Rotary micromotor

Abstract

The present invention relates to a micro-engine comprising a rotating structure (12) including a head (12A), a rear (12B), and a deformable portion (14) connecting the two portions. The deformable portion (14) is elongated or compressible along a main axis (X) and includes a spring element (16) having a free end (22). The free end (22) of the spring element (16) includes at least one adjacent member (23). The deformable portion (14) also includes a wheel platform (26) having a first surface (26A) and a second surface (26B), the second surface (26B) being configured to engage with the free end (22) of the spring element (16) to convert the reciprocating motion of at least one spring element (16) into the rotational motion of the wheel platform (26).

Description

Technical Field

[0001] This invention relates to a rotary micromotor that allows microstructures or microdevices to move through viscous materials, particularly through organs of a subject, such as the brain. Background Technology

[0002] In minimally invasive surgery (especially in neurosurgery), the ability to reach deep and functional structures without damage is a major challenge. Advances in microtechnology have made it possible to deliver microstructures or microdevices into organs such as the brain. However, in low Reynolds number environments (such as the brain), advancing microstructures is challenging due to the lack of inertia and the relatively high drag caused by their small size.

[0003] The most efficient way for microstructures or microdevices to move through viscous substances (such as the brain) is to rotate while moving forward. Therefore, the microstructures require rotating micromotors (or microengines) to allow for this most efficient mode of movement.

[0004] Currently, rotating micro-engines typically use three coils positioned in a circular pattern. These three coils take up too much space and therefore limit the possibility of achieving the sub-millimeter diameter required in microengineering.

[0005] CN108964514 discloses a rotary micromotor driven by piezoelectricity and shape memory alloy, and its driving method. The rotary micromotor includes, from top to bottom, a top cover, a housing, an elastic seat, a base, a bearing end cap, a rotor, a compression spring, a support frame, a rotating shaft, a deep groove ball bearing, an adapter, a piezoelectric stack, an adjusting screw, a shape memory alloy wire, a friction block, a rubber friction pad, a one-way rolling bearing, an elastic stop ring, a displacement amplifying rod, and a rotating body. The bearing end cap is mounted at the center of the upper surface of the top cover and the lower surface of the base. The driving method changes the deformation of the piezoelectric stack through a triangular wave signal, thereby rotating the rotating body via the displacement amplifying rod, and subsequently rotating the support frame. Furthermore, the deformation of the shape memory alloy wire is changed by a half-triangular wave signal, and the friction block is pushed by the spring to contact the rotor, thereby achieving the rotational operation of the rotor. This invention does not allow movement through adhesive materials.

[0006] Against this backdrop, the present invention aims to propose a rotating micro-engine that allows microstructures to move forward in an efficient manner in a fluid environment with a low Reynolds number. Summary of the Invention

[0007] Therefore, the present invention relates to a micro-engine configured as a mobile microstructure, the micro-engine including a rotating structure comprising a head, a rear portion, and a deformable portion connecting the head and the rear portion.

[0008] -The deformable part can be elongated or compressed along the main axis extending from the head to the rear.

[0009] -The deformable portion includes at least one spring element, the at least one spring element having a rear end attached to the rear portion, the at least one spring element presenting a free end.

[0010] - wherein the free end of the at least one spring element includes at least one adjacent member.

[0011] The rotating structure further includes an actuator aligned with the deformable portion along the main axis and configured to sequentially actuate the elongation and compression phases of the deformable portion.

[0012] -The deformable part further includes a wheel platform, which presents a first surface and a second surface. The second surface is configured to engage with the free end of the at least one spring element to convert the reciprocating motion of the at least one spring element into the rotational motion of the wheel platform.

[0013] Therefore, this invention allows for the creation of a tiny rotating micro-engine, which can be millimeter or even sub-millimeter in size, that converts most of the linear movement of a spring into rotation.

[0014] The device according to the invention may also include one or more of the following features, used individually or in combination with each other:

[0015] - The deformable portion may include a first spring element and a second spring element, the first spring element having a front end attached to the head and the second spring element having a rear end attached to the rear portion, each spring element having a free end.

