A magnetic soft pump device with bidirectional pumping function and operation control method thereof

Abstract

The present invention provides a magnetic soft pump device with a bidirectional pumping function 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 disc-shaped magnetic soft structure, which is magnetized in a radially inward direction or a radially outward direction; each magnetic control valve comprises: a magnetic soft structure suction lock and a magnetic soft structure valve body; each magnetic control valve is magnetized in one of two combined states; three openings are provided on the container, 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 assembled magnetic soft pump device can respectively realize the pumping function in two directions under the action of different combined magnetic fields. The present invention realizes different action responses of the magnetic control pump body and the magnetic control valve to the dual-axis driving magnetic field by adopting different magnetization treatments on the magnetic control valve and the magnetic control pump body, laying a foundation for the realization of the bidirectional pumping function.

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 with a bidirectional pumping function 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. They 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 considerable 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, existing magnetically controlled soft pumps have the problem of difficulty in directly realizing bidirectional pumping of fluids. Because compared with a rigid pump body, the driving power of a soft pump body is relatively small, in order to ensure pumping efficiency, existing magnetically controlled soft pumps require the coordinated action of one-way or controllable fluid valves. Among them, commercial one-way valves are widely used because they do not require control wiring and have a simpler structure, but they have problems with a single conduction direction and limited flow. Other controllable fluid valves often require additional control connections, which increases the complexity of the device and the difficulty of control. Therefore, existing magnetically controlled soft pumps have the problem of difficulty in directly realizing bidirectional pumping of fluids. Summary of the invention

[0005] In view of the defects of the prior art, the purpose of the present invention is to provide a magnetic soft pump device with a bidirectional pumping function and an operation control method thereof, aiming to solve the problem that the existing magnetically controlled soft pumps are difficult to directly achieve bidirectional pumping of fluids.

[0006] To achieve the above-mentioned object, in a first aspect, the present invention provides a magnetic soft pump device with a bidirectional pumping function, comprising: a magnetically controlled pump body, two magnetically controlled valves and a container;

[0007] The magnetic control pump body is a disc-shaped magnetic soft structure, which is magnetized in a radially inward direction or a radially outward direction;

[0008] Each magnetic control valve comprises: a magnetic soft structure suction lock and a magnetic soft structure valve body; each magnetic control valve is magnetized into one of two combination states; the first combination state is: when the magnetization direction of the suction lock is the radial outward direction, the magnetization direction of the valve body is the first direction; the second combination state is: when the magnetization direction of the suction lock is the radial inward direction, the magnetization direction of the valve body is the second direction; the first direction is perpendicular to the direction of the magnetic control pump body toward the outside of the container, and the second direction is opposite to the first direction;

[0009] The container is provided with three openings, wherein the first opening and the second opening are respectively equipped with a magnetically controlled valve, and the third opening is assembled with the edge of the magnetically controlled pump body; the assembled magnetic soft pump device can realize pumping functions in two directions respectively under the action of different combined magnetic fields.

[0010] Optionally, the magnetization directions of the two magnetically controlled valve locks are in a straight line.

[0011] Optionally, the opening directions of the two magnetically controlled valves are both in the radially outward direction;

[0012] If the magnetic control valve is magnetized to the first combination state, then:

[0013] When a magnetic field in a third 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 a fourth direction is applied to the two magnetically controlled valves, the first magnetically controlled valve closes and the second magnetically controlled valve opens;

[0014] When a magnetic field in a fifth 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 a sixth direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed; the third direction to the sixth direction are related to the magnetization direction of the suction lock and the valve body of the magnetically controlled valve.

[0015] Optionally, the opening directions of the two magnetically controlled valves are both in the radially outward direction;

[0016] If the magnetic control valve is magnetized to the second combination state, then:

[0017] When a magnetic field in a third 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 a fourth 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] When a magnetic field in the fifth 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 sixth direction is applied to the two magnetically controlled valves, the first magnetically controlled valve closes and the second magnetically controlled valve opens; the third direction to the sixth direction are related to the magnetization direction of the suction lock and the valve body of the magnetically controlled valve.

