A magnetic soft pump device based on a corrugated pipe structure and its operation control method

Abstract

The present invention provides a magnetic soft pump device based on a corrugated pipe structure and an operation control method thereof. The device includes: a magnetic control pump body, two magnetic control valves, and a container; the magnetic control pump body is a magnetic soft structure in the shape of a corrugated pipe, one end of the magnetic control pump body is closed, and the other end is open; the magnetic control pump body is magnetized along a first direction, and the first direction is consistent with the diastolic direction or the compression direction of the corrugated pipe; when the two magnetic control valves are opened, they respectively require a magnetic field in the first direction and a magnetic field in the second direction; the second direction is opposite to the first direction; the container is provided with three openings, which are respectively connected and assembled with the edges of a magnetic control valve and the magnetic control pump body; when the magnetic soft pump device is respectively applied with magnetic fields in the first and second directions, the magnetic control pump body undergoes compressive or diastolic deformation, and the two magnetic control valves are opened alternately, and the magnetic soft pump device works. The present invention realizes large-flow pumping of fluid and improves the pumping efficiency by regulating the driving magnetic field to change the deformation state of the corrugated pipe.

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 based on a corrugated pipe structure and an operation control method thereof. Background Art

[0002] A soft robot is a robot whose main body or main functional structure is composed of soft materials (materials with an elastic modulus between 104 Pa and 109 Pa). Compared with traditional rigid robots, soft robots have the advantages of high degrees of freedom, strong deformation ability, good adaptability, etc., and have broad application prospects in the fields of bioengineering, medicine, etc. Soft pump robots have attracted much attention due to their extensive applications in the fields of medical rehabilitation such as artificial hearts and artificial soft fingers. Compared with rigid pumps, soft pump bodies have significant advantages such as light weight, flexibility, and no noise pollution, and have become one of the choices for integrated power sources for the development of future fluid robots.

[0003] In existing research, there are various types of driving methods for soft pump bodies, including peristaltic membrane driving (commonly, microfluidic peristaltic membrane pumps achieved through thermal driving and electrostatic driving), electro-responsive dielectric elastomer driving, magnetic driving, etc. However, the flow rate of the pump body driven by peristaltic membrane is usually in the range of nanoliters to microliters per minute, which is not sufficient for large actuators and soft robots. Although the electro-responsive dielectric elastomer actuator pump has a significant improvement in liquid flow rate, the working liquid pumped is limited to dielectric fluids, and the operating voltage is relatively high (>10 kV). However, the magnetically driven soft pump body has certain characteristics of a certain pump body flow rate and no limitation of pumped liquid media. At the same time, compared with other driving methods, the electromagnetic driving method has significant advantages such as non-contact, strong controllability, and good penetration performance.

[0004] However, the pumping efficiency of the magnetic soft pump body still needs to be developed and improved. Existing magnetic soft pump bodies often use magnetic soft materials to deform under magnetic field control, thereby causing pressure changes in a closed container and compressing air to complete the pumping process. Limited by the deformation amount of the magnetic soft material, the pumping flow rate of the existing reported magnetically controlled pump body is usually below 100 ml / min. Therefore, the existing magnetically controlled pump body has the problem of low pumping flow rate, and the pumping efficiency needs to be improved. Summary of the Invention

[0005] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide a magnetic soft pump device based on a corrugated pipe structure and an operation control method thereof, aiming to solve the problem that the pumping efficiency of the existing magnetically controlled pump body needs to be improved.

[0006] To achieve the above purpose, in the first aspect, the present invention provides a magnetic soft pump device based on a corrugated pipe structure, including: a magnetically controlled pump body, two magnetically controlled valves, and a container;

[0007] The magnetically controlled pump body is a magnetic soft structure in the shape of a corrugated pipe. One end of the magnetically controlled pump body is closed and the other end is open. The magnetically controlled pump body is magnetized along a first direction, which is consistent with the diastolic direction or the compression direction of the corrugated pipe.

