Handheld magnetic control driving device for driving and controlling magnetic micro-nano motor

Abstract

The invention provides a handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor, the handheld magnetic control driving device comprises a handheld magnetic control driving main body and a spherical magnet assembly, the handheld magnetic control driving main body is connected with the spherical magnet assembly, the handheld magnetic control driving main body drives the spherical magnet assembly to rotate, and the spherical magnet assembly is connected with the handheld magnetic control driving main body. Therefore, the magnetic micro-nano motor is driven to move. The magnetic micro-nano motor has the beneficial effects that the magnetic micro-nano motor has the advantages of simple operation, small size, portability, accuracy, high efficiency, sensitive response and the like, and provides technical support for effective control of the magnetic micro-nano motor in a small-scale range in a complex environment.

Description

Technical Field

[0001] The present invention relates to a magnetically controlled driving device, and particularly to a handheld magnetically controlled driving device for driving and controlling a magnetic micro-nano motor. Background Art

[0002] According to the energy source, the current driving mechanisms of micro-nano robots mainly include self-driving by chemical reactions between themselves and substances in the surrounding environment, external field driving by applying external physical energy fields, and biological driving based on microorganisms or cells. Chemical reaction driving is to construct asymmetric ion concentration gradients, liquid pressure gradients, bubbles, etc. in the surrounding environment of the micro-nano robot by participating in chemical reactions, thereby driving the micro-nano robot to move. However, the micro-nano robots driven by chemical reactions require specific "fuel" molecules in the surrounding environment and have poor driving force in fluids with high ion concentrations. Biological driving requires providing biological nutrients and maintaining their activity. In contrast, physical external field driving does not require the external environment to continuously provide consumable chemical fuels and can achieve remote non-contact motion control. Currently, the physical external fields utilized by micro-nano robots mainly include light, electricity, magnetism, heat, ultrasound, etc. By using the physical response effects between these physical fields and the materials of the micro-nano robots, asymmetric physical gradient fields are generated in the local space to achieve autonomous driving.

[0003] Compared with other external field driving methods, the magnetic field-driven micro-nano motors have significant advantages in terms of penetrability, precise control, biocompatibility, energy efficiency, multi-functional integration, environmental friendliness, and stability. At the same time, the magnetic field driving system is relatively simple and easy to implement, suitable for large-scale production and application. Therefore, a series of magnetically controlled driving devices, such as robotic arms, medium-sized multi-coil magnetic field gradient control systems, and three-dimensional Helmholtz coil magnetic field control devices, etc., have been put into use.

[0004] However, these magnetically controlled driving devices are large in size and difficult to move or carry, which limits their usage scenarios. In addition, in order to achieve precise control of the magnetic field, these devices often need to be operated in cooperation with a dedicated software system. Users not only need to be familiar with the structure and functions of the hardware devices but also need to master the usage methods of the software system. During use, users need to input various parameters, such as the intensity, direction, and change frequency of the magnetic field, through the software interface to meet different application requirements. This requires users to have a high level of professional quality and certain computer operation skills. For some non-professional operators, mastering these complex operation skills may take a lot of time and effort, greatly reducing the efficiency of the micro-nano motors in practical applications. Summary of the Invention

[0005] In order to solve the problems in the prior art, the present invention provides a handheld magnetically controlled driving device for driving and controlling a magnetic micro-nano motor.

[0006] The present invention provides a handheld magnetic control driving device for driving and controlling magnetic micro-nano motors, comprising a handheld magnetic control driving main body and a spherical magnet assembly. The handheld magnetic control driving main body is connected to the spherical magnet assembly, and the handheld magnetic control driving main body drives the spherical magnet assembly to rotate so as to drive the magnetic micro-nano motors to move.

[0007] As a further improvement of the present invention, the handheld magnetic control driving main body is a slender object that can be held by hand.

[0008] As a further improvement of the present invention, the handheld magnetic control driving main body includes a handheld housing, a circuit assembly, a motor assembly, and a quick-change chuck assembly. The circuit assembly, the motor assembly, and the quick-change chuck assembly are respectively installed inside the handheld housing. The circuit assembly is electrically connected to the motor assembly to control the rotation of the motor assembly. The motor assembly is connected to the quick-change chuck assembly, and the quick-change chuck assembly is connected to the spherical magnet assembly. The motor assembly drives the spherical magnet assembly to rotate through the quick-change chuck assembly.

