A driving device and method for planar motion deformation of a magnetorheological robot

Abstract

The present invention proposes a driving device and method for the planar motion deformation of a magnetorheological robot. The device includes a magnetic field conversion module and a mechanical driving device. The magnetic field conversion module includes a plurality of bases, each of which is equipped with strong permanent magnets of different arrangements, and an adsorption permanent magnet is attached to the bottom. The base library is used to store the base, and the pan head and the electric push rod cooperate to realize the vertical rotation and docking of the base. The small coil at the top of the electric push rod is adsorbed and cooperated with the base to adjust the distance and direction between the base and the working area. The mechanical driving device is responsible for driving the module to move on the plane. The method of using the device includes controlling the motion trajectory and deformation of the base, and changing the magnetic field by adjusting the length of the electric push rod and rotating the electric push rod to realize the deformation or stiffness adjustment of the magnetorheological robot. The device effectively solves the limitations of the prior art in continuous drive and deformation, and provides a continuous, stable and flexible magnetorheological robot control solution.

Description

Technical Field

[0001] The present invention relates to a micro-nano robot control technology that can be used for medical examination and treatment, and in particular to a driving device and method for the planar motion deformation of a magnetorheological robot. Background Art

[0002] With the rapid development and progress of science and technology, micro-nano robots have become one of the frontier research fields due to their small size, deformability, high flexibility and precise controllable working advantages. They have broad application prospects in precision medicine, industrial manufacturing, environmental monitoring, biological research and other fields. For example, in medical applications, magnetically driven magnetorheological robots can be used for thrombus removal. Magnetorheological robots can be guided to the thrombus site by specific equipment, and the magnetorheological effect is used to mechanically break and remove the thrombus after enhancing the control magnetic field. Similarly, deformable magnetorheological robots can carry drugs to the lesion area in blood vessels or body cavities under controlled conditions, realizing precise drug delivery treatment at the microscopic level.

[0003] How to accurately and continuously drive and sense micro-nano robots is one of the research focuses of micro-nano robot technology. In current research, light, heat, sound, electric field, piezoelectric, biological, electromagnetic and other methods are used as feasible actuation schemes for micro-nano robots. Among them, the control of the robot by magnetic drive has high control accuracy, and the application of magnetic field in a short time will not cause any harm to the human body. At the same time, magnetically driven micro-nano robots can be combined with biocompatible materials to have high biocompatibility. Therefore, magnetically driven micro-nano robots have great application value in medicine. According to relevant literature, there is currently a technology that realizes the planar motion control of magnetorheological micro-nano robots through a micro-coil array distributed in a plane, but it is restricted by the execution mode of inching, and the continuous motion of the magnetorheological robot in the plane cannot be realized. The driving force provided by the micro-coil is small, and the robot cannot be manipulated to transport objects with large mass and volume.

[0004] The existing scheme of using three-axis Helmholtz coils or coil arrays to control the motion of magnetorheological robots is limited to the central part of three groups of symmetrical coils arranged along the X, Y, and Z axes due to the principle of magnetic field generation. The large coil group arranged outside will occupy the working space, making it impossible to work in working environments such as the human body, irregular shell chambers, and large objects. If you want to use three-axis Helmholtz coils to generate a magnetic field sufficient for a millimeter-level magnetorheological robot to drive a gram-level object, you need a huge coil turn volume and energy supply, which will seriously limit the working conditions of the magnetorheological robot and lead to high use costs. The coil array controls the movement of the magnetorheological robot by controlling the on-off logic sequence of the coils in a certain narrow area and the current size. However, this solution cannot achieve stable and controllable robot deformation, and due to the fast response time of the magnetorheological robot, the magnetorheological robot cannot be completely stable and continuous. Secondly, the coil array limits the size of each coil to obtain higher motion control accuracy. The reduction in coil size will inevitably lead to a reduction in the magnetic field size provided by the coil through the current. The reduction in the magnetic field size will lead to a reduction in the load capacity of the magnetorheological robot, and may even fail to reach the magnetic field threshold for the magnetorheological effect of the magnetorheological fluid, causing the robot to lose its working ability. The existing solution using a three-axis Helmholtz coil or coil array is difficult to drive the magnetorheological robot to move stably after deformation. Driving the robot to deform requires a specific distribution of magnetic fields, but it is difficult to track the magnetic field with the robot during movement.