[0008] When the two magnetically controlled valves are opened, they respectively require a magnetic field in the first direction and a magnetic field in the second direction. The second direction is opposite to the first direction.

[0009] Three openings are provided on the container. Among them, a first opening and a second opening are respectively connected and assembled with a magnetically controlled valve, and the third opening is assembled with the edge of the magnetically controlled pump body.

[0010] Optionally, each magnetically controlled valve includes: a suction lock of a magnetic soft structure and a valve body of a magnetic soft structure.

[0011] The magnetization directions of the suction locks of the two magnetically controlled valves are perpendicular to the first direction, and the magnetization direction of the valve body is the first direction or the second direction, so that each magnetically controlled valve can be self-locked without the action of an external magnetic field.

[0012] 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. Among them, if a circle is set in 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 diastolic direction of the corrugated pipe, and the diastolic direction is the direction towards the outside of the container.

[0013] The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both the fourth direction.

[0014] When the two magnetically controlled valves are applied with a magnetic field in the first direction, the first magnetically controlled valve opens and the second magnetically controlled valve closes; when the two magnetically controlled valves are applied with a magnetic field in the second direction, the first magnetically controlled valve closes and the second magnetically controlled valve opens.

[0015] 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. Among them, if a circle is set in 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 diastolic direction of the corrugated pipe, and the diastolic direction is the direction towards the outside of the container.

[0016] The opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both the fourth direction.

[0017] When magnetic fields in the first direction are applied to the two magnetically controlled valves, the first magnetically controlled valve closes and the second magnetically controlled valve opens; when magnetic fields in the second direction are applied to the two magnetically controlled valves, the first magnetically controlled valve opens and the second magnetically controlled valve closes.

[0018] Optionally, initially, the bellows-shaped magnetically controlled pump body is in a compressed state:

[0019] If it is magnetized along the first direction, when a magnetic field in the second direction is applied, it deforms to the diastolic state, and when a magnetic field in the first direction is applied, it deforms to the compressed state; the first direction is the diastolic direction of the bellows;

[0020] If it is magnetized along the second direction, when a magnetic field in the first direction is applied, it deforms to the diastolic state, and when a magnetic field in the second direction is applied, it deforms to the compressed state.

[0021] Optionally, initially, the bellows-shaped magnetically controlled pump body is in the diastolic state:

[0022] If it is magnetized along the first direction, when a magnetic field in the second direction is applied, it deforms to the compressed state, and when a magnetic field in the first direction is applied, it deforms to the diastolic state; the first direction is the diastolic direction of the bellows;

[0023] If it is magnetized along the second direction, when a magnetic field in the first direction is applied, it deforms to the compressed state, and when a magnetic field in the second direction is applied, it deforms to the diastolic state.

[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 one of the first aspect, including the following steps:

[0025] Apply a magnetic field in the first direction to the magnetic soft pump device, one of the two magnetically controlled valves opens and the other closes, and the magnetically controlled pump body is in the first state;

[0026] Apply a magnetic field in the second direction to the magnetic soft pump device, one of the two magnetically controlled valves closes and the other opens, and the magnetically controlled pump body is in the second state, and the first state and the second state are a combined state of one of the diastolic and compressed states.

[0027] Optionally, if the first magnetically controlled valve is open and the second magnetically controlled valve is closed, the magnetically controlled pump body is in the diastolic state, and if the second magnetically controlled valve is open and the first magnetically controlled valve is closed, the magnetically controlled pump body is in the compressed 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] When the first magnetically controlled valve is open and the second magnetically controlled valve is closed, the magnetically controlled pump body is in a compressed state. When the second magnetically controlled valve is open and the first magnetically controlled valve is closed, the magnetically controlled pump body is in a diastolic state. Then, the pumping direction of the magnetic soft body pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

[0029] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the following beneficial effects are achieved:

[0030] The present invention provides a magnetic soft body pump device based on a corrugated pipe structure and its operation control method, and proposes a novel magnetically controlled valve structure of "valve body + suction lock". By pre-magnetizing the valve and pump body structures, self-locking and opening of the magnetic soft body valve under magnetic field control are realized. By controlling the magnitude and direction of the driving magnetic field and adjusting the magnetic torque effect, the on-off control of the valve is achieved, which has better controllability compared with existing commercial one-way valves. The present invention designs a magnetic soft pump body with a corrugated pipe structure. Based on the excellent magnetically controlled compression performance of the magnetic soft body corrugated pipe, efficient fluid pumping of the magnetic soft body pump body is realized. By regulating the loading of the Z-axis magnetic field, the contraction and relaxation of the magnetic soft body corrugated pipe are achieved, and coordinated with the orderly action of the magnetically controlled valve, the efficient fluid pumping function of the magnetic soft body pump is completed. Description of the Drawings

[0031] Figure 1 It is a schematic structural diagram of a magnetic valve with a closed self-locking function provided by an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the magnetic field application direction and the valve body action process of the sealed magnetic valve provided by an embodiment of the present invention;

[0033] Figure 3(a) is a schematic diagram of the closed state of the sealed magnetic valve provided by an embodiment of the present invention;

[0034] Figure 3(b) is a schematic diagram of the open state of the sealed magnetic valve provided by an embodiment of the present invention;

[0035] Figure 4 It is a curve graph of the valve opening and closing states of the sealed magnetic valve provided by an embodiment of the present invention;

[0036] Figure 5 It is a schematic diagram of the pump body structure and assembly in the first embodiment of the magnetic soft body pump body with a corrugated pipe structure provided by an embodiment of the present invention;

[0037] Figure 6 It is a schematic diagram of the magnetic field application direction and the action process of the magnetic soft body pump body in the first embodiment of the magnetic soft body pump body with a corrugated pipe structure provided by an embodiment of the present invention;

[0038] In all the drawings, the same reference numerals are used to denote the same elements or structures, including: the left magnetic soft valve body 1-1, the left magnetic soft valve suction lock 1-2, the bellows magnetic control pump body 2, the fixed container 3, the right magnetic soft valve body 4-1, the right magnetic soft valve suction lock 4-2, and the left magnetic valve fixing member 4-3. Detailed implementation manners

[0039] For ease of understanding, the following first explains and describes the English abbreviations and related technical terms involved in the embodiments of the present invention.

[0040] The following describes the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention.

[0041] In view of the above defects or improvement requirements of the prior art, the present invention provides a magnetic soft pump body device and method with a bellows structure. Based on the good compressibility and large volume change characteristics of the bellows structure, a magnetically driven soft bellows is designed. By regulating the driving magnetic field to change the deformation state of the bellows, large-flow pumping of fluids is achieved, and the pumping efficiency of the magnetic soft pump body is improved.

[0042] Figure 1 It is a schematic structural diagram of the magnetic valve with a closed self-locking function provided by the present invention. In Figure 1 different reference numerals are used to denote different elements or structures of the magnetically controlled magnetic valve, including: the valve fixing member 4-3, the magnetic soft valve suction lock 4-2, and the magnetic soft valve body 4-1.

[0043] After mixing magnetic powder NdFeB and silica gel, the magnetic soft valve body and the magnetic soft valve suction lock are obtained through mold preparation. The magnetic soft body is magnetized by a pulsed magnetic field device. For example, Figure 1 the magnetic soft valve body with the positive magnetization direction along the Z-axis and the magnetic soft valve suction lock with the positive magnetization direction along the X-axis in

[0044] Figure 2 It is a schematic diagram of the magnetic field application direction and the valve body movement process of the sealed magnetic valve provided by the present invention. To achieve the control action of the magnetic soft valve, the specific implementation steps are as follows:

[0045] S1. When a magnetic field with an upward direction is applied or no magnetic field is applied, the magnetically controlled valve is in a sealed self-locking state. When a magnetic field with a downward direction and a relatively small magnetic field intensity is applied, the magnetic torque action of the magnetically controlled valve cannot overcome the gradient magnetic field force, and the valve is in a sealed self-locking state, as Figure 1 shown.

