Electromagnetic device for driving magnetic robot

Abstract

The invention provides an electromagnetic device for driving a magnetic robot. The electromagnetic device comprises a frame body; the motion platform is embedded in the frame body in a sliding mode and extends in the horizontal direction, and a motion area allowing the magnetic robot to move is formed on the motion platform; the multiple magnetic parts are arranged on the side, opposite to the movement area, of the frame body in a sliding mode and extend in the direction perpendicular to the movement direction of the magnetic robot; and the control device is arranged on the frame body in a sliding manner and is configured to control the magnetic robot placed on the movement area to move based on the plurality of magnetic pieces.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic robots, and in particular to an electromagnetic device for driving a magnetic robot. Background Art

[0002] The driving platform of existing magnetic robots is usually assembled and built by rigid magnets. The design concept of this platform is to arrange multiple magnets in a specific geometric way to generate the required magnetic field. For example, by changing the size, material, shape and arrangement order of the magnets, the strength and pole sequence of the magnetic field can be effectively adjusted. This method can generate a relatively stable magnetic field and is suitable for certain specific application scenarios. However, a significant limitation of this rigid magnet platform is that it has poor flexibility and is difficult to make real-time adjustments for different magnetic robots or the same magnetic robot in different motion states. In other words, although the magnetic field is stable, its rigid structure makes it difficult to quickly respond to the robot's motion requirements, especially in complex dynamic environments, which significantly limits the robot's adaptability and diverse application capabilities. In order to increase flexibility, some methods try to form a complex and changeable magnetic field in a limited space by holding a single rigid magnet by hand or by clamping it with a robotic arm and moving the magnet according to a predetermined motion trajectory. This method has high flexibility in control and can achieve multi-dimensional control, such as controlling the direction, strength and pole arrangement of the magnetic field. However, this method relies on the accuracy of the mechanical structure and is difficult to accurately and repeatedly control a robot with a specific pole sequence.

[0003] The above problems directly affect the driving and control effects of magnetic robots. For example, the current system is difficult to provide adaptable, flexible and precise magnetic field control, resulting in unstable motion trajectory of the robot in complex environments, and even unable to achieve some higher-order functions. This limitation has greatly narrowed the application scope of existing magnetic robots, especially in application scenarios that require high-precision positioning, complex motion paths, and autonomous navigation in dynamic environments. Existing technical solutions are difficult to meet the needs. Summary of the invention

[0004] In view of this, the present disclosure provides an electromagnetic device for driving a magnetic robot, comprising: a frame; a moving platform, slidably embedded in the frame and extending in a horizontal direction, a moving area allowing the magnetic robot to move is formed on the moving platform; a plurality of magnetic members, slidably arranged on a side of the frame opposite to the moving area and extending in a direction perpendicular to the moving direction of the magnetic robot; and a control device, slidably arranged on the frame, the control being configured to control the movement of the magnetic robot placed on the moving area based on the plurality of magnetic members.

[0005] Optionally, the frame includes: a first support layer, the moving platform is slidably embedded in the first support layer; a second support layer, parallel to the first support layer and located below the second support layer; and a third support layer, parallel to the second support layer and located below the second support layer, and the control device is arranged on the third support layer.

[0006] Optionally, the moving area includes a first surface extending along the horizontal direction, and the electromagnetic device further includes: a first mounting plate, a plurality of the magnetic parts are mounted on the first mounting plate and extend toward the moving platform, and the first mounting plate is slidably embedded in the second supporting layer.

[0007] Optionally, the movement area also includes a second surface and a third surface respectively arranged on both sides of the first surface and respectively perpendicular to the first surface, the second surface and the third surface are parallel, and two installation grooves are also formed on the movement platform, which are respectively arranged on the side of the second surface or the third surface away from the first surface, and the plurality of magnetic parts are respectively installed in the installation grooves and extend along the horizontal direction.

