A magnetic soft pump device and operation control method thereof

Abstract

The present invention provides a magnetic soft pump device and an operation control method thereof, the device comprising: a magnetic control pump body, two magnetic control valves and a container; the magnetic control pump body is a magnetic soft structure of a hemispherical shell structure, which is magnetized along a first direction, the first direction being the convex or concave direction of the hemispherical shell structure; the two magnetic control valves require a magnetic field in a first direction and a magnetic field in a second direction respectively when they are opened; the second direction is opposite to the first direction; the container is provided with three openings, wherein the first opening and the second opening are respectively equipped with a magnetic control valve, and the third opening is equipped with the edge of the magnetic control pump body. The present invention reduces the energy consumption of the pumping process by designing a magnetic control pump body of a hemispherical shell bistable structure. The bistable structure enables the magnetic soft pump to maintain the existing deformation state after the deformation magnetic field is removed, so that during the pumping process, the driving magnetic field can be loaded intermittently in a time sequence, providing a feasible low-power driving mode.

Description

Technical Field

[0001] The present invention belongs to the field of magnetically controlled soft robots, and more specifically, relates to a magnetic soft pump device and an operation control method thereof. Background Art

[0002] A soft robot is a robot whose main body or main functional structure is made of soft materials (elastic modulus between 10 4 Pa-10 9 Pa). Compared with traditional rigid robots, soft robots have the advantages of high degree of freedom, strong deformation ability, good adaptability, etc., and have broad application prospects in bioengineering, medical and other fields. Soft pump robots have attracted much attention due to their wide application in medical rehabilitation fields such as artificial hearts and artificial soft fingers. Compared with rigid pumps, soft pumps have significant advantages such as light weight, softness, and no noise pollution, and have become one of the integrated power source options for the development of future fluid robots.

[0003] In existing research, soft pumps have a variety of drive options, including peristaltic membrane drive (common microfluidic peristaltic membrane pumps achieved through thermal drive and electrostatic force drive), electrically responsive dielectric elastomer drive, magnetic drive, etc. However, the flow rate of the peristaltic membrane-driven pump is usually in the range of nanoliters to microliters per minute, which is not enough for large actuators and soft robots. Although the electrically responsive dielectric elastomer actuator pump has significantly improved the liquid flow rate, the pumped working liquid is limited to dielectric fluids and the operating voltage is relatively high (>10kV). However, the magnetically driven soft pump has the characteristics of a certain pump flow rate and no restrictions on the pumped liquid medium. At the same time, compared with other drive methods, the electromagnetic drive method has significant advantages such as non-contact, strong controllability and good penetration performance.

[0004] However, the pumping efficiency of magnetic soft pumps still needs to be developed and improved. Existing magnetic pumps often use magnetic soft materials to deform under the control of a magnetic field, thereby causing a pressure change in a closed container, and compressing the air to complete the pumping process. Limited by the deformation of the magnetic soft material, the pumping flow rate of the currently reported magnetic soft pumps is usually below 100ml / min. Therefore, the existing magnetic soft pumps have a low pumping flow rate and the pumping efficiency needs to be improved.

[0005] Furthermore, the existing magnetic soft pump needs to apply a magnetic field all the time during the pumping process to maintain the deformation of the magnetic soft material, and the power consumption of the magnetic field system is relatively large. The existing technology urgently needs to study a magnetic soft pump device that reduces the magnetic field consumption while improving the pumping efficiency of the magnetic soft pump to meet market demand. Summary of the invention

[0006] In view of the defects of the prior art, the purpose of the present invention is to provide a magnetic soft pump device and an operation control method thereof, aiming to solve the problem that the prior art urgently needs to study a magnetic soft pump device that reduces magnetic field consumption while improving the pumping efficiency of the magnetic soft pump body.

