A magnetic robot driving device

Abstract

The present invention discloses a magnetic robot drive device, comprising a drive device body unit, the drive device body unit comprising multiple electromagnetic modules and a permanent magnet module, each electromagnetic module comprising an electromagnetic coil that generates a magnetic field when energized and a first bracket assembly for supporting the electromagnetic coil, the multiple electromagnetic modules generating a composite magnetic field, the permanent magnet module comprising a spherical permanent magnet that generates a driving magnetic field when moving under the composite magnetic field, a blower for providing airflow, and a second bracket assembly for supporting the spherical permanent magnet and directing the airflow to the bottom of the spherical permanent magnet to drive the spherical permanent magnet to levitate. The present invention uses air suspension to constrain the position of the permanent magnet and isolate it from the electromagnetic coil, greatly reducing the friction experienced by the permanent magnet during movement, thereby providing it with higher responsiveness and faster speed, thereby resolving the problem of slow rotation speed of current micro-scale robots at low Reynolds numbers.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot drive control, in particular to the technical field of microscale 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 fields can be used to control the motion of microscale magnetic robots. Currently, actuators that generate specific magnetic fields to control the motion of microscale magnetic robots generally consist of permanent magnets, electromagnetic coils (such as Helmholtz coils), or a combination of the two. Microscale magnetic robot actuators based on permanent magnets often use permanent magnets to generate a strong magnetic field, and then control the magnetic field around the robot through the drag and rotation of the motor, thereby changing the robot's posture and motion. Microscale magnetic robot actuators based on electromagnetic coils are generally assembled from multiple energized spiral tubes in a specific geometric configuration. A controllable external magnetic field is generated by passing a specific voltage signal into each electromagnetic coil. Composite microscale magnetic robot actuators based on a combination of the two include both electromagnetic coils and permanent magnets. The electromagnetic coils generate a weak excitation magnetic field, which, under the action of the excitation magnetic field, exerts a significant force on the permanent magnets within them, causing them to rotate. Therefore, by adjusting the polarization direction of the excitation magnetic field, the distribution of the entire external magnetic field can be indirectly controlled.

[0004] The performance of the magnetic robot drive device includes: 1. The torque or drag force applied to the magnetic robot. The external magnetic field generated by the drive device is required to have a large magnetic field strength and gradient to generate sufficient torque or drag force to achieve efficient motion control of the magnetic robot; 2. The rate of change of the magnetic field. To achieve the reverse blood flow movement of the microscale robot in the in vivo environment, it is necessary to rely on the rapid movement of the robot. For the microscale magnetic robot, the rate of change of the magnetic field generated by the magnetic robot drive device (such as the frequency of the rotating magnetic field) determines its movement speed; 3. Having a sufficiently large working space. Although the microscale magnetic robot is small in size, its range of motion is often large. For example, in the process of simulating targeted drug delivery in the human body, the microscale robot is required to cross various macroscopic tissue gaps (such as blood vessels, body cavities, etc.).

[0005] At present, the design scheme of the related drive control device of the domestic magnetic micro robot adopts the following points:

[0006] 1. The drive device of a microscale magnetic robot based on a permanent magnet array is generally implemented by using a stepper motor to rotate a permanent magnet or permanent magnet array. This type of magnetic field can generate a large magnetic field or magnetic gradient field (>100mT). However, the drive device of a microscale magnetic robot based on a permanent magnet relies on the physical connection between the permanent magnet and the actuator. The direction of the magnetic field cannot be flexibly changed. Moreover, due to the inherent properties of the mechanical device, this type of device has difficulty in achieving rapid changes in the surrounding magnetic field. The rotating magnetic field provided is often below 50 Hz, making it difficult to achieve high-speed movement of the microscale magnetic robot.

[0007] 2. Helmholtz coils are assembled using multiple layers of nested electromagnetic coils to create a uniform magnetic field within a small area. By varying the voltage signal across the coil windings, a controllable magnetic field can be generated. However, existing electromagnetic coil-based drive devices suffer from weak magnetic fields (typically a few to a dozen milliteslarems), small workspaces, and high heat generation, making them difficult to efficiently control the motion behavior of robots with weak magnetic properties.