[0008] Optionally, the electromagnetic device further comprises: a second mounting plate, the control device is arranged on the second mounting plate, and the second mounting plate is slidably embedded in the third supporting layer.

[0009] Optionally, a slope is formed at one end of the first supporting layer, the second supporting layer and / or the third supporting layer.

[0010] Optionally, the middle parts of the first supporting layer, the second supporting layer and / or the third supporting layer are hollowed out.

[0011] Optionally, the electromagnetic device further includes: a plurality of relays, wherein a first end of each of the relays is electrically connected to one of the magnetic components, and a second end of each of the relays is connected to the control device, and the control device controls the magnetism of the magnetic component based on the relay.

[0012] Optionally, the relay is installed on the third supporting layer, and the control device is located above the relay.

[0013] Optionally, a plurality of first card slots are formed on the first mounting plate or the mounting slot, and the first card slots match the shape of the magnetic component; and a plurality of second card slots are formed on the second mounting plate, and the second card slots match the shape of the relay.

[0014] According to the embodiment of the present disclosure, by arranging the motion platform, the magnetic parts and the control device to be slidably arranged on the frame, the modularity and flexibility of the electromagnetic device can be improved, so that each part can be easily disassembled and replaced without affecting the overall performance, thereby adapting to the driving requirements of different types of magnetic robots and shortening the maintenance time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0016] Figure 1 A perspective view of an electromagnetic device for driving a magnetic robot according to an embodiment of the present disclosure is schematically shown.

[0017] Figure 2 A three-dimensional view of a frame according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 3 A perspective view of a motion platform according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 4 A partial exploded view of an electromagnetic device according to another embodiment of the present disclosure is schematically shown.

[0020] Figure 5 A partial exploded view of an electromagnetic device according to yet another embodiment of the present disclosure is schematically shown.

[0021] Figure 6 A partial exploded view of an electromagnetic device according to yet another embodiment of the present disclosure is schematically shown.

[0022] Figure 7 A partial exploded view of an electromagnetic device according to another embodiment of the present disclosure is schematically shown.

[0023] Reference numerals

[0024] 1. Frame;

[0025] 11. The first supporting layer;

[0026] 12. The second supporting layer;

[0027] 13. The third supporting layer;

[0028] 2. Sports platform;

[0029] 21. Sports area;

[0030] 211, first page;

[0031] 212, Side 2

[0032] 213, Side 3

[0033] 22. Mounting slot;

[0034] 3. Magnetic parts;

[0035] 4. Control device;

[0036] 5. The first mounting plate;

[0037] 6. Second mounting plate;

[0038] 7. Slope;

[0039] 8. Relay. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0041] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0042] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0043] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0044] Figure 1 A perspective view of an electromagnetic device for driving a magnetic robot according to an embodiment of the present disclosure is schematically shown. Figure 2 A three-dimensional view of a frame according to an embodiment of the present disclosure is schematically shown. Figure 3A perspective view of a motion platform according to an embodiment of the present disclosure is schematically shown.

[0045] like Figure 1-Figure 3 As shown, an embodiment of the present disclosure provides an electromagnetic device for driving a magnetic robot. The magnetic robot may include a suspension robot, a rolling robot or a linear motion robot. The electromagnetic device may include a frame 1, a motion platform 2, a plurality of magnetic parts 3 and a control device 4. The layout of the frame 1 may be adjusted according to different requirements to adapt to the workspace and operation requirements of different magnetic robots. The frame 1 may be made of high-strength and lightweight materials to ensure that the structure is stable and easy to disassemble and assemble. The motion platform 2 may be slidably embedded in the frame 1 and extend in a horizontal direction. A motion area 21 allowing the magnetic robot to move may be formed on the motion platform 2. A plurality of magnetic parts 3 may be slidably arranged on a side of the frame 1 opposite to the motion area 21 and extend in a direction perpendicular to the movement of the magnetic robot. The control device 4 may be slidably arranged on the frame 1. The control may control the movement of the magnetic robot placed on the motion area 21 based on the plurality of magnetic parts 3. The magnetic part 3 may include an electromagnet or an inductor. Furthermore, the magnetic part 3 can be adjustable and dynamic, and the magnetic field strength and direction can be precisely adjusted by controlling the magnitude and direction of the current flowing through the magnetic part 3 to control the precise movement of the magnetic robot. The height of the magnetic part 3 can be set as required. Since the motion platform 2 is slidably embedded in the frame 1, that is, the motion platform 2 is set to a free disassembly design, the versatility of the motion platform 2 can be greatly improved. The user can quickly replace the motion platform 2 structure according to the size and motion requirements of different magnetic robots to meet the needs of various robot tasks.