[0009] As a further improvement of the present invention, the spherical magnet assembly is used for driving and controlling magnetic micro-nano motors in a small-scale range.

[0010] As a further improvement of the present invention, the spherical magnet assembly includes a spherical magnet, a spherical magnet mounting seat, and a rotating shaft. One end of the rotating shaft is quickly connected to the quick-change chuck assembly, and the other end of the rotating shaft is connected to the spherical magnet mounting seat. The spherical magnet is fixed on the spherical magnet mounting seat.

[0011] As a further improvement of the present invention, the spherical magnet and the spherical magnet mounting seat can be replaced with different models according to requirements.

[0012] As a further improvement of the present invention, the spherical magnet and the spherical magnet mounting seat have a variety of optional models. According to specific actual requirements, the maximum magnetic field intensity of the spherical magnet can be selected as 800 mT, 700 mT, 600 mT, 500 mT, 400 mT, 300 mT, 200 mT, 100 mT, 50 mT; the diameter of the spherical magnet ranges from 5 to 30 mm. Correspondingly, the diameter of the spherical magnet mounting seat is 0.2 to 2 mm larger than the diameter of the spherical magnet.

[0013] As a further improvement of the present invention, the spherical magnet mounting seat adopts an ABS connector.

[0014] As a further improvement of the present invention, the rotating shaft adopts a stainless steel rotating shaft.

[0015] As a further improvement of the present invention, the quick-change chuck assembly is responsible for the conduction of power and torque, the fixation and clamping of the assembly, facilitating the subsequent replacement of the spherical magnet assembly.

[0016] As a further improvement of the present invention, the quick-change chuck assembly includes a coupling, a coupling connecting piece, a spring, and a quick-change chuck. The coupling is connected to the motor assembly, the coupling connecting piece is connected to the coupling, the quick-change chuck passes through the coupling connecting piece and is connected to the coupling, and the spring is clamped within the coupling connecting piece and the handheld housing.

[0017] As a further improvement of the present invention, the coupling is an aluminum alloy coupling.

[0018] As a further improvement of the present invention, the quick-change chuck is an alloy chuck.

[0019] As a further improvement of the present invention, one side of the quick-change chuck has a taper and a thread.

[0020] As a further improvement of the present invention, the quick-change chuck is threadedly connected to the coupling.

[0021] As a further improvement of the present invention, the coupling connecting piece is an aluminum alloy connecting piece.

[0022] As a further improvement of the present invention, bearings are respectively installed at both ends of the coupling connecting piece, and two stainless steel bearings can be used.

[0023] As a further improvement of the present invention, the motor assembly is responsible for driving the rotation of the rotating shaft and providing the power of the handheld magnetron drive device.

[0024] As a further improvement of the present invention, the motor assembly includes a motor, a gearbox, and a motor frame. The motor and the gearbox are respectively installed on the motor frame, the motor is connected to the gearbox, and the output shaft of the gearbox is connected to the coupling.

[0025] As a further improvement of the present invention, the voltage of the motor is between 3V and 12V, the current is between 0.5A and 2A, the rotational speed is between 1000rpm and 50000rpm, the torque is between 0.1N·cm and 1N·cm, and the noise level is between 40dB and 70dB.

[0026] As a further improvement of the present invention, the motor frame is an aluminum alloy motor frame.

[0027] As a further improvement of the present invention, the circuit assembly is used to receive the input of an external power supply and adjust the rotational speed of the motor through precise current control.

[0028] As a further improvement of the present invention, the circuit components include an encoder PCB, a main control PCB, and a battery. The encoder PCB is connected to the main control PCB, the main control PCB is connected to the battery, and the motor is connected to the main control PCB.

[0029] As a further improvement of the present invention, the battery is a lithium battery.

[0030] As a further improvement of the present invention, the handheld magnetic control driving device further includes a speed control knob. The encoder PCB is connected to the speed control knob, and the speed control knob is installed at the tail end of the handheld housing.

[0031] As a further improvement of the present invention, the speed control knob is an aluminum alloy knob.

[0032] As a further improvement of the present invention, a hemispherical groove is provided on the spherical magnet mount, and the spherical magnet is adhered to the inside of the hemispherical groove by glue.