[0008] 3. A composite drive device consists of an electromagnetic module and a permanent magnet module. When the electromagnetic coil is energized, it generates a magnetic field, causing the permanent magnet and coil to attract or repel each other, resulting in instability of the permanent magnet. Therefore, current composite drive devices often use a central partition to restrain the permanent magnet and isolate it from contact, thereby achieving overall stability during system operation. Furthermore, to increase the magnetic field strength generated by the electromagnetic coil, such systems often contain a significant ferromagnetic core within the coil. By combining the advantages of both electromagnetic and permanent magnets, composite magnetic drive devices can achieve a stronger magnetic field and greater flexibility. However, ① in current devices, the permanent magnet and the partition are in direct contact, causing contact friction between the two to affect the motion of the magnetic ball. ② Because the magnetic field strength decreases extremely rapidly with distance (proportional to the inverse square of the distance), the range of the magnetic field in such devices is limited, making it difficult to achieve long-distance control of microscale magnetic robots. ③ In addition, this type of system uses an electromagnetic coil with a magnetic core. Although it enhances the effect of the electromagnetic force, the magnetic core is also magnetized by the permanent magnet when it is magnetized by the coil, generating a parasitic magnetic field. On the one hand, the magnetic field generated by the coil is coupled with the parasitic magnetic field, making it difficult to generate a pure magnetic field. On the other hand, there is a gradient force pointing to the coil between the coil core and the permanent magnet, which causes a large friction between the permanent magnet and the partition part.

[0009] 4. The available working space of the magnetic robot drive device is often located in a local specific area inside or outside the system.

[0010] Implementing a controllable magnetic field with high responsiveness and a large working space is the most important means of driving micro-scale magnetic robots and is also a key technical problem that researchers in this field urgently need to solve at present. There are a series of technical defects in some existing technologies, making it difficult to achieve high-speed operation and large-range motion control of micro-scale magnetic robots, which greatly limits the development of such robots in the fields of biomedicine, micro-operation, intelligent manufacturing, etc. Therefore, constructing a driving device for micro-scale magnetic robots with high responsiveness and a large working space has important research significance. Summary of the Invention

[0011] For this reason, the technical problem to be solved by the present invention is how to improve the responsiveness and stroke of the magnetic robot driving device.

[0012] To solve the above technical problem, the present invention provides a magnetic robot driving device, including a driving device body unit, and the driving device body unit includes:

[0013] A plurality of electromagnetic modules, each electromagnetic module includes an electromagnetic coil that generates a magnetic field after being energized and a first bracket assembly for supporting the electromagnetic coil, and the plurality of electromagnetic modules generate a composite magnetic field;

[0014] A permanent magnet module, the permanent magnet module includes a spherical permanent magnet that generates a driving magnetic field after moving under the action of the composite magnetic field, a blower for providing air flow, and a second bracket assembly for supporting the spherical permanent magnet and guiding the air flow to the lower side of the spherical permanent magnet to drive the spherical permanent magnet to levitate.

[0015] As a further improvement, the plurality of electromagnetic coils are evenly arranged around the connection line of the two magnetic poles of the spherical permanent magnet, and the extension lines of the connection lines of the two magnetic poles of each electromagnetic coil intersect at the center position of the spherical permanent magnet, and the action effects of each electromagnetic coil on the spherical permanent magnet in the horizontal and vertical directions are the same.

[0016] As a further improvement, the driving device body unit is in a positive conical shape, the spherical permanent magnet is arranged at the tip of the cone, the plurality of electromagnetic coils are evenly arranged around the axis of the cone, the connection line of the two magnetic poles of the electromagnetic coil is parallel to the generatrix of the cone, and the upper part of the cone is an observation space for placing a sample pool.

[0017] As a further improvement, the electromagnetic coil is a coreless electromagnetic coil, the coreless electromagnetic coil includes an aluminum skeleton and a coil wound outside the aluminum skeleton, the longitudinal section of the aluminum skeleton is in a dry shape, and the coil is wound on the vertical part between the two horizontal parts of the dry shape.