[0046] S2. When a magnetic field with a downward direction is applied, when the magnetic field intensity increases to the point where the magnetic torque overcomes the gradient magnetic force, the valve opens at this time, as Figure 2 shown in the right figure.

[0047] Specifically, the closed and open states of the sealed magnetic valve are respectively shown in Fig. 3(a) and Fig. 3(b).

[0048] Figure 4 This is a curve graph of the valve switch state of the sealed magnetic valve provided by the present invention. Among them, the positive direction of the magnetic induction intensity on the X-axis takes Figure 2 the downward magnetic field direction in it. When a magnetic field with a downward direction and a relatively low intensity is applied, the valve is in the sealed state A at this time, as Figure 2 shown in the left figure. When the magnetic field intensity further increases to the opening magnetic field, the valve completes the opening action at this time, and the valve is in the open state B, as Figure 2 shown in the right figure.

[0049] Figure 5 This is a schematic structural diagram of the first embodiment of the magnetic soft body pump body of the corrugated pipe provided by the present invention. In Figure 5 it, different reference numerals are used to represent different elements or structures of the magnetic soft body pump body, where: the left magnetic soft valve body 1-1, the left magnetic soft valve suction lock 1-2, the magnetically controlled pump body 2, the fixed container 3, the right magnetic soft valve body 4-1, the right magnetic soft valve suction lock 4-2.

[0050] After mixing the magnetic powder NdFeB and silica gel, the magnetic soft valve body, the magnetic soft valve suction lock, and the magnetically controlled pump body are obtained through mold preparation and demolding. Through the pulsed magnetic field device, the magnetic soft body is magnetized to obtain the magnetic soft valve body with the magnetization directions of the positive and negative directions of the Z axis in Figure 5 it, the magnetic soft valve suction lock with the magnetization direction of the positive direction of the X axis, and the magnetically controlled pump body magnetized axially (magnetized in the Z direction after compression) after the mold is compressed.

[0051] The magnetic soft valve body, the suction lock, and the corrugated pipe pump body are fixed to the fixed container prepared by 3D printing through sealant to ensure its sealing performance, and the magnetic soft body pump body is obtained.

[0052] Specifically, the magnetic soft valve bodies 1-1 and 4-1: are obtained by mixing the magnetic powder NdFeB and silica gel and then curing after being formed into the shape in Figure 5 it. Through the pulsed magnetic field device, the magnetic soft valve body is magnetized to obtain the magnetic soft valve body with the vertically upward and downward magnetization directions (the positive and negative directions of the Z axis) in Figure 5 it.

[0053] The magnetic soft valve suction locks 1-2 and 4-2: The preparation process is the same as that of the magnetic soft valve body process, and they are formed into the shape in Figure 5In the shape, the magnetic soft valve suction lock is magnetized by a pulsed magnetic field device.

[0054] to obtain a magnetic soft valve suction lock with a horizontal magnetization direction (positive X-axis) as shown in Figure 5 .

[0055] Magnetically controlled pump body 2: The preparation process is the same as that of the magnetic soft valve. It is prepared into a corrugated shape as shown in Figure 1 using different molds. The corrugated pipe is pre-flattened with a mold, and then the magnetically controlled pump body assisted by the mold is magnetized by a pulsed magnetic field device to obtain a magnetically controlled pump body with a compressed axial magnetization direction as shown in Figure 5 .

[0056] Fixed container 3: Prepared by 3D printing, mainly used to fix and connect the magnetic soft valve body, suction lock, and pump body, providing a closed flow channel for the pumping of fluids. Each part is connected to the fixed container with sealant to form a closed corrugated magnetic soft pump.

