Integrated multidimensional magnetic field control device

Abstract

This invention discloses an integrated multidimensional magnetic field control device, relating to the field of precision actuation technology. The integrated multidimensional magnetic field control device includes a longitudinal drive mechanism, a lateral drive mechanism, an orientation adjustment module, and a magnetic component fixed to its lower end, connected in sequence. By integrating longitudinal, lateral, and rotational degrees of freedom into a continuous modular structure, it eliminates the redundant configuration of traditional multi-independent module arrangements, significantly reducing volume and space occupation, and adapting to space-constrained scenarios. It can directly drive a single magnetic component to achieve two-dimensional displacement and rotation in a plane, thereby enabling multidimensional and continuous adjustment of magnetic field strength and direction, avoiding the indirectness and complexity of multi-module coordination. The integrated structure has better overall mechanical rigidity and higher relative position stability of moving parts, helping to reduce errors and improve the repeatability and long-term stability of magnetic field control.

Description

Technical Field

[0001] This invention relates to the field of precision actuation technology, and in particular to an integrated multidimensional magnetic field control device. Background Technology

[0002] Currently, magnetic field generation and modulation technology has become an indispensable foundational tool in many scientific and engineering fields. However, traditional magnetic field generating devices, such as large electromagnets or superconducting magnets, generally suffer from inherent drawbacks such as large size, high power consumption, cumbersome field strength and direction adjustment, and difficulty in integration. This severely restricts their widespread adoption in cutting-edge applications where space is limited, dynamic precision control is required, or portability and wearability are necessary. Especially in emerging fields such as biomedical engineering, precision sensing and measurement, higher demands are placed on magnetic field control: not only is it necessary to achieve a wide range of field strength output from millitalas to teslas within miniaturized packaging, but it is also required that the magnetic field possess multi-degree-of-freedom vector precision adjustment (including strength and direction) and excellent spatial compactness. For example, in high-end scientific instruments (such as scanning probe microscopes) and high-precision inertial sensors, magnetic field modulation devices are needed to actively compensate for background stray magnetic fields in real time.

[0003] Currently, multiple fully functional and independent linear drive modules are typically arranged around the sample at a specific angle. Each module can only drive its magnet to move linearly in one fixed direction. The system relies on the vector synthesis of the displacements of multiple modules in space to achieve magnetic field control. This configuration is essentially still an indirect synthesis of multiple single-degree-of-freedom motions, rather than a direct multi-degree-of-freedom drive of a single magnet. Its drawbacks are: structural redundancy and looseness, large space occupation; complex algorithms are required to coordinate multiple independent modules for control; and it is difficult to achieve fast, high-precision direct control. Summary of the Invention

[0004] The main objective of this invention is to propose an integrated multidimensional magnetic field control device that aims to reduce the space occupied by the device.

[0005] To achieve the above objectives, the present invention proposes an integrated multidimensional magnetic field control device, comprising:

[0006] A longitudinal drive mechanism includes a first mounting housing and a first sliding member passing through the first mounting housing;

[0007] The lateral drive mechanism includes a second mounting housing fixedly connected to the lower end of the first slider and a second slider housed within the second mounting housing;

[0008] The orientation adjustment module includes a second rotating member and a third mounting housing fixedly connected to the lower end of the second sliding member, wherein the second rotating member is rotatably mounted on the third mounting housing;

[0009] A magnetic component is fixedly connected to the lower end of the second rotating component.

[0010] In one embodiment, the orientation adjustment module includes a lateral rotation drive mechanism and a longitudinal rotation drive mechanism;

[0011] The transverse rotation drive mechanism includes the third mounting housing and a first rotating component rotatably mounted within the third mounting housing;

[0012] The longitudinal rotation drive mechanism includes a fourth mounting housing fixedly connected to the lower end of the first rotating member and the second rotating member;

[0013] The second rotating member is rotatably mounted on the fourth mounting housing.

[0014] In one embodiment, the magnetic assembly includes an extension drive mechanism and a magnetic element;

[0015] The extension drive mechanism includes a fifth mounting housing fixedly connected to the lower end of the second rotating member and a third sliding member passing through the fifth mounting housing;

[0016] The magnetic component is fixedly connected to the lower end of the third sliding component.