[0046] According to the embodiment of the present disclosure, by arranging the motion platform 2, the magnetic part 3 and the control device 4 to be slidably arranged on the frame 1, the modularity and flexibility of the electromagnetic device can be improved, so that each part can be easily disassembled and replaced without affecting the overall performance, thereby adapting to the driving requirements of different types of magnetic robots and shortening the maintenance time.

[0047] In some embodiments, the frame 1 may include a first support layer 11, a second support layer 12, and a third support layer 13. The motion platform 2 may be slidably embedded in the first support layer 11. The second support layer 12 may be parallel to the first support layer 11 and located below the second support layer 12. The third support layer 13 may be parallel to the second support layer 12 and located below the second support layer 12. The control device 4 may be disposed on the third support layer 13.

[0048] Figure 4 A partial exploded view of an electromagnetic device according to another embodiment of the present disclosure is schematically shown. Figure 5A partial exploded view of an electromagnetic device according to yet another embodiment of the present disclosure is schematically shown. Figure 6 A partial exploded view of an electromagnetic device according to yet another embodiment of the present disclosure is schematically shown. Figure 7 A partial exploded view of an electromagnetic device according to another embodiment of the present disclosure is schematically shown.

[0049] like Figure 1 , Figure 4-Figure 5 As shown, in some embodiments, the motion area 21 may further include a first surface 211 extending in the horizontal direction. The electromagnetic device may further include a first mounting plate 5. A plurality of magnetic parts 3 may be mounted on the first mounting plate 5 and extend toward the motion platform 2. The first mounting plate 5 may be slidably embedded in the second supporting layer 12, so that the magnetic parts 3 may be flexibly replaced. The control device 4 may be disposed on the second mounting plate 6. The electromagnetic device of this embodiment may be applicable to circularly arranged magnetic parts 3 and circular motion areas 21, as well as Y-shaped magnetic parts 3 and Y-shaped motion areas 21. The electromagnetic device of this embodiment may be used to drive specific parts of the magnetic robot to move up and down in the vertical direction, thereby controlling the movement of the magnetic robot.

[0050] like Figure 6-Figure 7 As shown, in some embodiments, the motion area 21 may also include a second surface 212 and a third surface 213 respectively arranged on both sides of the first surface 211 and respectively perpendicular to the first surface 211. The second surface 212 and the third surface 213 may be parallel. Two mounting grooves 22 are also formed on the motion platform 2. The two mounting grooves 22 may be respectively arranged on the side of the second surface 212 or the third surface 213 away from the first surface 211. A plurality of magnetic parts may be respectively installed in the mounting grooves 22 and extend in the horizontal direction. This embodiment is applicable to circularly arranged magnetic parts 3 and a circular motion area 21. The electromagnetic device of this embodiment can be used to drive a specific part of the magnetic robot to move left and right in the horizontal direction, thereby controlling the movement of the magnetic robot.

[0051] In some embodiments, the motion area 21 may further include a second mounting plate 6. The second mounting plate 6 may be slidably embedded in the third support layer 13, so that the control device 4 may be flexibly replaced. In some embodiments, a slope 7 is formed at one end of the first support layer 11, the second support layer 12, and / or the third support layer 13 to provide support and buffering in the initial stage when the motion platform 2, the first mounting plate 5, and / or the second mounting plate 6 slide into the frame 1. The angle of the slope 7 may be set as required.