[0005] It should be noted that the information disclosed in the above background technology section is only used for understanding the background of the present application, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the invention

[0006] The main purpose of the present invention is to overcome the defects existing in the above-mentioned background technology and to provide a driving device and method for the planar motion deformation of a magnetorheological robot.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A driving device for planar motion deformation of a magnetorheological robot, comprising:

[0009] A magnetic field conversion module, comprising:

[0010] A plurality of bases are provided with strong permanent magnets in various arrangements, and an adsorption permanent magnet is provided at the bottom of the base;

[0011] A base library, used for accommodating the plurality of bases;

[0012] A pan / tilt platform is used to support the base library and is driven by a steering gear to realize vertical rotation, so that the electric push rod can switch to dock with different bases, thereby using a strong permanent magnet of a desired shape;

[0013] An electric push rod, a small coil with an iron core is installed on the top of the electric push rod, the small coil is used to cooperate with the adsorption permanent magnet under the base, the electric push rod is telescopic in the vertical direction to adjust the relative distance between the base and the working area, the electric push rod is installed on a rotating seat, and the rotating seat is driven by a steering gear to realize vertical rotation, so as to adjust the direction of the strong permanent magnet on the base;

[0014] The mechanical driving device is connected to the magnetic field conversion module and is used to drive the magnetic field conversion module to move continuously on a plane.

[0015] Furthermore, the mechanical drive device includes three screw slides, two of which are horizontally arranged along the X direction, and the other screw slide is horizontally arranged along the Y direction perpendicular to the X direction; the screw slide horizontally arranged along the Y direction is fixed on the slider of the screw slide horizontally arranged along the X direction; the magnetic field conversion module is fixed on the slider of the screw slide horizontally arranged along the Y direction; each screw slide is driven by a stepper motor with a ball screw structure to achieve linear motion along the axial direction of the screw.

[0016] Furthermore, a conical groove is provided at the bottom of the base, the adsorption permanent magnet is provided in the conical groove, a conical seat is provided at the top of the electric push rod, and the small coil is provided on the conical seat.

[0017] Furthermore, a groove is formed on one side of the conical seat for connecting the wires of the coil.

[0018] Furthermore, a plurality of countersunk slots are provided on the base storehouse, and the strong permanent magnets are arranged in the countersunk slots.

[0019] Furthermore, the base storehouse is disc-shaped, and the plurality of bases are evenly distributed on the base storehouse along the circumferential direction.

[0020] Furthermore, the pan head is fixed on a first carbon fiber frame, and the first carbon fiber frame and the rotating seat are fixed on a second carbon fiber frame.

[0021] Furthermore, the electric push rod is clamped and fixed on the rotating seat by two limit blocks.

[0022] A method for using the driving device for planar motion deformation of a magnetorheological robot, comprising:

[0023] When the electric push rod drives the base close to the working area, the mechanical drive device drives the base to perform a predetermined linear motion or curved motion in the plane; the magnetic field generated by the strong permanent magnet above the base controls the magnetorheological robot in the working area to follow the motion trajectory of the base;

[0024] When the magnetorheological robot is driven to deform, the electric push rod is retracted and the power is cut off, and the base is placed in the base library; the pan / tilt and the base library are driven to rotate by the servo, and another base with a different permanent magnet arrangement is driven to the top of the electric push rod; the electric push rod is extended and energized, and the other base is fixed to the top of the electric push rod and re-approaches the working area, thereby generating a different magnetic field to drive the magnetorheological robot to deform.