[0019] Optionally, if the magnetically controlled pump body is magnetized in a radially outward direction, when a magnetic field in a third direction is applied to it, it is deformed to a concave state; when a magnetic field in a fourth direction is applied to it, it is deformed to a convex state; when a magnetic field in a fifth direction is applied to it, it is deformed to a concave state; when a magnetic field in a sixth direction is applied to it, it is deformed to a convex state; the third direction to the sixth direction are related to the magnetization direction of the magnetically controlled valve's suction lock and the valve body.

[0020] Optionally, if the magnetically controlled pump body is magnetized inwardly in the radial direction, it will be deformed into a convex state when a magnetic field in a third direction is applied thereto; it will be deformed into a concave state when a magnetic field in a fourth direction is applied thereto; it will be deformed into a convex state when a magnetic field in a fifth direction is applied thereto; and it will be deformed into a concave state when a magnetic field in a sixth direction is applied thereto; the third direction to the sixth direction are related to the magnetization direction of the magnetically controlled valve's suction lock and the valve body.

[0021] Optionally, the magnetization directions of the two magnetically controlled valve locks are on a straight line, the third direction is between the first direction and the positive direction of the straight line, the fourth direction is between the second direction and the negative direction of the straight line; the fifth direction is between the first direction and the negative direction of the straight line, and the sixth direction is between the second direction and the positive direction of the straight line.

[0022] In a second aspect, the present invention provides an operation control method of a magnetic soft pump device as described in the first aspect or any optional aspect of the first aspect, comprising the following steps:

[0023] A magnetic field in a third 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; then a magnetic field in a fourth 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; so that the magnetic soft pump device pumps in the first pumping direction;

[0024] A magnetic field in a fifth 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 the second state; then a magnetic field in a sixth 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 the first state; so that the magnetic soft pump device pumps in a second pumping direction; the second pumping direction is opposite to the first pumping direction.

[0025] Optionally, if 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, and 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, and the pumping direction of the magnetic soft pump device is from the first magnetically controlled valve to the second magnetically controlled valve.

[0026] Optionally, 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; 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, and the pumping direction of the magnetic soft pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

[0027] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0028] The present invention provides a magnetic soft pump device with a bidirectional pumping function and an operation control method thereof, which realizes the action decoupling of the magnetic control valve and the pump body through the structure of "magnetic control valve + pump body" and a specific magnetization method. By adopting different magnetization treatments for the magnetic control valve and the magnetic control pump body, different action responses of the magnetic control pump body and the magnetic control valve to the dual-axis driving magnetic field are realized, laying a foundation for the realization of the bidirectional pumping function.

[0029] The present invention provides a magnetic soft pump device with a bidirectional pumping function and an operation control method thereof, which adopts a biaxial drive magnetic field control, and realizes the bidirectional pumping function of a single magnetic pump body based on the above structure. For example, based on the different action responses of the magnetic control pump body and the magnetic control valve to the X-axis and Z-axis biaxial magnetic fields, the bidirectional pumping function of a single magnetic pump can be realized by changing the loading phase difference (0° and 180°) of the X-axis and Z-axis magnetic fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic structural diagram of an embodiment of a magnetic pump body with a bidirectional pumping function provided by the present invention;

[0031] Figure 2 A schematic diagram of the direction of applying a magnetic field and the operation process of the magnetic pump body in the first embodiment of the magnetic pump body with a bidirectional pumping function provided by the present invention;

[0032] Figure 3A schematic diagram of a magnetic field waveform loaded on the first embodiment of the magnetic pump body with bidirectional pumping function provided by the present invention;

[0033] Figure 4 A schematic diagram of the direction of applying a magnetic field and the operation process of the magnetic pump body in the second embodiment of the magnetic pump body with a bidirectional pumping function provided by the present invention;

[0034] Figure 5 A schematic diagram of a magnetic field waveform loaded on a second embodiment of a magnetic pump body with a bidirectional pumping function provided by the present invention;

[0035] 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, 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

[0036] For ease of understanding, the English abbreviations and related technical terms involved in the embodiments of the present invention are explained and described below.