[0007] To achieve the above-mentioned object, in a first aspect, the present invention provides a magnetic soft pump device, comprising: a magnetically controlled pump body, two magnetically controlled valves and a container;

[0008] The magnetic control pump body is a magnetic soft structure of a hemispherical shell structure, and is magnetized along a first direction, wherein the first direction is a convex or concave direction of the hemispherical shell structure;

[0009] When the two magnetically controlled valves are opened, they require a magnetic field in a first direction and a magnetic field in a second direction respectively; the second direction is opposite to the first direction;

[0010] The container is provided with three openings, wherein the first opening and the second opening are respectively equipped with a magnetic control valve, and the third opening is equipped with the edge of the magnetic control pump body.

[0011] Optionally, the magnetic control pump body has a bistable state, so that after the magnetic control pump body is deformed from one stable state to another stable state under the action of an external magnetic field, if the intensity of the external magnetic field is reduced or removed, the magnetic control pump body maintains the deformed shape unchanged.

[0012] Optionally, each magnetically controlled valve comprises: a suction lock of a magnetic soft structure and a valve body of a magnetic soft structure;

[0013] The magnetization direction of the suction locks of the two magnetically controlled valves is perpendicular to the first direction, and the magnetization direction of the valve body is the first direction or the second direction, based on whether each magnetically controlled valve can self-lock in the absence of an external magnetic field.

[0014] Optionally, the magnetization direction of the suction lock in the first magnetically controlled valve is the third direction, and the magnetization direction of the valve body is the second direction; the magnetization direction of the suction lock in the second magnetically controlled valve is the fourth direction, and the magnetization direction of the valve body is the first direction; wherein, if a circle is provided on a plane perpendicular to the first direction, the third direction is the radially inward direction of the circle, and the fourth direction is the radially outward direction of the circle; the first direction is the upward convex direction of the magnetically controlled pump body of the hemispherical shell structure, and the upward convex direction is the direction toward the outside of the container;

[0015] The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both in the fourth direction; when a magnetic field in the first direction is applied to the two magnetically controlled valves, the first magnetically controlled valve opens and the second magnetically controlled valve closes; when a magnetic field in the second direction is applied to the two magnetically controlled valves, the first magnetically controlled valve closes and the second magnetically controlled valve opens.

[0016] Optionally, the magnetization direction of the suction lock in the first magnetically controlled valve is the fourth direction, and the magnetization direction of the valve body is the first direction; the magnetization direction of the suction lock in the second magnetically controlled valve is the third direction, and the magnetization direction of the valve body is the second direction; wherein, if a circle is provided on a plane perpendicular to the first direction, the third direction is the radially inward direction of the circle, and the fourth direction is the radially outward direction of the circle; the first direction is the upward convex direction of the magnetically controlled pump body of the hemispherical shell structure, and the upward convex direction is the direction toward the outside of the container;

[0017] The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both in the fourth direction; when a magnetic field in the first direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is closed and the second magnetically controlled valve is opened; when a magnetic field in the second direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed.

[0018] Optionally, initially, the magnetically controlled pump body of the hemispherical shell structure is in an upward convex state:

[0019] If it is magnetized along the first direction, when a magnetic field in the second direction is applied, it deforms to a concave state, and when a magnetic field in the first direction is applied, it deforms to a convex state; the first direction is the convex direction of the magnetic control pump body;

[0020] If it is magnetized along the second direction, it will deform into a concave state when a magnetic field in the first direction is applied, and it will deform into a convex state when a magnetic field in the second direction is applied.

[0021] Optionally, initially, the magnetically controlled pump body of the hemispherical shell structure is in a concave state:

[0022] If it is magnetized along the first direction, when a magnetic field in the second direction is applied, it deforms to a convex state, and when a magnetic field in the first direction is applied, it deforms to a concave state; the first direction is the convex direction of the magnetic control pump body;

[0023] If it is magnetized along the second direction, it will deform into a convex state when a magnetic field in the first direction is applied, and it will deform into a concave state when a magnetic field in the second direction is applied.