[0025] Furthermore, the method also includes: adjusting the extension length of the electric push rod to change the relative distance between the base and the working area, and / or driving the rotating seat to rotate the electric push rod through a servo to change the orientation of the strong permanent magnet on the base, thereby changing the magnetic field that controls the magnetorheological robot, causing the magnetorheological robot to deform or change its stiffness.

[0026] In some embodiments, a driving device for planar motion deformation of a magnetorheological robot includes a control magnetic field conversion module and a mechanical driving device, wherein the control magnetic field is generated by NdFeB permanent magnets of different shapes arranged in different positions and fixed in a base, and the permanent magnets together with the base are installed in four circular countersunk notches evenly distributed along the axial direction of the base library, and a weaker permanent magnet is fixed under the base, and the base library is fixed on the pan-tilt platform, and the pan-tilt platform is driven by the servo below to rotate in the vertical direction, and an electric push rod is fixed on the side of the base library, and the electric push rod is fixed on the rotating seat, and the rotating seat is driven by the servo below. The electric push rod can be extended in the vertical direction and driven by the servo under the rotating seat to rotate axially. A conical seat is installed on the top of the electric push rod, and a small coil with an iron core is fixed in the conical seat. When it is necessary to control the magnetic fluid to deform into a certain shape, the servo under the gimbal drives the gimbal and the base library to rotate, and the base with the permanent magnet of the required shape is positioned directly above the electric push rod. The electric push rod embeds the conical seat into the groove under the base. The small coil is energized and attracts the weaker permanent magnet under the base to cooperate with the conical groove to fix the base to the top of the electric push rod. Then the electric push rod is lifted in the vertical direction, and the base is close to the working area. The magnetic field conversion module is fixed on the mechanical drive device, which is composed of three groups of lead screw slide mechanisms. Two groups are arranged in parallel on the frame, and one group is fixed at both ends on the sliders of the first two groups, arranged perpendicular to the first two groups, and the magnetic field conversion module is fixed thereon. The servo motor system in a single lead screw slide drives the slide to move along the axial direction of the lead screw. Therefore, when arranged vertically, the lead screw slide can drive the magnetic field conversion module as a whole to move along the horizontal X and Y axis directions, which is equivalent to driving the base to move along the X and Y directions. The electric push rod can change the position of the base and the working area, and change the permanent magnet applied to the working area. The magnetic field size of the domain magnetofluid robot is controlled, and the robot stiffness is changed through the magnetorheological effect so that the robot can transport objects by increasing the stiffness through a strong magnetic field, or the magnetic field is weakened to reduce the robot stiffness so that the robot can be separated from the operating object. The electric push rod rotating seat drives the servo to change the arrangement direction of the permanent magnet. When the above components work together, the micro magnetorheological robot can be driven to move continuously in the horizontal direction in the working area. By changing the direction of the permanent magnet, or automatically switching the base with different permanent magnet arrangements in situ, the control magnetic field arrangement can be switched, thereby realizing the controllable deformation of the magnetorheological robot.

[0027] The present invention has the following beneficial effects:

[0028] The present invention provides a driving device for the plane motion and deformation of a magnetorheological robot, which is a local magnetic field generating system capable of driving a single magnetorheological robot to move in plane, deform, and change stiffness, and effectively overcomes the shortcomings and limitations of the existing three-axis Helmholtz coil or coil array in continuously driving the magnetorheological robot in two-dimensional plane motion and deformation. Compared with the use of three-axis Helmholtz coils or coil arrays to control magnetorheological robots, the present invention can realize continuous motion control of the robot and can realize more complex and stable deformation. The magnetorheological robot is continuously driven by permanent magnets in conjunction with a servo system, and the magnetorheological robot can be precisely and controllably deformed by changing the arrangement of the permanent magnets, and is continuously driven by the servo system. The magnetic field is generated by using permanent magnets with a specific arrangement, and the permanent magnets are allowed to follow the movement of the robot through the servo system, so that the robot can continuously maintain the deformation state and move. At the same time, the present invention is provided with a permanent magnet base library, which can actively switch and control the permanent magnets at any time, realize a variety of stable deformations of the robot, and perform load driving operations.