[0033] As a further improvement of the present invention, the handheld housing is mainly assembled from a plastic bracket, an aluminum alloy middle frame, an aluminum alloy motor frame, and an aluminum alloy lower cover.

[0034] As a further improvement of the present invention, the spherical magnet is embedded in the spherical magnet mount with its N and S poles in the horizontal direction. The magnetic field strength can be adjusted by adjusting the control distance, or different spherical magnets with different magnetic field strengths can be replaced according to the applied magnetic field range. The maximum magnetic field strength that the selected spherical magnet can generate is 800 mT.

[0035] As a further improvement of the present invention, the shape of the magnetic micro-nano motor can be spherical, tubular, spiral, polyhedral.

[0036] As a further improvement of the present invention, the magnetic micro-nano motor can be constructed by sputtering magnetic materials on the surface of micro-nano particles through electron beam evaporation, or by compounding magnetic micro-nano particles with other micro-nano materials, or by preparing magnetic micro-nano particles and resin through 3D printing, or directly using magnetic micro-nano particles as micro-nano motors.

[0037] The beneficial effects of the present invention are: providing a handheld magnetic control driving device for driving and controlling magnetic micro-nano motors, which has the advantages of simple operation, small size, portability, precision, high efficiency, and sensitive response, and provides technical support for the effective control of magnetic micro-nano motors in a small scale range in a complex environment. Description of the Drawings

[0038] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other solutions can be obtained based on these drawings.

[0039] Figure 1 It is a schematic cross-sectional view of the handheld magnetically controlled driving device of the present invention.

[0040] Figure 2 It is an exploded schematic view of the handheld magnetically controlled driving device of the present invention.

[0041] Figure 3 It is a schematic view of the assembled circuit components of the present invention.

[0042] Figure 4 It is a schematic view of the assembled motor components of the present invention.

[0043] Figure 5 It is a schematic view of the collet assembly of the present invention.

[0044] Figure 6 It is a schematic view of the assembled collet assembly of the present invention.

[0045] Figure 7 It is a schematic view of the assembled spherical magnet assembly of the present invention. Detailed embodiments

[0046] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0047] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the protection scope of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "plurality" is two or more.

[0048] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0050] It should be noted that all the directional indications (such as up, down,...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0051] Embodiment 1

[0052] As Figures 1 to 7 shown, the assembly steps of a handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor in a small-scale range are as follows:

[0053] Step 1: Install the encoder PCB 1 and the main control PCB 2 on the ABS plastic bracket 3. Secondly, combine the ABS button 4 with the PMMA 5 panel and put them together into the aluminum alloy middle frame 6. Finally, install the lithium battery 7 into the ABS plastic bracket 3, and then install the entire ABS plastic bracket 3 into the aluminum alloy middle frame 6, and the installation of the entire circuit assembly is completed.

[0054] Step 2: Combine the gearbox 9 with the motor 8, put the combined motor 8 and gearbox 9 into the aluminum alloy motor bracket 10, and lock them with screws. The voltage is 5V, the current is 1A, the rotation speed is 30,000 rpm, the torque is 0.5 N·cm, and the noise level is 40 dB.

[0055] Step 3: Install the aluminum alloy coupling 11 on the output shaft of the gearbox 9. Secondly, put the aluminum alloy connecting piece 12 on the aluminum alloy coupling 11, and connect the aluminum alloy chuck 17 to the aluminum alloy coupling 11 from below; again, install the stainless steel bearing 13 and the stainless steel bearing 14 on the aluminum alloy connecting piece 12 in sequence, and then put on the spring 5; combine the aluminum alloy lower cover 16 with the aluminum alloy motor bracket 10, and the installation of the chuck is completed.

[0056] Step 4: Connect one end of the stainless-steel rotating shaft 18 to the aluminum alloy chuck 17 and the other end to the ABS connector 19. Apply AB glue on the hemispherical groove of the ABS connector 19 and embed the spherical magnet 20 into the ABS connector 19 to achieve the connection between the ABS connector 19 and the spherical magnet 20. The maximum magnetic field intensity of the spherical magnet 20 is selected as 100 mT and its size is 10 mm; the diameter of the ABS connector 19 is selected as 10.5 mm.