[0016] - The free end of each spring element may include at least one adjacent member.

[0017] A first surface of the wheel platform can be configured to engage with the free end of a first spring element, and a second surface of the wheel platform can be configured to engage with the free end of a second spring element, so as to convert the reciprocating motion of the two spring elements into the rotational motion of the wheel platform.

[0018] - The first and second spring elements can be aligned along the main axis.

[0019] - The actuator can be an electromagnetic actuator that includes an electromagnetic coil and a permanent magnet extending along the main axis.

[0020] - The permanent magnet can reciprocate as each spring element extends and compresses.

[0021] - The first spring element can operate in the opposite phase to the second spring element.

[0022] Each spring element may include at least three spring legs that are spirally arranged relative to each other around the main axis.

[0023] - Each spring element may include a spring ring configured to engage at least three spring legs, the spring ring presenting at least three abutment members intended to mate with the wheel platform.

[0024] - Each adjacent component can be a flexible strip.

[0025] - Each adjacent component can be a tooth.

[0026] - The wheel platform can be a notched wheel, with each of the first and second faces presenting at least three notches, each notch being configured to mate with an adjacent member of a corresponding spring element.

[0027] - The extension of each spring element causes the wheel platform to rotate, and the angle of rotation depends on the number of cuts on the surface of the wheel platform.

[0028] The distance between the two cuts of the wheel platform can be less than the stroke of an adjacent member during the extension phase of the spring element.

[0029] Each cutout in the wheel platform can present a first surface substantially perpendicular to the radius of the wheel platform, the first surface being configured to engage with adjacent members of a first spring element and a second spring element by means of abutment. A second cutout follows the first cutout along the circumference of the wheel platform, the second surface being configured to engage with adjacent members of the first spring element and the second spring element by means of sliding.

[0030] - Each second surface of each cut can be tilted toward the center of the wheel platform. Attached Figure Description

[0031] The features and advantages of the present invention will become apparent from the following description of several embodiments of the microrobot according to the invention, which is given by way of example only and with reference to the accompanying drawings, in which:

[0032] - Figure 1 This is a schematic axial sectional view of a micro-engine according to a first embodiment of the present invention.

[0033] - Figure 2 This is a schematic axial cross-sectional view of a microengine according to a second embodiment of the present invention, the microengine including a thruster attached to a device according to the present invention, to illustrate an embodiment of an element capable of being coupled to a microengine according to the present invention.

[0034] - Figure 3 This is a perspective view of a spring element according to an embodiment of the present invention.

[0035] - Figure 4yes Figure 3 The side view of the spring element shown.

[0036] - Figure 5 This is a perspective view of a spring element according to an embodiment of the present invention.

[0037] - Figure 6a This is a side view of a spring element according to a third embodiment of the present invention.

[0038] - Figure 6b yes Figure 6a Detailed view of the spring element adjacent to it.

[0039] - Figure 7a This is a perspective view of the wheel platform according to a second embodiment of the present invention.

[0040] - Figure 7b yes Figure 7a Side view of the wheel platform attached to the magnet.

[0041] - Figure 8 This is a perspective view of the rotating structure according to the second embodiment of the present invention.

[0042] - Figure 9a and Figure 9b This is a schematic diagram showing the movement of the spring leg relative to the wheel platform during the compression and elongation phases of the spring element according to the invention. Detailed Implementation

[0043] The first part of this specification will describe the different components of the micro-engine 10 according to the present invention. The second part will explain the function of the micro-engine 10.

[0044] The micro-engine 10 according to the invention is intended to propel microstructures or any type of micro-engineered device along the main axis X (see...). Figure 1 It moves through viscous materials (such as a subject's cerebrospinal fluid or extracellular matrix of brain cells). Viscous fluids are clearly defined as fluid materials that exhibit low Reynolds numbers.