[0057] Furthermore, to achieve the sealing self-locking and opening actions of the magnetic soft valve, the magnetization directions of the magnetic soft valve body and the suction lock are specific. The valve body of the left magnetic control valve is magnetized in the negative Z-axis direction, and the suction lock is magnetized in the positive X-axis direction. Therefore, the lower end of the suction lock produces a magnetic adsorption effect on the valve body, realizing self-locking and closing under the condition of no magnetic field. Similarly, the valve body of the right magnetic control valve is magnetized in the positive Z-axis direction, and the suction lock is magnetized in the positive X-axis direction.

[0058] Furthermore, the action process of the valve body of the magnetic control valve is the combined result of magnetic gradient force and magnetic torque. When there is no opening magnetic field or a low-intensity opening magnetic field acts, the magnetic torque acting on 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 the closed self-locking state. When the opening magnetic field reaches the opening threshold, the magnetic torque acting on the valve body of the magnetic control valve overcomes the gradient force attraction of the suction lock, and the magnetic control valve is in the open state.

[0059] Furthermore, when an upward axial magnetic field is applied, the corrugated pipe is compressed and deformed, the volume of the magnetic soft pump body decreases, the pressure increases, and the pump body discharges fluid to the outside; when a downward axial magnetic field is applied, the corrugated pipe expands and deforms, the volume of the magnetic soft pump body increases, the pressure decreases, and the pump body sucks fluid from the outside.

[0060] To realize the pumping function of the magnetic soft pump body, the specific implementation steps are as follows:

[0061] S1. The prepared magnetic soft pump body with the above structure is connected to two water-filled containers at both ends of the pump body through fixing components, ensuring the sealing of the connection;

[0062] S2. The magnetic soft pump is placed in a Z-axis single-axis coil, and the coil is connected to an AC power amplifier power supply;

[0063]

[0063] Turn on the power amplifier power supply, apply a sinusoidal current on the Z-axis to generate a sinusoidal magnetic field on the Z-axis. At this time, the magnetic soft pump body is in the leftward pumping mode.

[0064]

[0064] Further, by adjusting the intensity of the magnetic field on the Z-axis, the deformation degree of the magnetically controlled pump body and the opening angle of the magnetically controlled valve can be controlled, thereby regulating the pumping efficiency of the magnetic soft pump.

[0065] Figure 6 Figure 6 In the first embodiment of the magnetic soft pump body with a sealed magnetic valve provided by the present invention, a schematic diagram of the operation process of the magnetic soft pump body when the magnetic field direction is applied.

[0066]

[0066] In the first half cycle, the magnetic field applied on the Z-axis is positive. Under the action of the magnetic torque, the left valve body opens, and the right valve is in the closed state. The upper magnetic soft bellows undergoes a compression action. Therefore, the magnetic soft pump body completes the process of discharging the liquid from the left end.

[0067]

[0067] In the second half cycle, the magnetic field applied on the Z-axis is negative. Under the action of the magnetic torque, the right valve body opens, and the left valve is in the closed state. The upper magnetic soft bellows undergoes a diastolic action. Therefore, the magnetic soft pump body completes the process of sucking the liquid from the right end.

[0068]

[0068] Keep the above power supply stably loaded, realize the repetition and stable operation 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.

[0069]

[0069] It should be noted that the magnetically controlled pump body with a bellows structure provided by the present invention can be a monostable structure or a bistable structure. When it is a monostable structure, if it undergoes non-steady-state deformation, an external magnetic field needs to be continuously applied to maintain the corresponding state. When it is a bistable structure, since the deformed state is stable, the corresponding applied magnetic field can be reduced or removed after deformation to reduce magnetic field loss. Those skilled in the art can select the corresponding bellows material according to actual needs.

[0070]

[0070] Further, theoretically speaking, the bellows can be magnetized in the compressed state or the diastolic state, and both can achieve the one-way pumping function. Among them, in order to maintain the maximum deformation during its working process, the bellows is usually selected to be magnetized in the compressed state. If the bellows is a monostable structure, after magnetization, without the action of an external force, it will return to the diastolic state, that is, the steady state. If the bellows is a bistable structure, after magnetization, it will remain in the compressed state.