[0057] Step 5: Connect the speed-regulating knob 21 to the aluminum alloy middle frame 6 from above, connect the aluminum alloy middle frame 6 to the aluminum alloy chuck 17 from above, and connect the aluminum alloy chuck 17 to the replaceable spherical magnet assembly.

[0058] Both ends of the aluminum alloy motor bracket 10 are threadedly connected to the aluminum alloy middle frame 6 and the aluminum alloy lower cover 16 respectively to form a slender handheld housing that can be held by hand.

[0059] The speed-regulating knob 21 is preferably made of an aluminum alloy knob and is used to adjust the rotation speed of the stainless-steel rotating shaft 18.

[0060] Connect the speed-regulating knob 32 to the aluminum alloy middle frame 6 from above.

[0061] Connect the aluminum alloy chuck 17 to the replaceable spherical magnet assembly.

[0062] The main control PCB 2 is provided with a display unit, which uses the screen 22 installed on the main control PCB 2.

[0063] One end of the aluminum alloy coupling 11 is connected to the output shaft of the gearbox 9, and the other end is respectively connected to the aluminum alloy chuck 17 and the aluminum alloy connector 12, which is used to firmly connect the driving shaft and the driven shaft to rotate together and transmit motion and torque.

[0064] The ABS plastic bracket 3 is used to install the encoder PCB 1, the main control PCB 2 and the lithium battery 7, and then combined with the aluminum alloy middle frame 6. The ABS button 4, the PMMA panel 5 and the screen 22 on the main control PCB 1 together constitute the visual control module of the handheld magnetic control driving device.

[0065] The stainless-steel bearings 13 and 14 are connected to the aluminum alloy connector 12 from below, which are used to support the rotating aluminum alloy connector 12, reduce the friction coefficient during its movement and ensure its rotation accuracy. The spring 5 is installed on the aluminum alloy connector 12 from below. The aluminum alloy lower cover 16 is connected to the aluminum alloy motor bracket 10 to lock the aluminum alloy connector 12 and form the handheld magnetic control driving device.

[0066] One end of the stainless steel rotating shaft 18 is connected to the aluminum alloy chuck 17, and the other end is connected to the blind hole at the bottom of the ABS connector 19.

[0067] The function of the spring 5 is to fix the stainless steel bearings 13 and 14, so that the end faces of the stainless steel bearings 13 and 14 are subjected to the load generated by the compression of the spring 5 to eliminate looseness.

[0068] One side of the aluminum alloy chuck 17 has a taper and a thread. When replacing the aluminum alloy chuck 17, remove the aluminum alloy lower cover 16, use a wrench to remove the stainless steel rotating shaft 18, and then replace it with a new spherical magnet assembly.

[0069] The aluminum alloy chuck 17 is connected to the aluminum alloy coupling 11 by a thread.

[0070] When the circular ABS button 4 is long-pressed, the handheld magnetron drive device is turned on and off. When the handheld magnetron drive device is in the working state, turning the speed control knob 32 below the instrument clockwise can adjust the speed to 1000 - 50000 rpm; clicking the circular ABS button 4 can switch the rotation direction (clockwise, counterclockwise) of the stainless steel rotating shaft 18; double-clicking the circular ABS button 4 will pause the rotation of the stainless steel rotating shaft 18, which is convenient for users to temporarily interrupt the action during use to meet the needs of emergencies.

[0071] Embodiment 2

[0072] The assembly steps of the handheld magnetron drive device are as follows:

[0073] Step 1, install the encoder PCB 1 and the main control PCB 2 onto the ABS plastic bracket 3. Secondly, combine the ABS button 4 with the PMMA panel 5 and put them together into the aluminum alloy middle frame 6. Finally, install the lithium battery 7 into the ABS plastic bracket 3, and then install the entire ABS plastic bracket 3 into the aluminum alloy middle frame 6, and the installation of the entire circuit assembly is completed.

[0074] Step 2, combine the gearbox 9 with the motor 8, put the combined motor and gearbox into the aluminum alloy motor bracket 10, and lock them with screws. The voltage is 3V, the current is 0.5A, the speed is 10000 rpm, the torque is 1 N·cm, and the noise level is 50 dB.