[0045] In this application, a microengine or micromotor is considered as a component of very small parts, typically measured in micrometers, capable of self-movement. By this definition, when attached to a microdevice, a micromotor is capable of autonomously propelling the microdevice in a given direction when placed in water or a chemical solution (more often a viscous fluid material). Microengines can take any type of shape and structure, and many different types of microengines operate under different mechanisms. The most important example of a microengine is a bioengine, such as a bioengine that moves the flagella of a self-propelling cell.

[0046] Regarding the current application, the micro-engine 10 includes a rotating structure 12 extending along the main axis X. The rotating structure 12 includes a head 12A, a rear portion 12B, and a deformable portion 14. The deformable portion 14 connects the head 12A and the rear portion 12B. Therefore, the head 12A and the rear portion 12B are connected along the main axis X. Figure 2 and Figure 8 In the illustrated embodiment, each portion 12A, 12B presents a central circular opening 15 (see...). Figure 8 ) and the flange platform of the external attachment strip.

[0047] exist Figure 1 In the middle, the head 12A is a bearing, such as a ball bearing, designed to keep the deformable part 14 aligned with the main axis X, while allowing the rotating structure 12 to rotate and limiting friction. The rear part 12B is a flange platform that presents an external attachment strip.

[0048] exist Figure 1 and Figure 2 As can be seen, each attachment strip is attached to the rigid housing H surrounding the rotating structure 12. This housing H supports the rotating structure 12 and... Figure 2 In one embodiment, the housing H is able to align it correctly along the main axis X. Regarding Figure 2 In some embodiments, the housing H extends along and rotates about the main axis X. In some embodiments, the housing H also protects the rotating structure 12 from any fluid intrusion. In this way, when the microstructure is propelled forward by the microengine 10, the rotational motion of the rotating structure 12 of the microengine 10 does not interfere with the linear movement of the viscous environment (along the main axis X).

[0049] In the first embodiment, as Figure 1 As shown, the deformable part 14 includes a spring element 16.

[0050] In the second embodiment, as Figure 2 and 8 As shown, the deformable part 14 includes two spring elements 16A and 16B.

[0051] about Figure 1 In the illustrated embodiment, the deformable portion 14 includes a spring element 16 extending along the main axis X. Therefore, the deformable portion 14 can be elongated or compressed along the main axis X. The spring element 16 is fixed to the housing H to hold it in place.

[0052] like Figure 2 and 8As shown in the embodiment, the deformable portion 14 includes a first spring element 16A and a second spring element 16B, each spring element extending along the main axis X. More precisely, due to the housing H, the first spring element and the second spring elements 16A and 16B are aligned with each other along the main axis X. Therefore, the deformable portion 14 can be elongated or compressed along the main axis X. The two spring elements 16A and 16B are fixed to the housing H, which ensures that the two spring elements 16A and 16B are fixed at an appropriate distance from each other.

[0053] about Figure 1 The spring element 16 has a rear end 18B attached to the rear portion 12B of the rotating structure 12. Regarding... Figure 2 In one embodiment, the first spring element 16A has a front end 18A attached to the head 12A of the rotating structure 12. The second spring element 16B has a rear end 18B attached to the rear portion 12B of the rotating structure 12. Each spring element 16A, 16B includes at least three spring legs 20. Figure 5 The spring elements 16, 16A, and 16B shown (16 and 16B are not shown because they are the same as 16A) precisely represent three spring legs 20 that are spirally arranged relative to each other around the main axis X.

[0054] about Figure 1 and Figure 3 In one embodiment, the spring element 16 has four spring legs 20 arranged helically relative to each other around the main axis X. For example... Figure 3 As shown, on the front end 18A of the spring element 16, the spring legs 20 are regularly arranged around the central circular opening 15 of the rear part 12B. Regarding... Figure 3 and Figure 4 In the embodiment shown, spring elements 16A and 16B have four spring legs 20 arranged helically relative to each other around the main axis X. Figure 3 and Figure 8 As shown, on the front end 18A of the first spring element 16A, spring legs 20 are regularly arranged around the central circular opening 15 of the head 12A. On the rear end 18B of the second spring element 16B, spring legs 20 are regularly arranged around the central circular opening 15 of the rear end 12B. Preferably, each leg 20 of each spring 16, 16A, 16B has a rectangular cross-section with a width of 60μm to 300μm, more preferably 120μm to 160μm, and a height of 5μm to 80μm, more preferably 20μm to 40μm. In an alternative embodiment, the leg 20 has an inclined portion that is inclined toward the inside of the deformable portion 14.