[0018] As a further improvement, the first bracket assembly includes a first support column and a first shell, the first shell is connected to the first support column, and the electromagnetic coil is placed in the first shell.

[0019] As a further improvement, the second bracket assembly includes a second support column and a second shell, the second shell is connected to the second support column, the second support column is provided with an air duct in the middle, the second shell is provided with an interlayer air chamber connected to the air duct in the middle, the inner wall of the second shell is provided with a plurality of internal jets connected to the interlayer air chamber, the internal jets are facing the spherical permanent magnet, the spherical permanent magnet is suspended in the second shell, and the blower is connected to the air duct in the middle.

[0020] 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.

[0021] As a further improvement, the outer wall of the second shell is provided with a plurality of external air jets communicating with the interlayer air chamber, and the plurality of external air jets face the electromagnetic coil.

[0022] As a further improvement, it also includes a motion platform unit for driving the driving device body unit to move along the horizontal X-axis direction, the horizontal Y-axis direction and the vertical Z-axis direction.

[0023] As a further improvement, a speed measuring coil with several turns is wound around the outside of the second bracket assembly, and the two ends of the speed measuring coil are connected to a voltage collector. When the spherical permanent magnet rotates, the magnetic field around it rotates accordingly, and the speed measuring coil cuts the magnetic lines of flux. The two ends of the speed measuring coil generate an electromotive force, which is proportional to the rotational speed of the spherical permanent magnet. The rotational speed of the spherical permanent magnet is calculated based on the electromotive force.

[0024] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0025] 1) The magnetic robot drive device disclosed in this invention uses air flotation to constrain the position of the permanent magnet and isolate it from the electromagnetic coil. The permanent magnet can be suspended between the electromagnetic coils, greatly reducing the friction force on the permanent magnet during movement and achieving contactless friction rolling of the permanent magnet. This makes it more responsive and faster, solving the problem of slow rotation speed of current micro-scale robots at low Reynolds numbers.

[0026] 2) The magnetic robot drive device disclosed in this invention breaks through the structure of traditional micro-scale robot magnetic control devices, optimizes the composition of electromagnetic coils, reduces the coupling between electromagnetic and permanent magnets, and makes the output magnetic field purer and more stable;

[0027] 3) The magnetic robot drive device disclosed in the present invention has an entire drive device body unit mounted on a motion platform unit, which can achieve spatial position adjustment, thereby achieving a large-scale adjustment of the magnetic field focus. The dynamic magnetic field used to drive the micro-scale robot can move freely within a space of 25X25 cm under the adjustment of the translation stage. Compared with traditional drive devices (only about a few centimeters), it has a great improvement and can promote the application of micro-scale robots in macro tasks.

[0028] In general, the magnetic robot drive device disclosed in the present invention is compared with traditional magnetic control devices based on pure permanent magnets and pure electromagnetic coils. While providing a strong driving magnetic field, it also has higher flexibility. Compared with traditional composite electromagnetic drive systems, it has a larger workspace and higher magnetic field responsiveness. It has higher usability and operability in microscale magnetic robot-related applications, such as targeted medicine, micro-manipulation and other fields, 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 This is a schematic diagram of the overall assembly of the magnetic robot drive device of the present invention;

[0031] Figure 2 A schematic diagram of the connection between the second support column and the second shell of the magnetic robot driving device of the present invention;

[0032] Figure 3 is the cutoff frequency of the spherical permanent magnet rotating at different driving voltages in the non-air-suspended state;

[0033] Figure 4 is the cutoff frequency of the spherical permanent magnet rotating under different driving voltages in the air suspension state;

[0034] Figure 5 is the maximum steerable frequency of the spherical permanent magnet rotating at different driving voltages in a non-air-suspended state;

[0035] Figure 6 is the maximum steerable frequency of the spherical permanent magnet rotating under different driving voltages in the air suspension state.