[0029] Other beneficial effects of the embodiments of the present invention will be further described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an axonometric view of the overall structure of a driving device for planar motion deformation of a magnetorheological robot according to an embodiment of the present invention.

[0031] Figure 2 4 is a cross-sectional view of a base according to an embodiment of the present invention.

[0032] Figure 3 This is an axonometric view of a base library according to an embodiment of the present invention.

[0033] Figure 4 FIG. 4 is a side view of a magnetic field conversion module according to an embodiment of the present invention.

[0034] Figure 5 It is an axonometric view of the mechanical drive structure of an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing as well as for coupling or communication.

[0037] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] See also Figures 1 to 5 An embodiment of the present invention provides a driving device for planar motion deformation of a magnetorheological robot, including a magnetic field conversion module 2 and a mechanical driving device 3, and the mechanical driving device 3 can be arranged on a frame 4. The magnetic field conversion module 2 includes: a plurality of bases 6, on which strong permanent magnets (permanent magnet 1 5, preferably neodymium iron boron permanent magnets) of different arrangements are placed, and an adsorption permanent magnet (a weaker permanent magnet 2 7 can be used) is arranged at the bottom of the base 6; a base library 8, for placing the plurality of bases 6; a pan head 9, for supporting the base library 8 and driven by a servo 10 to achieve vertical rotation, so that the electric push rod 16 can switch to dock with different bases 6, thereby using strong permanent magnets of the required shape; an electric push rod 16, a small coil 18 with an iron core is installed at the top of the electric push rod 16, and the small coil 18 is used to be adsorbed and cooperated with the adsorption permanent magnet under the base 6, and the electric push rod 16 is telescopic in the vertical direction to adjust the relative distance between the base 6 and the working area, and the electric push rod 16 is installed on a rotating seat 14, and the rotating seat 14 is driven by another servo 2 13 to achieve vertical rotation, thereby adjusting the direction of the strong permanent magnet on the base 6. The mechanical driving device 3 is connected to the magnetic field conversion module 2 to drive the magnetic field conversion module 2 to move continuously on a plane. It should be understood that the different arrangement forms referred to in the present invention include one or more differences in shape, size and arrangement direction between different permanent magnets.

[0040] See also Figure 2 In a preferred embodiment, a conical groove is provided at the bottom of the base 6, the adsorption permanent magnet is arranged in the conical groove, a conical seat 17 is provided at the top of the electric push rod 16, and the small coil 18 is arranged on the conical seat 17. One side of the conical seat 17 is grooved for connecting the wire routing of the coil 18.

[0041] See also Figure 3 In a preferred embodiment, the base storehouse 8 is provided with a plurality of countersunk notches, and the strong permanent magnets are arranged in the countersunk notches. The base storehouse 8 is disc-shaped, and the plurality of bases 6 are evenly distributed on the base storehouse 8 along the circumferential direction.

[0042] See also Figure 5 In a preferred embodiment, the mechanical drive device 3 includes two screw slides (screw slide 19, screw slide 25) arranged horizontally along the X direction and a screw slide (screw slide 3 27) arranged horizontally along the Y direction perpendicular to the X direction; the screw slide arranged horizontally along the Y direction is fixed on the slider 1 21 of the screw slide arranged horizontally along the X direction; the magnetic field conversion module 2 is fixed on the slider 2 26 of the screw slide arranged horizontally along the Y direction; each screw slide is driven by a corresponding stepping motor 22 to drive a ball screw structure to achieve linear motion along the axial direction of the screw.