[0037] The embodiments of the present invention are described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0038] In response to the above defects or improvement needs of the prior art, the present invention provides a magnetic soft pump body and method with a bidirectional pumping function using a dual-axis drive magnetic field control technology. The purpose is to decouple the soft pump body and the magnetically controlled valve through the cooperation of the magnetic soft pump body and the dual-axis drive magnetic field, thereby realizing bidirectional pumping of the fluid by the same magnetic soft pump body and solving the unidirectional pumping problem existing in the existing magnetic soft pump technology.

[0039] Figure 1 A schematic diagram of the structure of an embodiment of a magnetically soft pump body with a bidirectional pumping function provided by the present invention; Figure 1 As shown, the magnetic pump body includes: a left magnetic soft valve body 1-1, a left magnetic soft valve suction lock 1-2, a 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.

[0040] 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 The magnetic soft valve body has the magnetization direction vertically upward (positive direction of the Z axis).

[0041] 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 1The magnetic soft valve lock is magnetized by a pulse magnetic field device.

[0042] Get as Figure 1 Magnetic soft valve suction lock with horizontal magnetization direction (positive and negative direction of X axis).

[0043] 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 disc shape in the middle is magnetized by a pulse magnetic field device to obtain the following Figure 1 The magnetization direction of the magnetic pump is radially outward (radially divergent in the XY plane).

[0044] 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.

[0045] 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.

[0046] Furthermore, in order to realize the magnetic control action of the magnetic soft valve, the magnetization direction of the magnetic soft valve body and the suction lock is determined. The valve body of the magnetic control valve on the left can be magnetized in the positive direction of the Z axis, and the suction lock can be magnetized in the negative direction of the X axis, so that the lower end of the suction lock produces a magnetic adsorption effect on the valve body, realizing self-locking closure under the condition of no magnetic field. Similarly, the valve body of the magnetic control valve on the right can be magnetized in the positive direction of the Z axis, and the suction lock can be magnetized in the positive direction of the X axis.

[0047] 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.

[0048] Furthermore, the magnetically controlled pump body is fixed to a fixed container. According to the analysis of the magnetization direction of the pump body, its movement process is mainly affected by the magnetic field in the Z direction, and the magnetic fields in the X and Y directions have limited influence on its deformation process.

[0049] In a specific embodiment, a method for realizing the bidirectional pumping function of a magnetic soft pump body is provided, comprising the following steps:

[0050] S1. Connect the two ends of the magnetic soft pump body prepared according to the above structure to two water containers through fixing members to ensure the sealing of the connection;

[0051] S2. Place the magnetic soft pump into the three-axis Helmholtz coil, and connect the X and Z coils of the Helmholtz coil to the AC power amplifier power supply;

[0052] S3. Turn on the power supply of the power amplifier, and load a sinusoidal magnetic field with a phase difference of 0° on the X-axis and 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;

[0053] S4. Turn on the power supply of the power amplifier and load a sinusoidal magnetic field with a phase difference of 180° on the X-axis and Z-axis. At this time, the pump body is in the rightward pumping mode, and the liquid in the left end container is pumped to the right end container through the magnetic soft pump.

[0054] Furthermore, by adjusting the intensity of the biaxial magnetic field, the pumping efficiency of the magnetic soft pump can be controlled; by adjusting the phase of the biaxial magnetic field, the pumping direction of the magnetic soft pump can be controlled.

[0055] It should be noted that the above embodiment describes the control of the magnetic field through a three-axis Helmholtz coil. Those skilled in the art can understand that other devices for achieving magnetic field control through permanent magnets, etc., should all fall within the scope of protection of the present invention, and the present invention will not elaborate on this.

[0056] Embodiment 1

[0057] In order to realize the leftward pumping function of the magnetically controlled pump body, the specific implementation steps are as follows:

[0058] S1. Connect the two ends of the magnetic soft pump body prepared according to the above structure to two water containers through fixing members to ensure the sealing of the connection;

[0059] S2. Place the magnetic soft pump into the three-axis Helmholtz coil, and connect the X and Z coils of the Helmholtz coil to the AC power amplifier power supply;

[0060] S3. Turn on the power supply of the power amplifier, load a sinusoidal current with a phase difference of 0° on the X-axis and the Z-axis, and generate a sinusoidal magnetic field with a phase difference of 0° on the X-axis and the Z-axis. At this time, the magnetic soft pump body is in the left pumping mode.