[0075] Step 3, install the aluminum alloy coupling 11 onto the output shaft of the gearbox 9. Secondly, put the aluminum alloy connector 12 over the aluminum alloy coupling 11, and connect the aluminum alloy chuck 17 to the aluminum alloy coupling 12 from below. Again, install the stainless steel bearings 13 and 14 onto the aluminum alloy connector 12 in sequence, and then put on the spring 5; combine the aluminum alloy lower cover 16 with the aluminum alloy motor bracket 10, and the installation of the chuck is completed.

[0076] Step 4: Connect one end of the stainless-steel rotating shaft 18 to the aluminum alloy chuck 17 and the other end to the ABS connector 19. Connect the ABS connector 19 to the spherical magnet 20, where the maximum magnetic field intensity of the spherical magnet 20 is selected as 200 mT and the size is 15 mm; the diameter of the ABS connector 19 is selected as 15.5 mm.

[0077] Step 5: Connect the speed control knob 21 to the aluminum alloy middle frame 6 from above, connect the aluminum alloy middle frame 6 to the aluminum alloy chuck 17 from above, and connect the aluminum alloy chuck 17 to the replaceable spherical magnet assembly.

[0078] Both ends of the aluminum alloy motor bracket 10 are threadedly connected to the aluminum alloy middle frame 6 and the aluminum alloy lower cover 16 respectively, forming a slender handheld housing that can be held.

[0079] The speed control knob 21 is preferably made of an aluminum alloy knob and is used to adjust the rotation speed of the stainless-steel rotating shaft 18.

[0080] Connect the speed control knob 32 to the aluminum alloy middle frame 6 from above.

[0081] Connect the aluminum alloy chuck 17 to the replaceable spherical magnet assembly.

[0082] A display unit is provided on the main control PCB 2, and a screen 22 mounted on the main control PCB 2 is used.

[0083] One end of the aluminum alloy coupling 11 is connected to the output shaft of the gearbox 9, and the other end is respectively connected to the aluminum alloy chuck 17 and the aluminum alloy connector 12, and is used to firmly connect the driving shaft and the driven shaft to rotate together and transmit motion and torque.

[0084] The ABS plastic bracket 3 is used to mount the encoder PCB 1, the main control PCB 2 and the lithium battery 7, and is then combined with the aluminum alloy middle frame 6. The ABS button 4, the PMMA panel 5 and the screen 22 on the main control PCB 1 together constitute the visual control module of the handheld magnetic control driving device.

[0085] The stainless-steel bearings 13 and 14 are connected to the aluminum alloy connector 12 from below, and are used to support the rotating aluminum alloy connector 12, reduce the friction coefficient during its movement, and ensure its rotational accuracy. The spring 5 is mounted to the aluminum alloy connector 12 from below. The aluminum alloy lower cover 16 is connected to the aluminum alloy motor bracket 10, locks the aluminum alloy connector 12, and constitutes the handheld magnetic control driving device.

[0086] One end of the stainless-steel rotating shaft 18 is connected to the aluminum alloy chuck 17, and the other end is connected to the blind hole at the bottom of the ABS connector 19.

[0087] The function of the spring 5 is to fix the stainless - steel bearings 13 and 14, so that the end faces of the stainless - steel bearings 13 and 14 are subject to the load generated by the compression of the spring 5, eliminating looseness.

[0088] One side of the aluminum - alloy chuck 17 has a taper and a thread. When replacing the aluminum - alloy chuck 17, remove the aluminum - alloy lower cover 16, use a wrench to remove the stainless - steel rotating shaft 18, and then replace it with a new spherical magnet assembly.

[0089] The aluminum - alloy chuck 17 is thread - connected to the aluminum - alloy coupling 11.

[0090] When the circular ABS button 4 is long - pressed, the handheld magneto - controlled driving device is turned on and off. When the handheld magneto - controlled driving device is in the working state, turning the speed - regulating knob 32 below the instrument clockwise can adjust the rotation speed to 1000 - 50000 rpm; clicking the circular ABS button 4 switches the rotation direction (clockwise, counter - clockwise) of the stainless - steel rotating shaft 18; double - clicking the circular ABS button 4 pauses the rotation of the stainless - steel rotating shaft 18, which is convenient for users to temporarily interrupt the action during use to meet the needs of dealing with emergencies.