[0017] In one embodiment, the longitudinal drive mechanism, the lateral drive mechanism, the lateral rotation drive mechanism, the longitudinal rotation drive mechanism, and the extension drive mechanism are all provided with drive members.

[0018] In one embodiment, the driving element includes a first driving element, a second driving element, a third driving element, a fourth driving element, and a fifth driving element;

[0019] The first driving member is disposed between the first mounting housing and the first sliding member;

[0020] The second driving member is disposed between the second mounting housing and the second sliding member;

[0021] The third driving component is disposed between the third mounting housing and the first rotating component;

[0022] The fourth driving component is disposed between the fourth mounting housing and the second rotating component;

[0023] The fifth driving member is disposed between the fifth mounting housing and the third sliding member.

[0024] In one embodiment, the first sliding member is a first multifaceted prism, and a plurality of the first driving members are provided between the sidewall of the first multifaceted prism and the first mounting housing;

[0025] Multiple first driving elements are spaced apart around the first multifaceted prism;

[0026] One end of the first driving component is fixedly connected to the inner wall of the first mounting housing, and the other end is attached to the side wall of the first multifaceted prism.

[0027] In one embodiment, the second slider is a lateral drive block;

[0028] The two opposite sides of the transverse drive block are both recessed to form a first guide groove, and the cross-section of the first guide groove is triangular.

[0029] A plurality of second driving components are provided between the lateral driving block and the second mounting housing;

[0030] Multiple second driving elements are symmetrically arranged on opposite sides of the transverse driving block;

[0031] The second driving member is fixedly connected to a first connecting hemisphere at one end near the transverse driving block, and the first connecting hemisphere contacts and engages with the inclined surface of the corresponding first guide groove.

[0032] The end of the second driving member opposite to the first connecting hemisphere is fixedly connected to the second mounting housing to drive the lateral driving block to move linearly relative to the second mounting housing.

[0033] In one embodiment, the first rotating component is a turntable;

[0034] A plurality of third driving components are provided between the surface of the turntable and the inner wall of the third mounting housing;

[0035] Multiple third drive components are spaced apart around the axis of the turntable to drive the turntable to rotate relative to the third mounting housing.

[0036] In one embodiment, the second rotating member is a rotary drive block;

[0037] Both ends of the rotary drive block are fixedly connected to rotating wheels, and the wheel surfaces of both rotating wheels are concave to form a second guide groove, the cross-section of the second guide groove being triangular;

[0038] A plurality of fourth driving components are provided between the rotating wheel and the fourth mounting housing;

[0039] The plurality of the fourth driving components are spaced apart around the axis of the rotating wheel;

[0040] The fourth driving component is fixedly connected to a second connecting hemisphere at one end near the rotating wheel, and the second connecting hemisphere contacts and engages with the inclined surface of the corresponding second guide groove.

[0041] The end of the fourth driving member opposite to the second connecting hemisphere is fixedly connected to the fourth mounting housing to drive the rotating wheel to rotate relative to the fourth mounting housing.

[0042] In one embodiment, the driving element is a piezoelectric ceramic stack.

[0043] The technical solution of this invention integrates longitudinal, lateral, and rotational degrees of freedom into a continuous modular structure, reducing the size of the device and adapting it to space-constrained applications. It eliminates the redundant configuration of multiple independent linear modules arranged in a ring, significantly reducing the device's size and space occupation. Through the combination of the longitudinal and lateral drive mechanisms, two-dimensional displacement of the magnet in the plane is achieved. Combined with the rotation of the orientation adjustment module, multi-dimensional and continuous adjustment of the strength and direction of a single magnetic component can be directly performed. This avoids the indirectness and complexity of traditional solutions that rely on coordinating multiple independent single-degree-of-freedom motions for vector synthesis. Compared to multiple loosely arranged independent modules, the integrated structure has better overall mechanical rigidity, higher relative positional stability between moving parts, and helps reduce errors, improving the repeatability and long-term stability of magnetic field control. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0045] Figure 1 A schematic diagram of an embodiment of the integrated multidimensional magnetic field control device provided by the present invention;

[0046] Figure 2 This is a schematic diagram of the first explosion structure of an integrated multidimensional magnetic field control device.