[0061] Figure 2 In the first embodiment of the magnetic soft pump body with bidirectional pumping function provided by the present invention, a schematic diagram of the magnetic soft pump body action process is shown with the direction of the applied magnetic field. In the first half of the cycle, the magnetic fields loaded on the X-axis and the Z-axis are both positive. At this time, the direction of the composite magnetic field is to the upper right. Under the action of the magnetic torque, the left end valve body opens, and the right end valve deflects to the left and is in a closed state. The upper end magnetic control pump body is mainly affected by the Z-axis magnetic field, and a concave action occurs at this time. Therefore, the magnetic soft pump body completes the process of discharging the liquid from the left end.

[0062] In the second half of the cycle, the magnetic fields loaded on the X-axis and Z-axis are both negative. At this time, the direction of the composite magnetic field is left and lower. Under the action of the magnetic torque, the left-end valve body deflects to the right and is in a closed state, and the right-end valve is open. The upper end magnetic control pump body is mainly affected by the Z-axis magnetic field, and an upward convex action occurs at this time. Therefore, the magnetic soft pump body completes the process of sucking liquid from the right end.

[0063] Keep the above power supply stable loading, the loading waveform diagram is as follows Figure 3 As shown, the above two processes are repeated and stably performed, and the magnetic soft pump body realizes the process of pumping the liquid from the right end to the left end.

[0064] Second embodiment

[0065] In order to realize the rightward pumping function of the magnetically controlled pump body, the specific implementation steps are as follows:

[0066] S1. Connect the two ends of the magnetic soft pump body prepared according to the above structure to two water containers through fixing members to ensure the sealing of the connection;

[0067] S2. Place the magnetic soft pump into the three-axis Helmholtz coil, and connect the X and Z coils of the Helmholtz coil to the AC power amplifier power supply;

[0068] S3. Turn on the power supply of the power amplifier, load a sinusoidal current with a phase difference of 180° on the X-axis and the Z-axis, and generate a sinusoidal magnetic field with a phase difference of 180° on the X-axis and the Z-axis. At this time, the magnetic soft pump body is in the rightward pumping mode.

[0069] Figure 4 In the second embodiment of the magnetic soft pump body with bidirectional pumping function provided by the present invention, a schematic diagram of the magnetic soft pump body action process is shown with the direction of the applied magnetic field. In the first half of the cycle, the magnetic field loaded on the X-axis is negative, and the magnetic field loaded on the Z-axis is positive. At this time, the direction of the composite magnetic field is upper left. Under the action of the magnetic torque, the left end valve body deflects to the right and is in a closed state, and the right end valve is opened. The upper end magnetic control pump body is mainly affected by the Z-axis magnetic field, and a concave action occurs at this time. Therefore, the magnetic soft pump body completes the process of discharging the liquid from the right end.

[0070] In the second half of the cycle, the magnetic field loaded on the X axis is positive, and the magnetic field loaded on the Z axis is negative. At this time, the direction of the composite magnetic field is right down. Under the action of the magnetic torque, the left end valve body opens, and the right end valve deflects to the left and is in a closed state. The upper end magnetic control pump body is mainly affected by the Z axis magnetic field, and an upward convex action occurs at this time. Therefore, the magnetic soft pump body completes the process of sucking liquid from the left end.

[0071] In addition, the pumping direction of the present invention is determined by the convex / concave state of the magnetic control pump body and the open+closed combination of the two magnetic control valves. Therefore, the magnetic soft pump device provided by the present invention can realize a bidirectional pumping function. The pumping flow rate can be adjusted by selecting a suitable magnetic soft body (area, residual magnetic strength and material, etc.) and magnetic field strength, but its pumping direction is not unique, and the corresponding pumping direction can be adjusted by free assembly and / or magnetization. The pumping direction in the above embodiment is only used as an example and should not be regarded as any limitation of the present invention.

[0072] 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:

[0073] Table 1

[0074]

[0075] 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:

[0076] Table 2

[0077]

[0078] 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.