[0055] Preferably, the total length of the leg 20 is 300 μm to 600 μm, more preferably 450 μm to 500 μm. In some embodiments, the leg 20 is made of a material comprising a UV-curable mixed inorganic-organic polymer, such as... Its Young's modulus ranges from 0.001 GPa to 10 GPa.

[0056] Each spring element 16, 16A, 16B also presents free ends 22, 22A, 22B (see...). Figure 1 and Figure 8 Therefore, spring element 16 (regarding Figure 1 ) or second spring element 16B (about Figure 2 Each spring leg 20 extends from the rear 12B toward the head 12A, and, regarding Figure 2 In one embodiment, each spring leg 20 of the first spring element 16A extends from the head 12A toward the rear 12B. Therefore, as... Figure 2 and Figure 8 As shown, the free end 22A of the first spring element 16A faces the free end 22B of the second spring element 16B.

[0057] The free ends 22, 22A, 22B of each spring element 16, 16A, 16B include at least one adjacent member 23. Figure 3 , Figure 4 , Figure 6a and Figure 8 In the illustrated embodiment, each spring leg 20 of spring elements 16, 16A, 16B presents an abutment member 23 at its end. Figure 3 , 4 In embodiments 8 and 9, each spring leg 20 terminates with a straight edge, and each of these edges forms an adjacent member 23. Figure 6a and Figure 6b In the illustrated embodiment, each spring leg 20 of each spring element 16, 16A, 16B includes a lug element L at its free end. In this embodiment, each lug element L forms an abutment member 23. The advantage of this lug element L is that it allows for easier contact with the complementary cutout 28 of the wheel platform 26. Therefore, the resulting abutment contact is improved.

[0058] like Figure 3 and Figure 4As shown, spring elements 16, 16A, and 16B (elements 16 and 16B are not shown, but are similar to element 16A shown) may include spring rings 24 connecting their spring legs 20. The spring rings 24 connect the spring legs 20 of spring elements 16, 16A, and 16B. The spring rings 24 enhance the radial resistance of spring elements 16, 16A, and 16B and prevent the spring legs 20 from separating from each other. The spring rings 24 also allow for better synchronization of the movement of all spring legs 20. In some embodiments, for example... Figure 5 As shown, the spring ring 24 abuts against the free ends 22, 22A, 22B of the spring elements 16, 16A, 16B. In this configuration, each spring leg 20 is connected to the spring ring 24 at its end, and the spring ring 24 becomes part of the free ends 22, 22A, 22B of the spring elements 16, 16A, 16B. In this embodiment, the spring ring 24 presents at least three abutment members 23. Figure 2 , 3 In the embodiments shown in 4 and 6a, the spring ring 24 presents four adjacent members 23. Figure 5 In the illustrated embodiment, the spring ring 24 presents eight adjacent members 23. In some embodiments, each adjacent member 23 extending from the spring ring 24 is an elastic strip. If the number of elastic strips is the same as the number of spring legs 20, and they are attached to the spring ring 24 in a continuous manner with the spring legs 20, then this embodiment appears similar to... Figure 3 and Figure 4 The illustrated embodiments are similar.

[0059] on the other hand, Figure 5 An embodiment in which each adjacent member 23 is a tooth T is shown.

[0060] exist Figure 2 and Figure 8 In the illustrated embodiment, spring elements 16A and 16B are substantially the same in shape and structure, and each of spring elements 16A and 16B presents four spring legs 20.

[0061] like Figure 1 , 2 As shown in Figure 8, the deformable part 14 also includes a wheel platform 26, which has a central circular recess 25 (see Figure 8). Figure 7a ), first surface 26A and second surface 26B. When the rotating structure 12 is installed and in operation, the central circular recess 25 of the wheel platform is aligned with the central circular opening 15 of the head 12A and the rear 12B.