[0047] Figure 3 This is a schematic diagram of the second explosion structure of an integrated multidimensional magnetic field control device.

[0048] Figure 4 This is a schematic diagram of the exploded structure of the longitudinally driven structure.

[0049] Figure 5 This is a schematic diagram of the exploded structure of a transversely driven structure;

[0050] Figure 6 This is a schematic diagram of the transverse rotation drive structure;

[0051] Figure 7This is a schematic diagram of the exploded structure of a transverse rotation-driven structure.

[0052] Figure 8 A schematic diagram of the exploded structure of a longitudinal rotation-driven structure;

[0053] Figure 9 This is a schematic diagram of the exploded structure of the extension drive mechanism.

[0054] Explanation of icon numbers:

[0055] 1. Longitudinal drive mechanism; 11. First mounting housing; 12. First sliding member; 121. First drive member; 122. First sapphire plate; 13. First adjustment component; 131. First spring; 1311. First mounting hole; 132. First bolt; 133. First mounting block; 1331. First groove; 134. First pressure ball; 14. First limit baffle; 2. Lateral drive mechanism; 21. Second mounting housing; 22. Second sliding member; 221. 222. First guide groove; 223. Second driving component; 224. First connecting hemisphere; 225. Second sapphire plate; 23. Second adjusting assembly; 231. Second mounting block; 232. Second spring; 233. Second bolt; 3. Lateral rotation driving mechanism; 31. Third mounting housing; 311. Sapphire limiting post; 312. Rotation limiting part; 32. First rotating component; 321. Adapter block; 33. Third driving component; 34. Third adjusting assembly; 341. Third spring. 3411, Mounting part; 3412, Second mounting hole; 342, Third bolt; 35, Second pressure ball; 4, Longitudinal rotation drive mechanism; 41, Fourth mounting housing; 42, Second rotating component; 421, Rotating wheel; 422, Second guide groove; 423, Fourth drive component; 424, Second connecting hemisphere; 425, Third connecting hemisphere; 43, Fourth adjusting assembly; 431, Fourth spring; 4311, Third mounting hole; 432, Fourth bolt; 5, Extending drive 51. Moving mechanism; 52. Fifth mounting housing; 53. Third sliding component; 54. Fifth driving component; 55. Fifth adjusting component; 56. Fifth spring; 57. Fourth mounting hole; 58. Fifth bolt; 59. Third mounting block; 50. Second groove; 51. Third pressure ball; 52. Second limit baffle; 53. Third sapphire plate; 64. Magnetic component; 65. Soft iron electromagnet support; 66. Electromagnet coil; 7. First adapter; 8. Second adapter.

[0056] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0059] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0060] Currently, magnetic field generation and modulation technology has become an indispensable foundational tool in many scientific and engineering fields. However, traditional magnetic field generating devices, such as large electromagnets or superconducting magnets, generally suffer from inherent drawbacks such as large size, high power consumption, cumbersome field strength and direction adjustment, and difficulty in integration. This severely restricts their widespread adoption in cutting-edge applications where space is limited, dynamic precision control is required, or portability and wearability are necessary. Especially in emerging fields such as biomedical engineering, precision sensing and measurement, higher demands are placed on magnetic field control: not only is it necessary to achieve a wide range of field strength output from millitalas to teslas within miniaturized packaging, but it is also required that the magnetic field possess multi-degree-of-freedom vector precision adjustment (including strength and direction) and excellent spatial compactness. For example, in high-end scientific instruments (such as scanning probe microscopes) and high-precision inertial sensors, magnetic field modulation devices are needed to actively compensate for background stray magnetic fields in real time.