[0036] Among them, 1. Electromagnetic module; 11. Electromagnetic coil; 12. First support column; 13. First shell; 2. Permanent magnet module; 21. Spherical permanent magnet; 22. Blower; 23. Second support column; 24. Second shell; 25. Branch guide pipe; 26. Hose; 27. Jet hole; 3. Sample pool; 4. Chassis; 5. Lifting platform; 6. Y-axis screw module; 7. X-axis screw module. DETAILED DESCRIPTION

[0037] The specific implementation of the present invention is further described in detail below with reference to the accompanying drawings and examples.

[0038] 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.

[0039] The following is a preferred embodiment for illustrating the present invention, but is not intended to limit the scope of the present invention.

[0040] Example 1

[0041] See also Figure 1 and Figure 2 As shown in the figure, a magnetic robot driving device includes a driving device body unit, and the driving device body unit includes:

[0042] Multiple electromagnetic modules 1, each of which includes an electromagnetic coil 11 that generates a magnetic field when energized and a first bracket assembly for supporting the electromagnetic coil, and the multiple electromagnetic modules generate a composite magnetic field;

[0043] A permanent magnet module 2, the permanent magnet module 2 includes a spherical permanent magnet 21 that generates a driving magnetic field after moving under the action of the above-mentioned composite magnetic field, a blower 22 for providing airflow, and a second bracket assembly for supporting the spherical permanent magnet 21 and guiding the airflow to the bottom of the above-mentioned spherical permanent magnet 21 to drive the above-mentioned spherical permanent magnet 21 to suspend.

[0044] In the present invention, through ingenious structural design, air suspension technology is used to effectively isolate the electromagnetic coil from the permanent magnet, so that the spherical permanent magnet is suspended inside the electromagnetic coil. At this time, the spherical permanent magnet is similar to a universal wheel and can rotate freely in any direction under the combined action of the surrounding electromagnetic coils, thereby generating a static magnetic field or a rotating magnetic field in any direction in space around it to drive the movement of the microscale magnetic robot, greatly reducing the friction force exerted on the permanent magnet during movement, and realizing contactless friction rolling of the permanent magnet, so that it has higher responsiveness and faster speed, solving the problem of slow rotation speed of current microscale robots at low Reynolds numbers.

[0045] In a preferred implementation manner in this embodiment, the plurality of electromagnetic coils 11 are evenly distributed around the line connecting the two magnetic poles of the spherical permanent magnet 21, and the line connecting the two magnetic poles of each electromagnetic coil 11 is extended to intersect at the center position of the spherical permanent magnet 21, and each electromagnetic coil 11 has the same effect on the spherical permanent magnet 21 in the horizontal and vertical directions.

[0046] In the preferred implementation mode of this embodiment, the driving device body unit is in the shape of an upright cone. The spherical permanent magnet 21 is arranged at the tip of the cone. A plurality of the electromagnetic coils 11 are arranged evenly around the axis of the cone. The connection line of the two magnetic poles of the electromagnetic coil 11 is parallel to the generatrix of the cone. Above the cone is an observation space for placing the sample cell 3. In traditional micro-scale magnetic robot driving devices, it is often necessary to enclose the activity space of the micro-scale magnetic robot with multiple electromagnetic coils or permanent magnets so that the controllable magnetic field can cover the entire range. This results in the fact that the volume of the driving device of the magnetic adsorption robot cannot be too small. For example, when conducting animal experiments, the animal must be completely wrapped inside the electromagnetic coil or permanent magnet. Otherwise, the task will fail due to the too small working range, which makes it difficult to achieve large-range motion control of such devices. In the present invention, the controllable magnetic field is located in the semi-open space at the top of the electromagnetic coil and the permanent magnet. By moving the position of the magnetic robot driving device through the motion platform unit, the magnetic field can be conveniently focused on any position in the changing space. In this way, the external magnetic field can follow the movement of the micro-scale robot, making the robot always inside the controllable magnetic field, and thus achieving large-range motion control.