[0062] about Figure 1 Once the rotating structure 12 is installed and operational, the first surface 26A of the wheel platform is held by the bearing of the head 12A, and the second surface 26B of the wheel platform 26 engages with the free end 22 of the spring element 16. Regarding... Figure 2The free end 22A of the first spring element 16A engages with the first surface 26A of the wheel platform 26, and the second surface 26B of the wheel platform 26 engages with the free end 22B of the second spring element 16B.

[0063] like Figure 7a As shown, wheel platform 26 is a cut-out wheel, with each of the first and second faces 26A and 26B exhibiting at least three cuts 28. Figure 1 In the illustrated embodiment, the wheel platform 26 exhibits an asymmetrical shape: the first surface 26A is planar and the second surface 26B presents at least three cutouts 28. Figure 7a and 7b In the example shown, the notched wheel has more than three notches 28 on each face 26A, 26B. The more notches there are, the shorter the step from one notch to another, and vice versa. Each face 26A, 26B includes the same number of notches 28, and each notch 28 on the first face 26A corresponds to a notch 28 on the second face 26B, such that the wheel platform 26 is laterally symmetrical about a transverse plane P substantially perpendicular to the principal axis X. Preferably, the radius R of the wheel platform 26 is from 100 μm to 1500 μm, more preferably from 500 μm to 1300 μm. Furthermore, each notch 28 of the wheel platform 26 presents a first surface and a second surface 30, 32 (see...). Figure 7b ).like Figure 7a As shown, the first surface 30 is substantially perpendicular to the wheel platform radius R and the transverse plane P of the wheel platform 26, and the first surface 30 also extends along the main axis X. Plane P includes the surface of the recess 25, which is defined as a plane perpendicular to the axis of the wheel platform 26. A second surface 32 extends between the first surface 30 of the first cut 28 and the first surface 30 of the second cut 28, which follows the first cut 28 along the circumference of the wheel platform 26. Furthermore, each second surface 32 of each cut 28 is inclined towards the center of the wheel platform 26. This inclination is 1° to 35° relative to the surface of the recess 25, preferably about 10°. The term "about" refers to a measurement error tolerance. This gives each face 26A, 26B of the wheel platform 26 a generally converging inverted conical shape towards the wheel center. Thus, the outer circumferential thickness e1 of the wheel platform 26 is greater than its inner circumferential thickness e2, as... Figure 7a As shown. This allows for better coupling between the wheel platform 26 and the free ends 22A, 22B, significantly reducing the risk of wheel detachment.

[0064] Each cutout 28 is configured to mate with the adjacent member 23 of the free ends 22A, 22B of the corresponding spring elements 16A, 16B.

[0065] Therefore, regarding Figure 1Once the rotating structure 12 is installed and in operation, each adjacent member 23 of the spring element 16 mates with the cutout 28 of the second surface 26B of the wheel platform 26 (as shown in the image). Figure 9a and 9b (As shown in detail in the text). Regarding Figure 2 Each adjacent member 23 of the first spring element 16A mates with the cutout 28 of the first surface 26A of the wheel platform 26, and each adjacent member 23 of the second spring element 16B mates with the second surface 26B of the wheel platform 26 (e.g., Figure 9a and 9b (As shown in detail in the text).

[0066] More precisely, each first surface 30 is configured to engage with the abutment member 23 of each spring element 16, 16A, 16B by abutment, and each second surface 32 is configured to engage with the abutment member 23 of each spring element 16, 16A, 16B by sliding. Therefore, it is important to give the abutment member 23 a specific shape to improve the abutment against the first surface 30 and the sliding over the second surface 32 (see...). Figure 9a and 9b ).

[0067] like Figure 1 and Figure 2 As shown, the rotating structure 12 also includes an actuator 34, which is configured to actuate spring elements 16, 16A, and 16B. Therefore, the actuator 34 sequentially causes the stretching and compression phases of the deformable portion 14. Figure 1 and Figure 2 As shown, actuator 34 is aligned with rotating structure 12 along main axis X.