[0061] Currently, multiple fully functional and independent linear drive modules are typically arranged around the sample at a specific angle. Each module can only drive its magnet to move linearly in one fixed direction. The system relies on the vector synthesis of the displacements of multiple modules in space to achieve magnetic field control. This configuration is essentially still an indirect synthesis of multiple single-degree-of-freedom motions, rather than a direct multi-degree-of-freedom drive of a single magnet. Its drawbacks are: structural redundancy and looseness, large space occupation; complex algorithms are required to coordinate multiple independent modules for control; and it is difficult to achieve fast, high-precision direct control.

[0062] This invention proposes an integrated multidimensional magnetic field control device.

[0063] Please see Figures 1 to 3 In one embodiment of the present invention, the integrated multidimensional magnetic field control device includes:

[0064] The longitudinal drive mechanism 1 includes a first mounting housing 11 and a first sliding member 12 passing through the first mounting housing 11;

[0065] The lateral drive mechanism 2 includes a second mounting housing 21 fixedly connected to the lower end of the first sliding member 12 and a second sliding member 22 housed within the second mounting housing 21;

[0066] The orientation adjustment module includes a second rotating member 42 and a third mounting housing 31 fixedly connected to the lower end of the second sliding member 22. The second rotating member 42 is rotatably mounted on the third mounting housing 31.

[0067] A magnetic component is fixedly connected to the lower end of the second rotating member 42.

[0068] The technical solution of this invention integrates longitudinal, lateral, and rotational degrees of freedom into a continuous modular structure, reducing the size of the device and adapting it to space-constrained applications. It eliminates the redundant configuration of multiple independent linear modules arranged in a ring, significantly reducing the device's size and space occupation. Through the combination of the longitudinal drive mechanism 1 and the lateral drive mechanism 2, two-dimensional displacement of the magnet in the plane is achieved. Combined with the rotation of the orientation adjustment module, multi-dimensional and continuous adjustment of the strength and direction of a single magnetic component can be directly performed. This avoids the indirectness and complexity of traditional solutions that rely on coordinating multiple independent single-degree-of-freedom motions for vector synthesis. Compared to multiple loosely arranged independent modules, the integrated structure has better overall mechanical rigidity, higher relative positional stability between moving parts, which helps reduce errors and improves the repeatability and long-term stability of magnetic field control.

[0069] Optionally, such as Figure 1 , Figure 2 and Figure 3As shown, the orientation adjustment module includes a lateral rotation drive mechanism 3 and a longitudinal rotation drive mechanism 4;

[0070] The transverse rotation drive mechanism 3 includes the third mounting housing 31 and a first rotating component 32 rotatably mounted within the third mounting housing 31;

[0071] The longitudinal rotation drive mechanism 4 includes a fourth mounting housing 41 fixedly connected to the lower end of the first rotating member 32 and the second rotating member 42.

[0072] The second rotating member 42 is rotatably mounted on the fourth mounting housing 41.

[0073] It is understandable that by specifically decomposing the orientation adjustment module into two orthogonal rotary drive mechanisms, one horizontal and one vertical, and with the second rotating component 42 mounted on the fourth mounting housing 41, and the fourth mounting housing 41 connected to the third mounting housing 31 via the first rotating component 32, the magnetic component fixed to the lower end of the second rotating component 42 can achieve pitch and yaw rotation around two spatial orthogonal axes. This directly and independently achieves high-precision, uncoupled adjustment of the magnetic field vector direction in two angular degrees of freedom in three-dimensional space, completely eliminating the indirectness of relying on multiple linear displacements for direction synthesis in traditional solutions.

[0074] It is understood that the sliding direction of the first slider 12, i.e., the longitudinal direction, is defined as the first direction, and the sliding direction of the second slider 22 is defined as the second direction. The first direction and the second direction are perpendicular, and the rotation axis of the first rotating member 32 is parallel to the first direction, while the rotation axis of the second rotating member 42 is perpendicular to the first direction.

[0075] Optionally, the magnetic assembly includes an extension drive mechanism 5 and a magnetic element 6;

[0076] The extension drive mechanism 5 includes a fifth mounting housing 51 fixedly connected to the lower end of the second rotating member 42 and a third sliding member 52 passing through the fifth mounting housing 51.