[0047] In the preferred implementation mode of this embodiment, the electromagnetic coil 11 is a coreless electromagnetic coil. The coreless electromagnetic coil includes an aluminum skeleton and a coil wound outside the aluminum skeleton. The longitudinal section of the aluminum skeleton is in the shape of a Chinese character 'gan' (dry). The coil is wound on the vertical part between the two horizontal strokes of the 'gan' character. To eliminate the influence of the magnetic core on the movement behavior of the permanent magnet small ball, the electromagnetic coil is completely composed of copper wire and a hollow aluminum skeleton, making the magnetic field in the entire working space purer and also making the movement behavior of the spherical permanent magnet more controllable. The aluminum skeleton is designed in the shape of 'gan'. On the one hand, it can keep the copper wire exposed in the air for easy heat dissipation. On the other hand, it can be used for fixation. The present invention breaks through the structure of the driving device of traditional micro-scale robots, optimizes the composition of the electromagnetic coil, reduces the coupling effect between the electromagnetic coil and the spherical permanent magnet, and makes the output magnetic field purer and more stable.

[0048] In the preferred implementation mode of this embodiment, the first bracket assembly includes a first support column 12 and a first housing 13. The first housing 13 is connected to the first support column 12. The electromagnetic coil 11 is placed inside the first housing 13. The first housing is a cylindrical structure with one end open. The aluminum skeleton of the electromagnetic coil has a clearance fit with the first housing and can be fastened with screws through the ear-shaped structure at the top of the first housing, which is convenient for installation.

[0049] In a preferred embodiment of the present invention, the second support assembly includes a second support column 23 and a second shell 24, the second shell 24 being connected to the second support column 23, the second support column 23 being provided with an air passage, the second shell 24 being provided with an interlayer air chamber connected to the air passage, the inner wall of the second shell 24 being provided with a plurality of inner jets connected to the interlayer air chamber, the inner jets facing the spherical permanent magnet 21, the spherical permanent magnet 21 being suspended within the second shell 24, and the blower 22 being connected to the air passage. To achieve the suspension of the spherical permanent magnet, the present invention designs a second support assembly, wherein the air passage of the second support column is connected to the air pump (blower) via an obliquely modified branch guide pipe 25, which is led obliquely downward from the middle of the air passage. This design can minimize gas resistance, allowing air blown from the air pump to flow smoothly into the air passage and lift the permanent magnet ball. The inner air jet hole can limit the distance that the magnetic ball is lifted to a specific height (the focus on the extended line of the four electromagnetic coil axes).

[0050] In a preferred implementation manner of this embodiment, the second shell 24 is a hemispherical tray, and a tray opening of the hemispherical tray is provided with a flange for supporting the sample pool 3 .

[0051] In a preferred embodiment of this embodiment, the outer wall of the second housing 24 is provided with multiple external air jets that communicate with the interlayer air chamber. These external air jets face the electromagnetic coil. The internal and external air jets constitute air jets 27. These external air jets direct airflow around the electromagnetic coil, driving air flow around the coil and thus cooling it.

[0052] The preferred implementation method in this embodiment also includes a motion platform unit for driving the above-mentioned driving device body unit to move along the horizontal X-axis direction, the horizontal Y-axis direction, and the vertical Z-axis direction. The above-mentioned first bracket assembly and the second bracket assembly are fixed on a chassis 4, and the middle of the chassis is punched with holes to facilitate fixing to various experimental platforms. The first bracket assembly is connected to the external blower through a hose 26. Its function is to guide the gas from the air pump to suspend and bind the magnetic ball to the focus of the extension line of the axis of the four electromagnetic coils, so that the robot is located in the top working space of all coils; the entire electromagnetic system is installed on the motion platform unit, which can realize the free adjustment of the spatial position of the magnetic robot driving device, thereby providing an open and controllable space for the movement of the micro-scale magnetic robot. The above-mentioned motion platform unit includes a lifting platform 5 for driving the above-mentioned chassis 4 to rise and fall, a Y-axis screw module 6 for driving the above-mentioned lifting platform 5 to move along the horizontal Y-axis direction, and an X-axis screw module 7 for driving the Y-axis screw module to move along the horizontal X-axis direction. The entire drive device body unit is installed on the motion platform unit, which can realize spatial position adjustment, thereby realizing a large-scale adjustment of the magnetic field focus. The dynamic magnetic field used to drive the micro-scale magnetic robot can move freely within a space of 25X25cm under the adjustment of the displacement stage. Compared with traditional drive devices (only about a few centimeters), it has a great improvement and can promote the application of micro-scale magnetic robots in macro tasks. The entire drive device body unit is installed on the motion platform unit, so it can realize free adjustment of the spatial position within a large range, and can also realize the focusing of the magnetic field at a specific part or movement along a specific trajectory.