[0068] In some embodiments (see) Figure 1 and Figure 2 The actuator 34 is an electromagnetic actuator that includes an electromagnetic coil C and a permanent magnet M.

[0069] In other embodiments (not shown), actuator 34 may be a fluid pump. In another embodiment, spring elements 16, 16A, 16B may include a micro-photosensitive array and may be directly activated by a light source (e.g., a laser). In yet another embodiment, spring leg 20 may include some electroactive polymer, thus responding to an electric field and changing size or shape when stimulated.

[0070] exist Figure 1In this embodiment, the permanent magnet M extends along the main axis X from the rear 12B in the opposite direction to the spring element 16. The permanent magnet M is inside the housing H. The coil C extends around the permanent magnet M. In this embodiment, the permanent magnet M is fixed to the rear end 18B of the spring element 16, and, depending on the current applied to the coil C, the magnet M reciprocates, and the spring element 16 moves with it. The reciprocating translation of the permanent magnet M causes the spring element 16 to elongate or compress, depending on the stage. The stage will be further defined below.

[0071] With the actuator 34 and spring element 16 aligned along the main axis X, and more specifically, with the electromagnetic actuator comprising an electromagnetic coil C and a permanent magnet M (with only one coil C centered on the permanent magnet M), the diameter of the micro-engine 10 can be reduced to sub-millimeter size, thus allowing for integration into micro-engineering processes.

[0072] Once the spring element 16 is actuated and begins to move, the engagement between the surfaces 30, 32 of the cutout 28 and the adjacent member 23 of the spring element 16 enables the reciprocating motion of the spring element 16 to be converted into the rotational motion of the wheel platform 26.

[0073] exist Figure 2 In this embodiment, the permanent magnet M extends along the main axis X between the rear portion 12B and the central recess 25, passing through the central circular opening 15 of the rear portion 12B. The permanent magnet M reciprocates toward each spring element 16A, 16B during its respective elongation and compression phases. More precisely, the permanent magnet M is fixed to the wheel platform 26, and the wheel platform 26 moves together with the permanent magnet M. The reciprocating motion of the magnet M depends on the current applied to the electromagnetic coil C. The reciprocating translation of the wheel platform 26 causes the spring elements 16A, 16B to elongate or compress, depending on the phase. The phases will be further defined below.

[0074] With the actuator 34 aligned with the spring elements 16A and 16B along the main axis X, the diameter of the micro-engine 10 can be... Figure 1 The embodiments are similarly reduced to sub-millimeter dimensions and thus integrated into the microengineering process. This is particularly the case of electromagnetic actuator 34, which includes an electromagnetic coil C and a permanent magnet M, wherein only one coil C is centered on the main axis X.

[0075] Once the spring elements 16A and 16B are actuated and begin to move, the engagement between the surfaces 30 and 32 of the notch 28 and the adjacent members 23 of the spring elements 16A and 16B allows the reciprocating motion of the two spring elements 16A and 16B to be converted into the rotational motion of the wheel platform 26. The permanent magnet M rotates together with the wheel platform 26. This rotational motion of the wheel platform 26 also enables the rotation of the microstructure connected to the micro-engine 10.

[0076] For example, in Figure 2 In the middle, the thruster P is attached to the wheel platform 26. When the wheel platform 26 starts to move, the thruster P rotates and also begins to move.

[0077] More precisely, in the case where actuator 34 is an electromagnetic actuator ( Figure 1 and Figure 2 (For example), when the micro-engine 10 is started, the permanent magnet M begins to translate vertically along the main axis X. This translational movement is transmitted to the spring elements 16, 16A, 16B, and more specifically to the spring legs 20. Therefore, the end of each spring leg 20 also translates vertically. However, due to their helical shape, the spring legs 20 also rotate slightly about the main axis X. This rotation is transmitted through the adjacent member 23 to the cutout 28 of the wheel platform 26, and thus to the wheel platform 26 as a whole. Furthermore, Figure 2 The embodiment enables the wheel platform 26 to rotate continuously, with the first spring element 16A and the second spring element 16B operating in opposite phases.

