base of the sample pool, the friction force at the bottom causes the robot to roll.

[0068] 8. Continuously adjust the output voltage signal through the handle to change the rotation direction of the spherical permanent magnet, and then adjust the rolling direction of the microscale magnetic droplet robot to achieve control of its motion behavior and path tracking control.

[0069] The above is a description of the embodiments of the present invention. The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A composite magnetic robot drive device combining electromagnetic and permanent magnets, comprising a magnetic field generating component and a supporting component, characterized in that: The magnetic field generating assembly includes an electromagnet array and a permanent magnet. The electromagnet array includes a plurality of electromagnets mounted on the support assembly. When the plurality of electromagnets are energized, a composite magnetic field is generated. The permanent magnet is a spherical permanent magnet rotatably mounted on the support assembly. When the spherical permanent magnet moves under the action of the composite magnetic field, it generates a driving magnetic field. The composite magnetic robot drive device is in the shape of an upright cone as a whole. The spherical permanent magnet is arranged at the tip of the cone. The multiple electromagnets are evenly distributed around the axis of the cone. The line connecting the two magnetic poles of the electromagnet is parallel to the busbar of the cone.

2. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 1 is characterized in that: The multiple electromagnets are evenly distributed around the line connecting the two poles of the spherical permanent magnet, and the line connecting the two poles of each electromagnet is extended to intersect at the center position of the spherical permanent magnet. Each electromagnet has the same effect on the spherical permanent magnet in the horizontal and vertical directions.

3. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 1 is characterized in that: Above the cone is an observation space for placing a sample pool.

4. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 1 is characterized in that: The support assembly includes multiple first support mechanisms for respectively supporting the multiple electromagnets, a second support mechanism for supporting the spherical permanent magnet, and a base for supporting and fixing the multiple first support mechanisms and the second support mechanism. The first support mechanism includes a first support seat connected to the base and a first shell connected to the first support seat. The electromagnet is inserted into the first shell with a clearance fit. The second support mechanism includes a second support seat connected to the base and a second shell connected to the second support seat. The spherical permanent magnet is arranged in the second shell with a clearance fit.

5. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 4 is characterized in that: The first shell is a cylinder with one end open, and the electromagnet is cylindrical.

6. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 4, characterized in that: The first support base is connected to the base in an adjustable position, and the first shell is connected to the first support base in an adjustable angle.

7. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 4, characterized in that: The second shell is a hemispherical tray, and a tray opening of the hemispherical tray is provided with a flange for supporting the sample pool.

8. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 4 is characterized in that: The second shells are arranged to be nested in sequence from the inside out, with the outermost second shell being fixed on the second support seat, and different second shells correspond to spherical permanent magnets of different sizes.

9. The combined electromagnetic and permanent magnetic composite magnetic robot drive device according to claim 1, characterized in that: The composite magnetic robot drive device is modularly designed.

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