[0024] In a second aspect, the present invention provides an operation control method for the magnetic soft pump device described in the first aspect or any optional aspect of the first aspect, comprising the following steps:

[0025] A magnetic field in a first direction is applied to the magnetic soft pump device, one of the two magnetically controlled valves is opened and the other is closed, and the magnetically controlled pump body is in a first state;

[0026] A magnetic field in a second direction is applied to the magnetic soft pump device, one of the two magnetically controlled valves is closed and the other is opened, and the magnetically controlled pump body is in a second state, wherein the first state and the second state are a combination of a concave state and a convex state.

[0027] Optionally, if the first magnetically controlled valve is opened and the second magnetically controlled valve is closed, the magnetically controlled pump body is in an upward convex state; if the second magnetically controlled valve is opened and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a concave state, then the pumping direction of the magnetic soft pump device is from the first magnetically controlled valve to the second magnetically controlled valve;

[0028] If the first magnetically controlled valve is opened and the second magnetically controlled valve is closed, the magnetically controlled pump body is in a concave state; if the second magnetically controlled valve is opened and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a convex state, then the pumping direction of the magnetic soft pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

[0029] Optionally, when the direction of the magnetic field applied to the magnetic soft pump device is changed, if the magnetically controlled pump body completes the deformation, the strength of the applied magnetic field is reduced so as to maintain only the state of the two magnetically controlled valves, thereby reducing the operating power consumption of the magnetic soft pump device.

[0030] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0031] The present invention provides a magnetic soft body pump device and its operation control method. The structure of the hemispherical shell can significantly improve the deformation of the magnetic soft body during the deformation process from concave to convex, and has a large volume change, which greatly improves the pumping flow of the soft body pump, thereby effectively improving the pumping efficiency. In addition, the design of the magnetic control pump body with a hemispherical shell bistable structure reduces the energy consumption of the pumping process. The bistable structure enables the magnetic control pump body to maintain the existing deformation state after the deformation magnetic field is removed. Therefore, during the pumping process, the driving magnetic field can be loaded intermittently in a time sequence, providing a feasible low-power driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of an embodiment of a bistable magnetic soft pump provided by the present invention;

[0033] Figure 2 A schematic diagram of the direction of applying a magnetic field and the valve body action process of the bistable magnetic soft pump provided by the present invention in the first embodiment;

[0034] Figure 3 An experimental diagram of the direction of the applied magnetic field and the valve body action process in the first embodiment of the bistable magnetic soft pump provided by the present invention;

[0035] Figure 4The relationship between the deformation height and the loading magnetic field strength of the bistable soft magnetic pump provided by the present invention in the forward loading magnetic field (magnetic field strength increasing) and the reverse loading magnetic field (magnetic field strength decreasing);

[0036] In all the drawings, the same figure marks are used to represent the same elements or structures, including: left magnetic soft valve body 1-1, left magnetic soft valve suction lock 1-2, bistable magnetic control pump body 2, fixed container 3, right magnetic soft valve body 4-1, right magnetic soft valve suction lock 4-2. DETAILED DESCRIPTION

[0037] For ease of understanding, the English abbreviations and related technical terms involved in the embodiments of the present invention are explained and described below.

[0038] The embodiments of the present invention are described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] The present invention provides a magnetic soft pump body utilizing the bistable action principle. Through the magnetically controlled pump body design of a hemispherical shell bistable structure, the deformation ability of the soft pump body is enhanced, the pumping flow of the soft pump is improved, and the problem of limited pumping efficiency existing in the existing magnetic soft pump technology is solved.

[0040] It can be understood that the hemispherical shell structure mentioned in the embodiment of the present invention can also be called a three-dimensional dome structure, and the following embodiments of the present invention will not specifically explain this.

[0041] Figure 1 The schematic diagram of the structure of the embodiment of the bistable magnetic soft pump body provided by the present invention is as follows: Figure 1 As shown, it includes: a left magnetic soft valve body 1-1, a left magnetic soft valve suction lock 1-2, a bistable magnetic control pump body 2, a fixed container 3, a right magnetic soft valve body 4-1, and a right magnetic soft valve suction lock 4-2.