[0091] Embodiment 3

[0092] When the handheld magneto - controlled driving device is in use, the micro - nano motor constructed by evaporating a magnetic shell layer on the surface of the polymer microspheres is applied to the periodontal affected area, and then the handheld magneto - controlled driving device is used outside the oral cavity to control the magnetic micro - nano motor to perform a rotary drilling motion at a certain distance and a certain self - rotation speed, penetrate into the periodontal pocket, restore the periodontal healthy micro - environment, and reduce gingival swelling and pain.

[0093] The results of the embodiment show that by holding the handheld magneto - controlled driving device in the present invention by hand and moving it on a plane about 2 cm away from the affected area at the use parameters of 3000 rpm and clockwise rotation, the precise and efficient movement of the micro - nano motor constructed by evaporating a magnetic shell layer on the surface of the polymer microspheres in the tooth model can be effectively achieved.

[0094] A handheld magneto - controlled driving device provided by the present invention for driving and controlling a magnetic micro - nano motor in a small - scale range has the following advantages:

[0095] During the application process of magnetic micro-nano motors, the magnetic control driving device, as an important and efficient auxiliary device, its portability, simplicity of operation, and safety are the key factors for users to choose. However, there are still many deficiencies in the existing magnetic control driving devices in these aspects. For example, many magnetic control driving devices are large in size and inconvenient to carry; the operation is complex and requires users to frequently adjust the settings; and it is difficult to adjust the magnitude of the magnetic field intensity of some magnetic control driving devices, and there are deviations in the local magnetic field direction positioning. To address these pain points, the novel handheld magnetic control driving device developed by the present invention can be used in combination with a variety of magnetic micro-nano motors, and solves the above problems through innovative design, improving the user experience.

[0096] 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 only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor, characterized in that: It comprises a handheld magnetic control driving body and a spherical magnet assembly. The handheld magnetic control driving body is connected to the spherical magnet assembly. The handheld magnetic control driving body drives the spherical magnet assembly to rotate so as to drive the magnetic micro-nano motor to move.

2. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 1, characterized in that: The handheld magnetic control driving body is a slender object that can be held in the hand.

3. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 1, characterized in that: The handheld magnetic control drive body includes a handheld shell, a circuit assembly, a motor assembly and a quick-change chuck assembly, wherein the circuit assembly, the motor assembly and the quick-change chuck assembly are respectively installed inside the handheld shell, the circuit assembly is electrically connected to the motor assembly to control the rotation of the motor assembly, the motor assembly is connected to the quick-change chuck assembly, the quick-change chuck assembly is connected to the spherical magnet assembly, and the motor assembly drives the spherical magnet assembly to rotate through the quick-change chuck assembly.

4. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 3, characterized in that: The spherical magnet assembly includes a spherical magnet, a spherical magnet mounting seat and a rotating shaft, one end of the rotating shaft is quickly connected to the quick-change chuck assembly, the other end of the rotating shaft is connected to the spherical magnet mounting seat, and the spherical magnet is fixed on the spherical magnet mounting seat.

5. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 4, characterized in that: The quick-change chuck assembly includes a coupling, a coupling connector, a spring and a quick-change chuck, the coupling is connected to the motor assembly, the coupling connector is connected to the coupling, the quick-change chuck is connected to the coupling through the coupling connector, and the spring is clamped between the coupling connector and the handheld housing.

6. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 5, characterized in that: Bearings are respectively installed at both ends of the coupling connecting piece.

7. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 5, characterized in that: The motor assembly comprises a motor, a gear box and a motor frame, wherein the motor and the gear box are respectively mounted on the motor frame, the motor is connected to the gear box, and the output shaft of the gear box is connected to the coupling.

8. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 7, characterized in that: The circuit assembly includes an encoder PCB, a main control PCB and a battery. The encoder PCB is connected to the main control PCB, the main control PCB is connected to the battery, and the motor is connected to the main control PCB.

9. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 8, characterized in that: The handheld magnetically controlled driving device further comprises a speed regulating knob, the encoder PCB is connected to the speed regulating knob, and the speed regulating knob is mounted at the rear end of the handheld housing.

10. The handheld magnetic control driving device for driving and controlling a magnetic micro-nano motor according to claim 4, characterized in that: The spherical magnet mounting seat is provided with a hemispherical groove, and the spherical magnet is adhered in the hemispherical groove by glue.

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