[0071] In addition, the pumping direction of the present invention is determined by the diastolic / compression state of the bellows and the combination of opening and closing of the two magnetically controlled valves. Therefore, the magneto-soft pump device provided by the present invention can achieve a one-way pumping function. By selecting a suitable bellows structure (length, volume, material, etc.) and magnetic field strength, the pumping flow rate can be adjusted. However, its pumping direction is not unique, and the one-way pumping direction can be adjusted by freely assembling and / or controlling the magnetization direction. The pumping directions in the above embodiments are only for illustrative purposes and should not be regarded as any limitation to the present invention.

[0072] Specifically, there are the following four combinations between the magnetization directions of the middle suction lock of the two magnetically controlled valves and the valve body and the magnetization direction of the magneto-pump body provided by the present invention, as shown in Table 1:

[0073] Table 1

[0074] Left valve Magnetically controlled pump body Right valve The first magnetization combination Valve body ↓→ Suction lock Compressive magnetization ↑ Suction lock →↑ Valve body The second magnetization combination ↓→ Compressive magnetization ↓ →↑ The third magnetization combination ↑← Diastolic magnetization ↑ ←↓ The fourth magnetization combination ↓← Diastolic magnetization ↓ ←↓

[0075] For the four different magnetization combinations in Table 1, under the action of magnetic fields in four directions, the deformations of the two pump bodies and the valve body are shown in Table 2:

[0076] Table 2

[0077]

[0078] Therefore, the specific pumping direction can be determined in combination with the deformation conditions in Table 2. Among them, the pumping medium can be liquid or gas.

[0079] The present invention provides a magneto-soft pump body device and method based on a bellows structure. Based on the good compressibility and large volume change characteristics of the bellows structure, a magnetically driven soft bellows is designed. By regulating the driving magnetic field to change the deformation state of the bellows, large-flow pumping of fluids is achieved, and the pumping efficiency of the magneto-soft pump body is improved.

[0080] It should be understood that expressions such as "including" 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 "including" and / or "having" 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 addition of one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0081] 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" can include A, can include B, or can include both A and B.

[0082] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly defined 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 two are connected and the relative positional relationship after connection remains unchanged. "Rotational connection" means that the two are connected and can rotate relative to each other after connection. "Sliding connection" means that the two are connected and can slide relative to each other after connection. The directional terms mentioned in the embodiments of the present invention, such as "top", "bottom", "inner", "outer", "left", "right", etc., are only references to the directions in the accompanying drawings. Therefore, the directional terms are used to better and more clearly illustrate and understand 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 thus cannot be construed as a limitation on the embodiments of the present invention.

[0083] In addition, in the embodiments of the present invention, mathematical concepts such as symmetry, equality, parallelism, and perpendicularity are mentioned. These definitions are all in view of the current technological level, rather than the absolutely strict definitions in the mathematical sense. A small deviation is allowed, and approximate symmetry, approximate equality, approximate parallelism, approximate perpendicularity, etc. are all acceptable. For example, when it is said that A is parallel to B, it means that A is parallel to B or approximately parallel to B, and the included angle between A and B can be between 0 degrees and 10 degrees. When it is said that A is perpendicular to B, it means that A is perpendicular to B or approximately perpendicular to B, and the included angle between A and B can be between 80 degrees and 100 degrees.