[0078] In classical mechanics, a spring element can theoretically be equivalent to a harmonic oscillator. Regarding this invention, it is clear that many other elements interfere with the definition of the equations of motion for spring elements 16A and 16B. However,

[0079] Where k is a positive constant.

[0080] exist Figure 1 In this case, only one spring element 16 exhibits a constant k. Figure 2 In this case, spring elements 16A and 16B are positioned in series along the main axis X. Therefore, the constant k is the equivalent stiffness of the two spring elements 16A and 16B, and k is the constant k of the two spring elements 16A and 16B. A and k B The sum: k = k A +k B The displacement of spring elements 16A and 16B is along the principal axis X, and therefore, regarding the direction of movement of each spring element 16, 16A, and 16B relative to the principal axis X, It can be positive or negative (greater than or less than 0): the free ends 22A and 22B of spring elements 16, 16A, and 16B move toward the wheel platform 26 (in... Figure 1 In the case of the embodiment, it is a compression stage, in Figure 2 In the case of the embodiment, this is the elongation stage, or the free ends 22A and 22B deviate from the wheel platform 26 and move (in Figure 1 In the case of the embodiment, it is the elongation stage, in Figure 2In the case of the embodiment, this is the compression stage. In the current application, a stage is defined as the spring elements 16, 16A, 16B in... The overall movement before changing the sign. Each spring element 16, 16A, 16B moves along the main axis X, however, regarding Figure 2 When their free ends 22A and 22B face each other, they move in opposite directions. Regarding Figure 1 Therefore, spring element 16 is considered to be in the extension stage when its displacement is negative (less than 0) and in the compression stage when its displacement is positive (greater than 0). Regarding Figure 2 The first spring element 16A is therefore considered to be in motion when its displacement... When the value is positive (greater than 0), it is in the elongation stage; when its displacement... When the value is negative (less than 0), it is in the compression stage. Conversely, the second spring element 16B is in the compression stage when its displacement... When it is negative, it is in the elongation stage; when its displacement... When the first spring element 16A is in the compression stage, the second spring element 16B enters the extension stage.

[0081] Clearly, regardless of the embodiment, spring elements 16, 16A, and 16B are in a pre-constrained state during assembly.

[0082] Because the elongation of each spring element 16, 16A, 16B causes the wheel platform 26 to rotate, the wheel platform 26 rotates in each compression / elongation phase of the deformable portion 14 (since one of the spring elements 16, 16A, 16B must be in the elongation phase). During each compression / elongation phase of the deformable portion 14, the rotation angle of the wheel platform 26 depends on the number of cuts 28 on the faces 26A, 26B of the wheel platform 26. In embodiments where the distance between two cuts 28 is less than the stroke of an adjacent member 23 during the compression / elongation of the spring elements 16, 16A, 16B, the wheel platform 26 rotates continuously. The more cuts 28 on the wheel platform 26, the smoother the rotation of the wheel platform 26.

[0083] Even in a continuous motion, the rotation of the wheel platform 26 is slow because each compression / extension of the spring elements 16, 16A, 16B allows a single notch 28 to advance. However, due to these small increments, the rotational torque is strong. It acts like a gearbox. The more notches 28 on the wheel platform 16, the greater the rotational torque. During design and manufacturing, a passive gearbox can be achieved using multiple notches 28.

Claims

1. A micro-engine (10) configured to move a microstructure in a fluid environment, the micro-engine including a rotating structure (12) extending along a main axis (X) and supported by a housing (H) that protects the rotating structure (12) from any fluid intrusion, the rotating structure (12) including a head (12A), a rear portion (12B) and a deformable portion (14) connecting the head (12A) and the rear portion (12B). - in, The deformable portion (14) is elongated or compressible along the main axis (X) extending from the head (12A) to the rear portion (12B). - The deformable part (14) includes at least one spring element (16) having a rear end (18B) attached to the rear part (12B) and a free end (22). - Wherein, the free end (22) of the at least one spring element (16) includes at least one adjacent member (23). - The rotating structure (12) further includes an actuator (34) aligned with the deformable portion (14) along the main axis (X) and configured to sequentially actuate the elongation and compression phases of the deformable portion (14). - The deformable part (14) further includes a wheel platform (26) having a first surface (26A) and a second surface (26B), the second surface (26B) being configured to cooperate with the free end (22) of the at least one spring element (16) to convert the reciprocating motion of the at least one spring element (16) into the rotational motion of the wheel platform (26).