[0042] The magnetic soft valve bodies 1-1 and 4-1 are made of magnetic powder NdFeB and silica gel and then molded into the following shapes: Figure 1 The magnetic soft valve body is magnetized by a pulse magnetic field device to obtain the following Figure 1 Magnetic soft valve body with vertical magnetization direction (positive and negative directions of Z axis).

[0043] Magnetic soft valve lock 1-2 and 4-2: The preparation process is the same as that of the magnetic soft valve body, and they are prepared by different molds as follows Figure 1 The magnetic soft valve lock is magnetized by a pulse magnetic field device to obtain the following Figure 1 Magnetic soft valve suction lock with horizontal magnetization direction (positive direction of X axis).

[0044] Magnetic control pump body 2: The preparation process is the same as that of the magnetic soft valve, and it is prepared through different molds as follows Figure 1 The hemispherical shape in the magnetron pump body is magnetized by a pulse magnetic field device to obtain the following Figure 1 The magnetic control pump body has a vertical magnetization direction (positive direction of the Z axis).

[0045] Fixed container 3: prepared by 3D printing, mainly used to fix and connect the magnetic soft valve body, suction lock, pump body, and provide a closed flow channel for fluid pumping.

[0046] After mixing magnetic powder NdFeB and silica gel, a mold is used to prepare Figure 1 Shape, after solidification, demoulding to obtain magnetic soft valve body, magnetic soft valve suction lock, magnetic control pump body. The magnetic soft body is magnetized by pulse magnetic field device to obtain Figure 1 The magnetic soft valve body has positive and negative magnetization directions on the middle Z axis, the magnetic soft valve suction lock has positive magnetization direction on the X axis, and the magnetic control pump body has positive magnetization direction on the Z axis. The magnetic soft valve body, suction lock, and pump body are fixed to the fixed container prepared by 3D printing by sealant to ensure its sealing, and a bistable magnetic soft pump body is prepared.

[0047] Furthermore, in order to ensure the sealing performance, a fixing groove of a magnetic soft valve and a magnetic control pump body of a specific size is reserved in advance on the fixed container, and a sealant is used to adhere the magnetic soft pump to achieve good sealing performance.

[0048] Furthermore, the action process of the magnetic control pump body has a bistable characteristic. When no magnetic field is applied, the magnetic control pump body is in a concave state, and the hemispherical shell structure maintains the concave steady state; when an upward magnetic field is applied, the magnetic control pump body changes to a convex state, and when the external magnetic field is removed, the hemispherical shell structure maintains the convex steady state.

[0049] Furthermore, the action process of the valve body of the magnetic control valve is the result of the combined action of the magnetic gradient force and the magnetic torque. When there is no opening magnetic field or a low-intensity opening magnetic field, the magnetic torque applied to the valve body of the magnetic control valve cannot overcome the gradient force attraction of the suction lock, and the magnetic control valve is in a closed state. When the opening magnetic field reaches the opening threshold, the magnetic torque applied to the valve body of the magnetic control valve overcomes the gradient force attraction of the suction lock, and the magnetic control valve is in an open state.

[0050] Furthermore, the present invention provides a method for driving a bistable magnetic soft pump, comprising the following steps:

[0051] S1. The bistable magnetic soft pump prepared according to the above structure is connected to two water containers at both ends of the pump body through a fixing member to ensure the sealing of the connection;

[0052] S2. Place the magnetic soft pump into the Z-axis single-axis coil and connect the coil to the AC power amplifier power supply;

[0053] S3. Turn on the power supply of the power amplifier and load a sinusoidal magnetic field on the Z axis. At this time, the pump body is in the left pumping mode, and the liquid in the right container is pumped to the left container through the magnetic soft pump;

[0054] Furthermore, by adjusting the intensity of the Z-axis magnetic field, the pumping efficiency of the bistable magnetic soft pump can be controlled.

[0055] Furthermore, based on the characteristics of the bistable action, by regulating the waveform of the loading current, the pumping of the bistable magnetic soft pump under low energy consumption conditions can be achieved.