[0053] In a preferred embodiment of this embodiment, a speed measuring coil (not shown) with several turns is wound around the outside of the second bracket assembly, and the two ends of the speed measuring coil are connected to a voltage collector (not shown). When the spherical permanent magnet 21 rotates, the magnetic field around it rotates accordingly, and the speed measuring coil cuts the magnetic flux lines, generating an electromotive force at the two ends of the speed measuring coil. The electromotive force is proportional to the rotational speed of the spherical permanent magnet 21, and the rotational speed of the spherical permanent magnet 21 is calculated based on the electromotive force. The hemispherical air outlet of the second bracket assembly is wrapped around the periphery of the hemispherical air outlet with several turns of copper coil and two ends connected to a voltage collector. When the magnetic ball rotates, the surrounding magnetic field rotates accordingly, causing the speed measuring coil to cut the magnetic flux lines, thereby generating an electromotive force at the two ends. This electromotive force is proportional to the rotational speed of the magnetic ball. Therefore, by collecting this electromotive force, the rotational speed of the magnetic ball can be inferred.

[0054] The electrical principle of the magnetic robot drive device of the present invention is as follows: human-computer interaction logic and data visualization are realized through a desktop computer, and a control signal is generated and sent through a data acquisition board. The control signal is amplified by a four-way power amplifier board and connected to the electromagnetic coil. In this process, each control signal is independently controlled and adjusted by the host computer software (written in LabVIEW) so that the electromagnetic coil can generate a dynamic or static magnetic field on a specific driving plane. The displacement platform component is connected to the host computer via the 485 bus to realize the controllable adjustment of the position of the drive device body unit in three-dimensional space. In addition, the generation of the magnetic field, the direction adjustment and the moving direction of the displacement stage can all be realized by the host computer sending corresponding control commands after parsing the input signal of the handle.

[0055] The present invention also makes a detailed comparison of the magnetic ball speed after air flotation and the system without air flotation:

[0056] like Figure 3 and Figure 4 As shown, the first parameter is the cutoff frequency of the magnetic ball under the action of the electromagnetic coil. When the driving frequency of the electromagnetic coil increases, the magnetic ball will also rotate faster. However, when the frequency exceeds a certain level, the electromagnetic coil cannot overcome the resistance of driving the magnetic ball to continue rotating, causing the two to lose step. At this time, the speed of the magnetic ball drops rapidly to zero. Therefore, during the whole process, the rotation speed of the magnetic ball will first increase with the increase of the driving frequency until it stops abruptly after a certain frequency. This frequency is the cutoff frequency of the magnetic ball. The cutoff frequency will also change when the voltage at both ends of the coil is changed. Therefore, we measured the comparison of the cutoff frequencies of the two systems at different voltages. The results are shown in the figure. It can be seen from the results that after flotation, the cutoff frequency of the system increased by about 20 Hz under different driving voltages.

[0057] like Figure 5 and Figure 6 As shown in the figure, when the magnetic ball rotates too fast, it is difficult to achieve a controllable speed due to the influence of inertia. Therefore, the maximum steerable frequency of the magnetic ball is also an important indicator of the magnetic ball's motion parameters. This frequency refers to the maximum rotation frequency at which the magnetic ball can achieve controllable steering. The comparison results are shown in the figure. From the results, it can be seen that the steerable frequency of the magnetic ball increases significantly after adding air flotation, and the rate of increase increases with the increase of driving voltage.