[0043] When in use, when the electric push rod drives the base close to the working area, the mechanical drive device drives the base to perform a predetermined linear motion or curved motion in the plane; the magnetic field generated by the strong permanent magnet above the base controls the magnetorheological robot in the working area to follow the motion trajectory of the base; when the magnetorheological robot is driven to deform, the electric push rod is retracted and the power is cut off, and the base is placed in the base library; the steering gear drives the pan and base library to rotate, and another base with a different permanent magnet arrangement is driven to the top of the electric push rod; the electric push rod is powered on after being extended, and the other base is fixed to the top of the electric push rod and re-approaches the working area, thereby generating a different magnetic field to drive the magnetorheological robot to deform. Further, the extension length of the electric push rod can be adjusted to change the relative distance between the base and the working area, and / or the steering gear drives the rotating seat to rotate the electric push rod to change the direction of the strong permanent magnet on the base, thereby changing the magnetic field controlling the magnetorheological robot, causing the magnetorheological robot to deform or change the stiffness.

[0044] The present invention provides a driving device capable of accurately controlling a magnetorheological robot to perform continuous motion, deformation and variable stiffness on a plane. The device realizes continuous driving and precise controllable deformation of the magnetorheological robot by using a plurality of permanent magnets with set arrangements in conjunction with a servo system, and effectively solves the limitations of the three-axis Helmholtz coil or coil array in the prior art in terms of magnetic field control and robot motion deformation. In the design of the driving device, the magnetic field generated by the permanent magnet can more accurately control the magnetorheological robot, and realize its stable motion and deformation in a complex environment without being restricted by space, such as working in narrow or irregular spaces such as the human body, irregular shell chambers or the interior of large-volume objects. In addition, the driving device of the present invention is designed with a base library and an electric push rod, which can flexibly switch and adjust the arrangement and orientation of the permanent magnets, thereby generating different magnetic fields to drive the magnetorheological robot to perform precise deformation and variable stiffness control. This design not only improves the load capacity of the magnetorheological robot, but also reduces the demand for energy supply and reduces the cost of use. The introduction of the servo system enables the permanent magnet to follow the movement of the robot, maintain its deformation state, and realize more complex and stable deformation control. In summary, the present invention provides an efficient, flexible and cost-effective magnetorheological robot drive solution through its unique design and mechanism.

[0045] The specific embodiments of the present invention are further described below.

[0046] like Figure 1 As shown, a driving device for planar motion deformation of a magnetorheological robot includes a magnetic field conversion module 2, a mechanical driving device 3 and a frame 4, wherein the magnetic field conversion module 2 is fixed on the mechanical driving device 3, the mechanical driving device 3 is fixed on the frame 4, and a stage bracket 1 may be provided on the frame 4.

[0047] like Figure 2 As shown, the magnetic field used to control the magnetorheological robot in the present invention is generated by a NdFeB permanent magnet. A circular permanent magnet 1 5 is fixed above a base 6. The upper surface of the permanent magnet 1 5 coincides with the upper surface of the base 6. A weaker permanent magnet 2 7 is fixed below the base 6. Figure 1-3 Four bases that can be embedded with permanent magnets of different arrangement shapes are arranged in a circular array in the circular array countersunk seats on the base library 8.

[0048] like Figure 4 As shown, four bases 6 together with a base library 8 are placed on a pan-tilt platform 9 and can rotate in a vertical direction. The pan-tilt platform 9 is driven by a servo 10 and can drive the base library 8 together with the four bases 6 placed above to rotate. The pan-tilt platform 9 is fixed on a carbon fiber frame 11, and the carbon fiber frame 11 is fixed on a carbon fiber frame 2 12.