[0052] In some embodiments, the middle portions of the first supporting layer 11 , the second supporting layer 12 and / or the third supporting layer 13 are hollowed out, thereby improving the weight reduction of the control device 4 .

[0053] In some embodiments, the first support layer 11, the second support layer 12 and / or the third support layer 13 may be provided with a slide groove. The shape of the slide groove may match the shape of the edge of the motion platform 2, the first mounting plate 5 and / or the second mounting plate 6, so that the motion platform 2, the first mounting plate 5 and / or the second mounting plate 6 can slide into the frame 1 accurately.

[0054] In some embodiments, the electromagnetic device may further include a plurality of relays 8. The first end of each relay 8 may be electrically connected to a magnetic member 3. The second end of each relay 8 may be connected to the control device 4. The control device 4 may control the magnetism of the magnetic member 3 based on the relay 8.

[0055] In some embodiments, a plurality of relays 8 may be distributed in an array.

[0056] In some embodiments, the electromagnetic device can also be flexibly configured according to different scenarios and requirements, for example, multiple sensors, communication modules and other peripheral devices can be provided to further enhance the intelligence level of the electromagnetic device. The sensor can include a force sensor and a position sensor.

[0057] In some embodiments, the relay 8 can be installed on the third support layer 13. The control device 4 can be located above the relay 8, so that the structure of the electromagnetic device is more compact and is conducive to the integration of the electromagnetic device. The control module can receive instructions from the outside and send a drive signal to the magnetic part 3 according to the set control strategy. The relay 8 can be connected to the magnetic part 3 through a wire. The relay 8 can control the magnetic field of the magnetic part 3 according to the set circuit working mode to promote the movement of the magnetic robot. The relay 8 can be used to switch the circuit of the magnetic part 3 and control the power on and off of the magnetic part 3. Each relay 8 can control the circuit of a magnetic part 3. The relay 8 and the control device 4 can form a circuit of the electromagnetic device. The control device 4 can be used to manage and control the work of the relay 8, and adjust the working state of the magnetic part 3 in real time by monitoring the current, voltage and sensor signals, so as to dynamically generate a magnetic field matching the magnetic robot. It can also be combined with advanced feedback control technology to adjust the strength, direction and shape of the magnetic field in real time according to the current state of the magnetic robot to ensure that the robot can perform high-precision operations. The working parameters of the circuit can be set according to the movement requirements of the magnetic robot. These parameters may include the magnitude and direction of the current, the power-on time and interval, etc. By adjusting these parameters, the moving path, speed and acceleration of the magnetic robot can be precisely controlled, thereby achieving precise regulation of the magnetic robot's motion, enabling the magnetic robot to flexibly respond to changing tasks in complex environments. Different working modes can be preset according to demand to adapt to a variety of working environments and task requirements.

[0058] By installing the relay 8 on the third support layer 13, the control device 4 is located above the relay 8, and the relays 8 are distributed in an array, so that the modular design of the circuit can be realized. The modular design of the circuit can not only optimize the space and structure of the electromagnetic device, making the structure of the electromagnetic device more concise and easy to manage, but also provide flexibility and compatibility for future expansion and upgrading, which helps to improve development efficiency and reduce costs. At the same time, in terms of troubleshooting and maintenance, the modular design can locate problems more quickly, making the electromagnetic device more practical and scalable.