2. The micro-engine (10) according to the preceding claims. - in, The deformable portion (14) includes a first spring element (16A) and a second spring element (16B), the first spring element (16A) having a front end (18A) attached to the head (12A) and the second spring element (16B) having a rear end (18B) attached to the rear portion (12B), each spring element (16A, 16B) having a free end (22A, 22B). - Wherein, the free end (22A, 22B) of each spring element (16A, 16B) includes at least one adjacent member (23). - Wherein, the first face (26A) of the wheel platform (26) is configured to engage with the free end (22A) of the first spring element (16A), and the second face (26B) is configured to engage with the free end (22B) of the second spring element (16B) so as to convert the reciprocating motion of the two spring elements (16A, 16B) into the rotational motion of the wheel platform (26).

3. The micro-engine (10) according to the preceding claim, wherein, The first spring element and the second spring element (16A, 16B) are aligned along the main axis (X).

4. The micro-engine (10) according to claim 1, wherein, The actuator (34) is an electromagnetic actuator, which includes an electromagnetic coil (C) and a permanent magnet (M) extending along the main axis (X).

5. The micro-engine (10) according to the preceding claim, wherein, The permanent magnet (M) reciprocates as each spring element (16, 16A, 16B) extends and compresses.

6. The micro-engine (10) according to claim 2, wherein, The first spring element (16A) and the second spring element (16B) operate in opposite phases.

7. The micro-engine (10) according to claim 1, wherein, Each spring element (16, 16A, 16B) includes at least three spring legs (20) arranged spirally relative to each other about the main axis (X).

8. The micro-engine (10) according to claim 7, wherein, Each spring element (16, 16A, 16B) includes a spring ring (24) configured to engage the at least three spring legs (20), the spring ring (24) having at least three adjacent members (23) intended to mate with the wheel platform (26).

9. The micro-engine (10) according to claim 1, wherein, Each adjacent member (23) is an elastic strip.

10. The micro-engine (10) according to claim 1, wherein, Each adjacent member (23) is a tooth (T).

11. The micro-engine (10) according to claim 1, wherein, The wheel platform (26) is a cut wheel, each of the first face (26A) and the second face (26B) having at least three cuts, each cut being configured to engage with the adjacent member (23) of the corresponding spring element (16A, 16B).

12. The micro-engine (10) according to the preceding claim, wherein, The elongation of each spring element (16A, 16B) causes the wheel platform (26) to rotate, the rotation angle depending on the number of cuts on the faces (26A, 26B) of the wheel platform (26).

13. The micro-engine (10) according to claim 11, wherein, The distance between the two cuts of the wheel platform (26) is less than the stroke of an adjacent member (23) during the elongation phase of the spring elements (16A, 16B).

14. The micro-engine (10) according to claim 11, wherein, Each cutout of the wheel platform (26) has: - A first surface (30), which is substantially perpendicular to the radius (R) of the wheel platform (26), is configured to engage with the abutment members (23) of the first spring element (16A) and the second spring element (16B) by means of adjacent contact. - A second surface (32) extends between the first surface (30) of the first cut and the first surface (30) of the second cut, the second cut following the first cut along the circumference of the wheel platform (26), the second surface (32) being configured to engage with the adjacent members (23) of the first spring element (16A) and the second spring element (16B) by sliding.

15. The micro-engine (10) according to the preceding claim, wherein, Each second surface (32) of each cut is inclined toward the center of the wheel platform (26).

16. A microstructure comprising the microengine (10) according to claim 1.

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