[0049] There is an electric push rod 16 on the side of the base, which is clamped and fixed on the rotating seat 14 by two limit blocks 15 to ensure that the working extension direction of the electric push rod 16 is in the vertical direction. The rotating seat 14 is driven by a steering gear 13 fixed on a carbon fiber frame 12, which can make the rotating seat and the electric push rod rotate in the vertical direction. A conical seat 17 is fixed above the working end of the electric push rod 16, and one side of the conical seat is slotted for easy wiring. A small coil 18 with an iron core is fixed on the conical seat 17.

[0050] When it is necessary to control the magnetorheological robot to complete deformation or stimulate it to produce magnetorheological effect, the servo 10 drives the pan-tilt platform 9 to drive the base library 8 to rotate along the vertical axis, and moves a base 6 fixed with permanent magnets arranged in the required shape to the top of the electric push rod 16, so that the axis of the required base 6 coincides with the axis of the electric push rod 16. At this time, the electric push rod 16 is extended, the conical seat 17 is connected to the conical hole at the bottom of the base 6, and the small coil 18 with an iron core is energized to be adsorbed and cooperated with the weaker permanent magnet 2 7 under the base 6. The fit between the conical seat and the conical hole fixes the base 6 to the top of the electric push rod 16, and can rotate around the axis of the electric push rod 16 and change the relative distance between the base 6 and the permanent magnet fixed thereon and the working area through the extension and retraction of the electric push rod.

[0051] like Figures 1 to 5As shown, the mechanical drive structure is composed of a screw slide 19 and a screw slide 25 arranged in parallel and a screw slide 3 27 arranged in the vertical direction. Taking the screw slide 19 as an example, the stepper motor 22 drives the ball screw structure to drive the slider 1 21 to move linearly along the axial direction of the screw. The screw slide 19 and the screw slide 2 25 arranged in parallel are connected to the frame 1 through the anchor bracket 24. The screw slide 3 27 arranged perpendicular to the axis of the screw slide 19 and the screw slide 2 25 is fixed at both ends to the slider 1 21 of the screw slide 19 and the screw slide 2 25 through two adapter plates 20. The magnetic field conversion module 2 is fixed on the slider 2 26 of the screw slide 3 27. Therefore, the mechanical drive device can drive the magnetic field conversion module 2 to perform linear motion in the horizontal direction, or drive the magnetic field conversion module 2 to perform curved motion in the horizontal direction after interpolating the curved trajectory. When the electric push rod 16 drives a certain base 6 to a place close to the working area, the mechanical drive device 3 can drive the base to perform a predetermined linear motion or curved motion in a horizontal plane close to the working area. In this process, the magnetic field generated by the strong permanent magnet 5 above the base 6 controls the magnetorheological robot in the working area to follow the motion trajectory of the base. If the magnetorheological robot is to be driven to perform deformation, the electric push rod 16 retracts the small coil 18 and cuts off the power to place the base in the base library, the servo 10 drives the pan / tilt 9 and the base library 6 to rotate, and drives another required base to above the axis of the electric push rod 16. After the electric push rod 16 is extended, the small coil 18 is energized to fix the required base to the front end of the electric push rod. After the electric push rod 16 is extended, it approaches the working area. At this time, the base with a different permanent magnet arrangement has been replaced, which will generate different magnetic fields to drive the magnetorheological robot to deform. The electric push rod 16 can change the distance between the base and the permanent magnet on it and the working area, which can change the magnetic field that controls the magnetorheological robot to deform it, and can also make the permanent magnet closer to the magnetorheological robot, stimulate its magnetorheological effect to increase its stiffness, and cooperate with the deformation of a specific shape to control the magnetorheological robot to move objects, such as removing blood clots in the human body and sorting items.

[0052] The above content is a further detailed description of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, it can also make several substitutions or modifications to these described embodiments, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention. In the description of this specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the scope of protection of the patent application.