[0059] In some embodiments, a plurality of first slots (not shown in the figure) may be formed on the first mounting plate 5 or the mounting slot 22. The first slot may match the shape of the magnetic part 3. By setting the first slot and matching the shape of the first slot with the magnetic part 3, the magnetic part 3 may be directly embedded in the first slot, so that the magnetic part 3 may be replaced relatively quickly. The number of first slots is greater than or equal to the number of magnetic parts 3, so as to facilitate the replacement of the position of the magnetic part 3. According to the needs of the task and the magnetic robot, the magnetic parts 3 may be arranged in a linear array, a planar array or a body shape to form a multi-dimensional magnetic field distribution to achieve magnetic field regulation in different dimensions. The linear array arrangement is suitable for precise control of a certain direction, the planar array arrangement can achieve a wider range of magnetic field coverage, and the body shape arrangement can provide magnetic field control in three-dimensional space, thereby greatly improving the movement ability of the magnetic robot, so that the electromagnetic device can not only support the basic movement control of the magnetic robot, but also can design complex movement patterns for specific application requirements. The magnetic pole change in timing can be achieved by changing the positive and negative of the power-on current to achieve the effect of attracting or repelling specific parts of the magnetic robot, thereby controlling the morphology of different parts of the magnetic robot. By adjusting the power-on timing, including the power-on time and interval, a control sequence is formed to realize the multimodal motion of the magnetic robot, such as forward, backward, turning, swimming and jumping, etc., which can realize complex path planning and fine movement in three-dimensional space. By adjusting the size of the power-on current, magnetic field distributions of different intensities can be obtained to adapt to more diverse magnetic robots. Users can choose magnetic parts 3 of different specifications according to their needs to adapt to different driving force requirements and working environments. Therefore, the electromagnetic device can not only control the magnetic robot more accurately, but also adapt to more application scenarios. Whether in medical, industrial, automated production or extreme environment exploration, this electromagnetic device can provide accurate and flexible drive and control for the magnetic robot, significantly improving its operating efficiency and adaptability. This integrated design can lay an important foundation for the future development of magnetic robot technology, and can also provide a new solution for promoting the application of magnetic robots in more fields.

[0060] Furthermore, a plurality of second card slots (not shown in the figure) may be formed on the second mounting plate 6. The second card slots may match the shape of the relay 8. By providing the second card slots, and matching the shapes of the second card slots and the relay 8, the relay 8 may be directly embedded in the second card slots, so that the magnetic member 3 may be replaced relatively quickly. The number of the second card slots is greater than or equal to the number of the relays 8, so as to facilitate the replacement of the position of the relay 8.

[0061] In some embodiments, the material of the motion area 21 may include glass, polymethyl methacrylate and polyethylene terephthalate. The material of the motion area 21 may be set according to the specific application requirements of the magnetic robot. Furthermore, the material of the motion area 21 may include acrylic plates, cloth, glass, metal plates, etc. The material of the motion area 21 can be set to be applicable to different scenarios ranging from micro-precision operations to industrial heavy-load handling, and stability can be guaranteed under special environments such as high temperature and high humidity. By cutting the selected material, the motion area 21 can be located above the magnetic part 3 so as to achieve precise motion control under the action of the electromagnetic field.

[0062] According to the disclosed embodiment, when the magnetic robot is a suspended magnetic robot, the frame 1 can be made of aluminum alloy material to ensure overall stability. The material of the motion area 21 can be PMMA film. The motion area 21 can be arranged in a linear manner. The magnetic part 3 can be an electromagnet, and the electromagnet can be arranged in a planar array to form a uniformly distributed electromagnetic field. Each electromagnet can be fixed to the first mounting plate 5 by screws, and it remains stable during operation. The arrangement of the electromagnet can ensure that a stable vertical magnetic force is generated on the surface of the motion platform 2 for suspending and controlling the up and down movement of the robot. By flexibly replacing and adjusting the electromagnet, the control requirements of different magnetic suspension robots can be met. The relay 8 can realize the switching of the magnetic poles of the electromagnet through timing control, thereby controlling the height and posture of the robot suspension. According to the requirements of the suspension robot, the parameters such as the current size, power-on time and direction in the circuit can be set to ensure that a sufficient vertical magnetic field can be generated to maintain the suspension state of the robot. By adjusting the current parameters, precise control of the suspension height and speed can be achieved to adapt to different working scenarios.