[0056] First embodiment

[0057] Figure 2 A schematic diagram of the direction of applying a magnetic field and the action process of the valve body in the first embodiment of the bistable magnetic soft pump provided by the present invention; Figure 3 An experimental diagram of the valve body action process when applying the magnetic field direction in the first embodiment of the bistable magnetic soft pump provided by the present invention.

[0058] In the first half of the cycle, the magnetic field loaded on the Z axis is positive. Under the action of the magnetic torque, the left valve body is open, the right valve is in a closed state, and the upper magnetic control pump body remains concave. Figure 2 Right picture and Figure 3 As shown in the right figure, the magnetic soft pump body completes the process of liquid discharge from the left end.

[0059] In the second half of the cycle, the magnetic field loaded on the Z axis is negative. Under the action of the magnetic torque, the valve body at the right end is opened, the valve at the left end is in a closed state, and the magnetically controlled pump body at the upper end becomes convex. Figure 2 Left picture and Figure 3 As shown in the left figure, the magnetic soft pump body completes the liquid suction process from the right end.

[0060] Keep the above power supply stably loaded to achieve the repetitive and stable action of the above two processes, and the magnetic soft pump body realizes the pumping process of the liquid from the right end to the left end.

[0061] Figure 4 The present invention provides a bistable magnetic soft pump body with a relationship between deformation height and loading magnetic field strength in a forward loading magnetic field (magnetic field strength increasing) and a reverse loading magnetic field (magnetic field strength decreasing). Wherein, the applied magnetic field direction is positive. When the forward magnetic field strength increases the loading magnetic field, the magnetic control pump body maintains a concave steady state at a low field strength; when the magnetic field strength further increases, the magnetic control pump body suddenly changes to a convex steady state. When the reverse magnetic field strength decreases the loading magnetic field, the magnetic control pump body maintains a convex steady state at most field strengths; when the magnetic field strength further decreases, the magnetic control pump body suddenly changes to a concave steady state. Wherein, during the forward and reverse loading magnetic fields, the magnetic control pump body deformation exists in a dual-state region under the same magnetic field.

[0062] It can be understood that the pumping direction of the present invention is determined by the convex / concave state of the magnetically controlled pump body with a hemispherical shell structure and the open+closed combination of the two magnetically controlled valves. Therefore, the magnetic soft pump device provided by the present invention is capable of realizing a unidirectional pumping function. The pumping flow rate can be adjusted by selecting a suitable hemispherical shell structure (hemispherical shell surface area and material, etc.) and magnetic field strength, but its pumping direction is not unique, and the direction of the unidirectional pumping can be freely adjusted by assembly and / or regulation of the magnetization direction. The pumping direction in the above embodiment is only for illustration and should not be regarded as any limitation of the present invention.

[0063] Specifically, the magnetization direction of the center suction lock and the valve body of the two magnetically controlled valves provided by the present invention and the magnetization direction of the magnetically controlled pump body have the following four combinations, as shown in Table 1:

[0064] Table 1

[0065] Left valve Magnetic pump body Right valve The first magnetization combination Valve body ↓→ suction lock Concave magnetization↑ Suction lock → ↑ valve body The second magnetization combination ↓→ Concave magnetization↓ →↑ The third magnetization combination ↑← Convex magnetization↑ ←↓ The fourth magnetization combination ↑← Convex magnetization↓ ←↓

[0066] For the four different magnetization combinations in Table 1, the deformation of the two pump bodies and the valve body under the action of magnetic fields in four directions is shown in Table 2:

[0067] Table 2

[0068]

[0069] Therefore, the specific pumping direction can be determined in combination with the deformation conditions in Table 2. The pumping medium can be liquid or gas.

[0070] Furthermore, by selecting a suitable hemispherical shell structure (radius, thickness angle, volume, material, etc.), a bistable hemispherical shell structure can be obtained, thereby realizing a bistable magnetic soft pump device and reducing magnetic field energy consumption.