[0084] The above is only the specific implementation manner 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, and all should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A magnetic soft pump device based on a corrugated pipe structure, characterized in that, Comprising: A magnetically controlled pump body, two magnetically controlled valves, and a container; The magnetically controlled pump body is a magnetic soft structure in the shape of a corrugated pipe. One end of the magnetically controlled pump body is closed and the other end is open. The magnetically controlled pump body is magnetized along a first direction, and the first direction is consistent with the diastolic direction or the compression direction of the corrugated pipe; When the two magnetically controlled valves are opened, they respectively require a magnetic field in the first direction and a magnetic field in the second direction; The second direction is opposite to the first direction. Each magnetically controlled valve includes: a suction lock of a magnetic soft structure and a valve body of a magnetic soft structure. The magnetization directions of the suction locks of the two magnetically controlled valves are perpendicular to the first direction, and the magnetization direction of the valve body is the first direction or the second direction, with each magnetically controlled valve being able to self-lock without the action of an external magnetic field; The container is provided with three openings. Among them, the first opening and the second opening are respectively connected and assembled with a magnetically controlled valve, and the third opening is assembled with the edge of the magnetically controlled pump body; 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. Among them, if a circle is set in 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 diastolic direction of the corrugated pipe, and the diastolic direction is the direction towards the outside of the container; the opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both the fourth direction; when the two magnetically controlled valves are applied with a magnetic field in the first direction, the first magnetically controlled valve opens and the second magnetically controlled valve closes; when the two magnetically controlled valves are applied with a magnetic field in the second direction, the first magnetically controlled valve closes and the second magnetically controlled valve opens; Or, 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. Among them, if a circle is set in 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 diastolic direction of the corrugated pipe, and the diastolic direction is the direction towards the outside of the container; the opening directions of the first magnetically controlled valve and the second magnetically controlled valve are both the fourth direction; when the two magnetically controlled valves are applied with a magnetic field in the first direction, the first magnetically controlled valve closes and the second magnetically controlled valve opens; when the two magnetically controlled valves are applied with a magnetic field in the second direction, the first magnetically controlled valve opens and the second magnetically controlled valve closes.

2. The device according to claim 1, characterized in that Initially, the magnetically controlled pump body in the shape of a corrugated pipe is in a compressed state: If it is magnetized along the first direction, when it is applied with a magnetic field in the second direction, it deforms to a diastolic state, and when it is applied with a magnetic field in the first direction, it deforms to a compressed state; The first direction is the diastolic direction of the corrugated pipe; If it is magnetized along the second direction, when it is applied with a magnetic field in the first direction, it deforms to a diastolic state, and when it is applied with a magnetic field in the second direction, it deforms to a compressed state.

3. The device according to claim 1, characterized in that, Initially, the magnetically controlled pump body in the shape of a corrugated pipe is in a diastolic state: If it is magnetized along the first direction, it deforms to the compressed state when a magnetic field in the second direction is applied, and it deforms to the diastolic state when a magnetic field in the first direction is applied; The first direction is the diastolic direction of the bellows; If it is magnetized along the second direction, it deforms to the compressed state when a magnetic field in the first direction is applied, and it deforms to the diastolic state when a magnetic field in the second direction is applied.

4. A method for controlling the operation of the magnetic soft body pump device according to any one of claims 1 to 3, characterized in that, It includes the following steps: Apply a magnetic field in the first direction to the magnetic soft pump device, one of the two magnetically controlled valves opens and the other closes, and the magnetically controlled pump body is in the first state; Apply a magnetic field in the second direction to the magnetic soft pump device, one of the two magnetically controlled valves closes and the other opens, and the magnetically controlled pump body is in the second state, and the first state and the second state are a combined state of two states of diastolic and compression.

5. The method according to claim 4, wherein If the first magnetically controlled valve opens and the second magnetically controlled valve closes, the magnetically controlled pump body is in the diastolic state, and if the second magnetically controlled valve opens and the first magnetically controlled valve closes, the magnetically controlled pump body is in the compressed state, then the pumping direction of the magnetic soft pump device is from the first magnetically controlled valve to the second magnetically controlled valve; If the first magnetically controlled valve opens and the second magnetically controlled valve closes, the magnetically controlled pump body is in the compressed state, and if the second magnetically controlled valve opens and the first magnetically controlled valve closes, the magnetically controlled pump body is in the diastolic state, then the pumping direction of the magnetic soft pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

Images