[0063] According to the embodiment of the present disclosure, when the magnetic robot is a rolling magnetic robot, the frame 1 can be made of a lightweight and impact-resistant material, such as carbon fiber. The material of the motion area 21 can be a PET film. The motion area 21 can be set to be circular (such as Figure 4The arrangement of the magnetic components 3 can be adapted to the circular travel path of the rolling magnetic machine. The magnetic component 3 can be an inductor. The inductor can be arranged in a linear array on both sides of the rolling path and fixed to the first mounting plate 5 by screws to ensure that it remains stable during operation. By setting the arrangement of the inductor, the magnetic field distribution can be accurately controlled to generate thrust along the rolling path, pushing the magnetic robot to roll forward or backward. The appropriate current size, power-on direction and time interval can be set according to the movement requirements of the rolling robot. By adjusting the current parameters, the robot's rolling speed and movement characteristics such as acceleration and deceleration can be accurately controlled to ensure that the robot can move freely in different paths and task scenarios.

[0064] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0065] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An electromagnetic device for driving a magnetic robot, characterized in that: include: Frame; A motion platform is slidably embedded in the frame and extends in a horizontal direction, and a motion area allowing the magnetic robot to move is formed on the motion platform; a plurality of magnetic members slidably disposed on a side of the frame opposite to the movement area and extending in a direction perpendicular to the movement of the magnetic robot; as well as A control device is slidably disposed on the frame, and the control device is configured to control the movement of the magnetic robot placed on the movement area based on the plurality of magnetic members.

2. The electromagnetic device for driving a magnetic robot according to claim 1, characterized in that: The frame comprises: A first supporting layer, the motion platform being slidably embedded in the first supporting layer; a second supporting layer, parallel to the first supporting layer and located below the second supporting layer; and The third supporting layer is parallel to the second supporting layer and is located below the second supporting layer. The control device is arranged on the third supporting layer.

3. The electromagnetic device for driving a magnetic robot according to claim 2, characterized in that: The motion region includes a first surface extending along the horizontal direction, and the electromagnetic device further includes: A first mounting plate, a plurality of magnetic members are mounted on the first mounting plate and extend toward the motion platform, and the first mounting plate is slidably embedded in the second supporting layer.

4. The electromagnetic device for driving a magnetic robot according to any one of claim 3, characterized in that: The motion area also includes a second surface and a third surface respectively arranged on both sides of the first surface and respectively perpendicular to the first surface, the second surface and the third surface are parallel, and two mounting grooves are also formed on the motion platform, which are respectively arranged on the side of the second surface or the third surface away from the first surface, and the plurality of magnetic parts are respectively installed in the mounting grooves and extend along the horizontal direction.

5. The electromagnetic device for driving a magnetic robot according to claim 2, characterized in that: Also includes: The control device is arranged on the second mounting plate, and the second mounting plate is slidably embedded in the third supporting layer.

6. The electromagnetic device for driving a magnetic robot according to claim 2, characterized in that: A slope is formed at one end of the first supporting layer, the second supporting layer and / or the third supporting layer.

7. The electromagnetic device for driving a magnetic robot according to claim 2, characterized in that: The middle parts of the first supporting layer, the second supporting layer and / or the third supporting layer are hollowed out.

8. The electromagnetic device for driving a magnetic robot according to claim 4, characterized in that: Also includes: A plurality of relays, each of which has a first end electrically connected to one of the magnetic components, and each of which has a second end connected to the control device, wherein the control device controls the magnetism of the magnetic component based on the relay.

9. The electromagnetic device for driving a magnetic robot according to claim 8, characterized in that: The relay is installed on the third supporting layer, and the control device is located above the relay.

10. The electromagnetic device for driving a magnetic robot according to claim 8, characterized in that: A plurality of first slots are formed on the first mounting plate or the mounting slot, and the first slots match the shape of the magnetic member; and A plurality of second card slots are formed on the second mounting plate, and the second card slots match the shape of the relay.

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