[0071] The present invention provides a magnetic soft pump body and method using the bistable action principle. Through the design of the magnetic control pump body with a hemispherical shell bistable structure, the deformation ability of the soft pump is enhanced, the pumping flow of the soft pump is improved, and the problem of limited pumping efficiency in the existing magnetic soft pump technology is solved. At the same time, the introduction of the bistable design allows the magnetic soft pump body to maintain its original state after the magnetic field is removed, providing a feasible method for low-power design of the driving magnetic field.

[0072] It should be understood that expressions such as "include" and "may include" that can be used in the present invention indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In the present invention, terms such as "include" and / or "have" can be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but cannot be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0073] In addition, in the present invention, the expression "and / or" includes any and all combinations of the associated listed words. For example, the expression "A and / or B" may include A, may include B, or may include both A and B.

[0074] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the relative position relationship after connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after connection. The directional terms mentioned in the embodiments of the present invention, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0075] In addition, in the embodiments of the present invention, the mathematical concepts mentioned are symmetry, equality, parallelism, and perpendicularity. These limitations are all for the current technological level, rather than an absolutely strict definition in the mathematical sense, and a small amount of deviation is allowed, and approximate symmetry, approximate equality, approximate parallelism, and approximate perpendicularity are all acceptable. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0076] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A magnetic soft pump device, characterized in that: include: A magnetically controlled pump body, two magnetically controlled valves and a container; The magnetic control pump body is a magnetic soft structure of a hemispherical shell structure, which is magnetized along a first direction, and the first direction is the direction of convexity or concaveness of the hemispherical shell structure; the magnetic control pump body has a bistable state, so that after the magnetic control pump body is deformed from one stable state to another stable state under the action of an external magnetic field, if the intensity of the external magnetic field is reduced or removed, the magnetic control pump body maintains the deformed shape unchanged; wherein, the stable state refers to the hemispherical shell structure maintaining a concave or convex state; When the two magnetically controlled valves are opened, they require a magnetic field in a first direction and a magnetic field in a second direction respectively; the second direction is opposite to the first direction; The container is provided with three openings, wherein the first opening and the second opening are respectively equipped with a magnetic control valve, and the third opening is equipped with the edge of the magnetic control pump body.

2. The device according to claim 1, characterized in that Each magnetic control valve includes: a magnetic soft structure suction lock and a magnetic soft structure valve body; The magnetization direction of the suction locks of the two magnetically controlled valves is perpendicular to the first direction, and the magnetization direction of the valve body is the first direction or the second direction, based on whether each magnetically controlled valve can self-lock in the absence of an external magnetic field.

3. The device according to claim 2, characterized in that The magnetization direction of the suction lock in the first magnetic control valve is the third direction, and the magnetization direction of the valve body is the second direction; the magnetization direction of the suction lock in the second magnetic control valve is the fourth direction, and the magnetization direction of the valve body is the first direction; wherein, if a circle is provided on a plane perpendicular to the first direction, the third direction is the radial inward direction of the circle, and the fourth direction is the radial outward direction of the circle; the first direction is the upward convex direction of the magnetic control pump body of the hemispherical shell structure, and the upward convex direction is the direction toward the outside of the container; The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both in the fourth direction; when a magnetic field in the first direction is applied to the two magnetically controlled valves, the first magnetically controlled valve opens and the second magnetically controlled valve closes; when a magnetic field in the second direction is applied to the two magnetically controlled valves, the first magnetically controlled valve closes and the second magnetically controlled valve opens.

4. The device according to claim 2, characterized in that The magnetization direction of the suction lock in the first magnetic control valve is the fourth direction, and the magnetization direction of the valve body is the first direction; the magnetization direction of the suction lock in the second magnetic control valve is the third direction, and the magnetization direction of the valve body is the second direction; wherein, if a circle is provided on a plane perpendicular to the first direction, the third direction is the radial inward direction of the circle, and the fourth direction is the radial outward direction of the circle; the first direction is the upward convex direction of the magnetic control pump body of the hemispherical shell structure, and the upward convex direction is the direction toward the outside of the container; The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both in the fourth direction; when a magnetic field in the first direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is closed and the second magnetically controlled valve is opened; when a magnetic field in the second direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed.