Claims

1. A driving device for planar motion deformation of a magnetorheological robot, characterized in that: include: A magnetic field conversion module, comprising: A plurality of bases are provided with strong permanent magnets in various arrangements, and an adsorption permanent magnet is provided at the bottom of the base; A base library, used for accommodating the plurality of bases; A pan / tilt platform is used to support the base library and is driven by a steering gear to realize vertical rotation, so that the electric push rod can switch to dock with different bases, thereby using a strong permanent magnet of a desired shape; An electric push rod, a small coil with an iron core is installed on the top of the electric push rod, the small coil is used to cooperate with the adsorption permanent magnet under the base, the electric push rod is telescopic in the vertical direction to adjust the relative distance between the base and the working area, the electric push rod is installed on a rotating seat, and the rotating seat is driven by a steering gear to realize vertical rotation, so as to adjust the direction of the strong permanent magnet on the base; The mechanical driving device is connected to the magnetic field conversion module and is used to drive the magnetic field conversion module to move continuously on a plane.

2. The driving device for planar motion deformation of a magnetorheological robot according to claim 1, characterized in that: The mechanical drive device includes three screw slides, two of which are horizontally arranged along the X direction, and the other screw slide is horizontally arranged along the Y direction perpendicular to the X direction; the screw slide horizontally arranged along the Y direction is fixed on the slider of the screw slide horizontally arranged along the X direction; the magnetic field conversion module is fixed on the slider of the screw slide horizontally arranged along the Y direction; each screw slide is driven by a motor and has a ball screw structure to achieve linear motion along the axial direction of the screw.

3. The driving device for planar motion deformation of a magnetorheological robot according to claim 1, characterized in that: A conical groove is arranged at the bottom of the base, the adsorption permanent magnet is arranged in the conical groove, a conical seat is arranged at the top of the electric push rod, and the small coil is arranged on the conical seat.

4. The driving device for planar motion deformation of a magnetorheological robot as claimed in claim 3, characterized in that: One side of the conical seat is slotted for connecting the wires of the coil.

5. The driving device for planar motion deformation of a magnetorheological robot according to any one of claims 1 to 4, characterized in that: The base is provided with a plurality of countersunk slots, and the strong permanent magnets are arranged in the countersunk slots.

6. The driving device for planar motion deformation of a magnetorheological robot according to any one of claims 1 to 4, characterized in that: The base storehouse is in a disc shape, and the plurality of bases are evenly distributed on the base storehouse along the circumferential direction.

7. The driving device for planar motion deformation of a magnetorheological robot according to any one of claims 1 to 4, characterized in that: The pan head is fixed on a first carbon fiber frame, and the first carbon fiber frame and the rotating seat are fixed on a second carbon fiber frame.

8. The driving device for planar motion deformation of a magnetorheological robot according to any one of claims 1 to 4, characterized in that: The electric push rod is clamped and fixed on the rotating seat by two limit blocks.

9. A method for using the driving device for planar motion deformation of a magnetorheological robot according to any one of claims 1 to 8, characterized in that: include: When the electric push rod drives the base close to the working area, the mechanical drive device drives the base to perform a predetermined linear motion or curved motion in the plane; The magnetic field generated by the strong permanent magnet above the base controls the magnetorheological robot in the working area to follow the motion trajectory of the base; When the magnetorheological robot is driven to deform, the electric push rod is retracted and the power is cut off, and the base is placed in the base library; the pan / tilt and the base library are driven to rotate by the servo, and another base with a different permanent magnet arrangement is driven to the top of the electric push rod; the electric push rod is extended and energized, and the other base is fixed to the top of the electric push rod and re-approaches the working area, thereby generating a different magnetic field to drive the magnetorheological robot to deform.

10. The method according to claim 9, characterized in that It also includes: adjusting the extension length of the electric push rod to change the relative distance between the base and the working area, and / or driving the rotating seat to rotate the electric push rod through the steering gear to change the orientation of the strong permanent magnet on the base, thereby changing the magnetic field that controls the magnetorheological robot, causing the magnetorheological robot to deform or change its stiffness.

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