[0079] Keep the above power supply stable loading, the loading waveform diagram is as follows Figure 5 As shown, the above two processes are repeated and stably performed, and the magnetic soft pump body realizes the pumping process of the liquid from the left end to the right end.

[0080] The magnetic soft pump body device and method with bidirectional pumping function provided by the present invention realizes the decoupling of the action of the magnetic control valve and the pump body by utilizing the structure of "magnetic control valve + pump body" and a specific magnetization method. At the same time, the dual-axis drive magnetic field control technology is adopted to realize the controllable switching of the pumping direction of a single magnetic soft pump by changing the loading phase difference of the two-axis magnetic field, and realizes the bidirectional pumping of the fluid by the same magnetic soft pump body, solving the unidirectional pumping problem existing in the existing magnetic soft pump technology.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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 with bidirectional pumping function, characterized in that: include: A magnetically controlled pump body, two magnetically controlled valves and a container; The magnetic control pump body is a disc-shaped magnetic soft structure, which is magnetized in the radial inward direction or the radial outward direction; Each magnetically controlled valve comprises: a magnetic soft structure suction lock and a magnetic soft structure valve body; each magnetically controlled valve is magnetized into one of two combination states; the first combination state is: when the magnetization direction of the suction lock is radially outward, the magnetization direction of the valve body is the first direction; the second combination state is: when the magnetization direction of the suction lock is radially inward, the magnetization direction of the valve body is the second direction; the first direction is the direction perpendicular to the magnetic control pump body toward the outside of the container, and the second direction is opposite to the first direction; the opening directions of the two magnetically controlled valves are both radially outward; when the magnetically controlled valves are magnetized into the first combination state, when a magnetic field in a third direction is applied to the two magnetically controlled valves, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed; When a magnetic field in a fourth direction is applied, the first magnetically controlled valve is closed and the second magnetically controlled valve is opened; when a magnetic field in a fifth direction is applied, the first magnetically controlled valve is closed and the second magnetically controlled valve is opened; when a magnetic field in a sixth direction is applied, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed; when the magnetically controlled valves are magnetized to the second combination state, when a magnetic field in a third 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 a fourth direction is applied, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed; when a magnetic field in a fifth direction is applied, the first magnetically controlled valve is opened and the second magnetically controlled valve is closed; when a magnetic field in a sixth direction is applied, the first magnetically controlled valve is closed and the second magnetically controlled valve is opened; When the magnetic control pump body is magnetized in the radial outward direction, under the action of the magnetic field in the third direction to the sixth direction, it is deformed between concave, convex, concave and convex respectively; when the magnetic control pump body is magnetized in the radial inward direction, under the action of the magnetic field in the third direction to the sixth direction, it is deformed between convex, concave, convex and concave respectively; the magnetization directions of the two magnetic control valve locks are on a straight line, the third direction is between the first direction and the positive direction of the straight line, the fourth direction is between the second direction and the negative direction of the straight line; the fifth direction is between the first direction and the negative direction of the straight line, and the sixth direction is between the second direction and the positive direction of the straight line; The container is provided with three openings, wherein the first opening and the second opening are respectively equipped with a magnetically controlled valve, and the third opening is assembled with the edge of the magnetically controlled pump body; the assembled magnetic soft pump device can realize pumping functions in two directions respectively under the action of different combined magnetic fields.

2. A method for controlling the operation of the magnetic soft pump device according to claim 1, characterized in that: The following steps are involved: A magnetic field in a third 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; then a magnetic field in a fourth 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; so that the magnetic soft pump device pumps in the first pumping direction; A magnetic field in a fifth 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 the second state; then a magnetic field in a sixth 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 the first state; so that the magnetic soft pump device pumps in a second pumping direction; the second pumping direction is opposite to the first pumping direction.

3. The method according to claim 2, characterized in that 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; the pumping direction of the magnetic soft pump device is from the first magnetically controlled valve to the second magnetically controlled valve.

4. The method according to claim 2, characterized in that: 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; the pumping direction of the magnetic soft pump device is from the second magnetically controlled valve to the first magnetically controlled valve.

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