5. The device according to claim 1, characterized in that Initially, the magnetically controlled pump body of the hemispherical shell structure is in an upward convex state: If the magnetic control pump body is magnetized in the first direction, when a low-intensity magnetic field in the second direction is applied to it, the magnetic control pump body still maintains a convex state, and when a high-intensity magnetic field in the second direction is applied to it, the magnetic control pump body becomes a concave state; When a low-intensity magnetic field in the first direction is applied again, the magnetic control pump body still maintains a concave state, and when a high-intensity magnetic field in the first direction is applied again, the magnetic control pump body changes to a convex state; If the magnetic control pump body is magnetized along the second direction, when a low-intensity magnetic field in the first direction is applied to it, the magnetic control pump body still maintains a convex state, and when a high-intensity magnetic field in the first direction is applied to it, the magnetic control pump body becomes a concave state; When a low-intensity magnetic field in the second direction is applied again, the magnetic control pump body still maintains a concave state. When a high-intensity magnetic field in the second direction is applied again, the magnetic control pump body changes to a convex state.

6. The device according to claim 1, characterized in that Initially, the magnetic control pump body of the hemispherical shell structure is in a concave state: If the magnetic control pump body is magnetized along the first direction, when a low-intensity magnetic field in the second direction is applied to it, the magnetic control pump body still maintains a concave state, and when a high-intensity magnetic field in the second direction is applied to it, the magnetic control pump body becomes a convex state; When a low-intensity magnetic field in the first direction is applied again, the magnetic control pump body still maintains a convex state, and when a high-intensity magnetic field in the first direction is applied again, the magnetic control pump body changes to a concave state; If the magnetic control pump body is magnetized along the second direction, when a low-intensity magnetic field in the first direction is applied to it, the magnetic control pump body still maintains a concave state, and when a high-intensity magnetic field in the first direction is applied to it, the magnetic control pump body becomes a convex state; When a low-intensity magnetic field in the second direction is applied again, the magnetic control pump body still maintains a convex state. When a high-intensity magnetic field in the second direction is applied again, the magnetic control pump body changes to a concave state.

7. An operation control method of the magnetic soft pump device according to any one of claims 1 to 6, characterized in that: The following steps are involved: A magnetic field in a first direction is applied to the magnetic soft pump device, one of the two magnetically controlled valves is opened and the other is closed, and the magnetically controlled pump body is in a first state; A magnetic field in a second direction is applied to the magnetic soft pump device, one of the two magnetically controlled valves is closed and the other is opened, and the magnetically controlled pump body is in a second state, wherein the first state and the second state are a combination of a concave state and a convex state; the combination state refers to: when the first magnetically controlled valve is opened and the second magnetically controlled valve is closed, the magnetically controlled pump body is in a convex state; when the second magnetically controlled valve is opened and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a concave state; when the first magnetically controlled valve is opened and the second magnetically controlled valve is closed, the magnetically controlled pump body is in a concave state; when the second magnetically controlled valve is opened and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a convex state.

8. The method according to claim 7, characterized in that If the first magnetic control valve is opened and the second magnetic control valve is closed, the magnetic control pump body is in a convex state; if the second magnetic control valve is opened and the first magnetic control valve is closed, the magnetic control pump body is in a concave state, then the pumping direction of the magnetic soft pump device is from the first magnetic control valve to the second magnetic control valve; If the first magnetically controlled valve is opened and the second magnetically controlled valve is closed, the magnetically controlled pump body is in a concave state; if the second magnetically controlled valve is opened and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a convex state, then the pumping direction of the magnetic soft pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

9. The method according to claim 7 or 8, characterized in that: When the direction of the magnetic field applied to the magnetic soft pump device is changed, if the magnetically controlled pump body completes deformation, the strength of the applied magnetic field is reduced to maintain the state of only two magnetically controlled valves, thereby reducing the operating power consumption of the magnetic soft pump device.

Images