[0058] The core concept of the present invention is that the magnetic field generated by the present invention has a strong magnetic field and a large gradient, while also ensuring higher magnetic responsiveness and a larger workspace. The core of the present invention is to utilize air suspension technology and a translation stage to improve the hybrid electromagnetic and permanent magnet microscale magnetic robot drive system. Compared with traditional drive devices, this device not only generates a stronger magnetic field but also has higher responsiveness and a larger workspace, providing better operability and ease of use in driving and controlling microscale magnetic robots.

[0059] 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 magnetic robot driving device, comprising a driving device body unit, characterized in that: The driving device body unit includes: A plurality of electromagnetic modules, each electromagnetic module including an electromagnetic coil that generates a magnetic field after being energized and a first bracket assembly for mounting the electromagnetic coil, and the plurality of electromagnetic modules generate a composite magnetic field; A permanent magnet module, the permanent magnet module including a spherical permanent magnet that generates a driving magnetic field after moving under the action of the composite magnetic field, a blower for providing air flow, and a second bracket assembly for supporting the spherical permanent magnet and guiding the air flow to the lower side of the spherical permanent magnet to drive the spherical permanent magnet to levitate; The driving device body unit is in the shape of an upright cone, the spherical permanent magnet is arranged at the tip of the cone, the plurality of electromagnetic coils are uniformly arranged around the axis of the cone, the connection line of the two magnetic poles of the electromagnetic coil is parallel to the generatrix of the cone, and the upper part of the cone is an observation space for placing a sample cell.

2. The magnetic robot driving device according to claim 1, characterized in that: The plurality of electromagnetic coils are uniformly arranged around the connection line of the two magnetic poles of the spherical permanent magnet, and the extension lines of the connection lines of the two magnetic poles of each electromagnetic coil intersect at the center position of the spherical permanent magnet, and the action effects of each electromagnetic coil on the spherical permanent magnet in the horizontal and vertical directions are the same.

3. The magnetic robot driving device according to claim 1, characterized in that: The electromagnetic coil is a coreless electromagnetic coil, the coreless electromagnetic coil including an aluminum skeleton and a coil wound outside the aluminum skeleton, the longitudinal section of the aluminum skeleton is in the shape of a cross with a vertical bar in the middle, and the coil is wound on the vertical bar between the two horizontal bars of the cross.

4. The magnetic robot driving device according to claim 1, characterized in that: The first bracket assembly includes a first support column and a first housing, the first housing is connected to the first support column, and the electromagnetic coil is placed in the first housing.

5. The magnetic robot driving device according to claim 1, characterized in that: The second bracket assembly includes a second support column and a second housing, the second housing is connected to the second support column, the second support column is provided with a hollow air duct, the second housing is provided with a sandwich air chamber communicated with the hollow air duct, the inner wall of the second housing is provided with a plurality of inner air jet openings communicated with the sandwich air chamber, the inner air jet openings face the spherical permanent magnet, the spherical permanent magnet levitates in the second housing, and the blower is communicated with the hollow air duct.

6. The magnetic robot driving device according to claim 5, characterized in that: The second housing is a hemispherical tray, and the tray opening of the hemispherical tray is provided with a flange for supporting the sample cell.

7. The magnetic robot driving device according to claim 5, characterized in that: The outer wall of the second housing is provided with a plurality of outer air jet openings communicated with the sandwich air chamber, and the plurality of outer air jet openings face the electromagnetic coils.

8. The magnetic robot driving device according to claim 1, characterized in that: It further includes a motion platform unit for driving the driving device body unit to move in the horizontal X-axis direction, horizontal Y-axis direction, and vertical Z-axis direction.

9. The magnetic robot driving device according to claim 1, characterized in that: A plurality of turns of speed measurement coils are wound outside the second bracket assembly, the two ends of the speed measurement coil are connected to a voltage collector, when the spherical permanent magnet rotates, the magnetic field around it rotates accordingly, the speed measurement coil cuts the magnetic induction line, electromotive force is generated at the two ends of the speed measurement coil, the electromotive force is proportional to the rotation speed of the spherical permanent magnet, and the rotation speed of the spherical permanent magnet is calculated according to the electromotive force.

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