[0077] The magnetic component 6 is fixedly connected to the lower end of the third sliding component 52.

[0078] Understandably, the magnetic component 6 can perform linear telescoping along its axial direction via the extension drive mechanism 5. This makes the distance between the magnetic component 6 and the sample a directly and independently controllable variable. Since magnetic field strength is strongly correlated with distance, this degree of freedom provides an extremely sensitive and efficient means of field intensity regulation. Combined with existing translational and rotational degrees of freedom, the device can now more flexibly generate complex spatial magnetic field distributions and gradient fields.

[0079] The direction of movement of the third slider 52 is defined as the third direction, which changes with the adjustment of the orientation module. This extension degree of freedom allows for fine adjustment of the magnetic field without changing the basic orientation of the magnetic component 6. This is crucial for scenarios requiring ultra-high precision field strength control. Simultaneously, it enhances the adaptability of the device to different experimental configurations or sample sizes.

[0080] In some embodiments, the magnetic element 6 is a permanent magnet.

[0081] Preferably, the permanent magnet is a neodymium iron boron permanent magnet.

[0082] In some other embodiments, the magnetic component 6 is an electromagnet, which includes a soft iron electromagnet support 61 and an electromagnet coil 62. Unlike the passive method of changing the field strength by moving a permanent magnet, the electromagnet can directly and continuously control the magnetic field strength it generates by adjusting the excitation current.

[0083] Optionally, the longitudinal drive mechanism 1, the transverse drive mechanism 2, the transverse rotation drive mechanism 3, the longitudinal rotation drive mechanism 4, and the extension drive mechanism 5 are all provided with drive components.

[0084] It is understood that each drive mechanism has an independent drive component, so that the generation and transmission of motion in each degree of freedom, such as longitudinal, lateral, rotational and extension, are independent of each other.

[0085] Furthermore, the driving component includes a first driving component 121, a second driving component 222, a third driving component 33, a fourth driving component 423, and a fifth driving component 53;

[0086] The first driving member 121 is disposed between the first mounting housing 11 and the first sliding member 12;

[0087] The second driving member 222 is disposed between the second mounting housing 21 and the second sliding member 22;

[0088] The third driving component 33 is disposed between the third mounting housing 31 and the first rotating component 32;

[0089] The fourth driving member 423 is disposed between the fourth mounting housing 41 and the second rotating member 42;

[0090] The fifth driving member 53 is disposed between the fifth mounting housing 51 and the third sliding member 52.

[0091] It is understandable that by embedding the drive unit within the cavity or gap between the mounting housing and its moving parts at each level, the internal space of the device is fully utilized, rather than being an external accessory, further reducing the overall size and volume of the device.

[0092] It should be noted that the driving component is a piezoelectric ceramic stack.

[0093] Understandably, piezoelectric ceramic stacks, based on the inverse piezoelectric effect, exhibit a highly linear relationship between their displacement output and driving voltage, enabling extremely precise stepping. This results in ultra-high motion resolution and positioning accuracy for all five mechanical degrees of freedom. For magnetic field control, this means the ability to achieve extremely precise and continuous adjustment of the magnetic field strength and direction, meeting the stringent requirements for "fine-tuning" of magnetic fields in precision sensing, scanning probe technology, and cutting-edge physics experiments.

[0094] Furthermore, by inputting a series of sawtooth voltages, the stick-slip effect enables high-precision positioning of the load over a long stroke.

[0095] Taking the first slider 12 and the first drive member 121 as examples:

[0096] During the viscous phase, the input voltage increases linearly with a slow ramp. The drive end of the piezoelectric ceramic stack moves slowly accordingly. Due to its slow movement speed, the static friction between the drive end and the load is large enough that the first drive element 121 moves along with the ceramic, producing a macroscopic forward displacement.

[0097] During the sliding phase, the input voltage drops sharply, causing the piezoelectric ceramic stack to contract rapidly. Due to its extremely fast contraction speed, inertia prevents the first sliding element 12 from following suit, and the friction between the driving end and the first sliding element 12 is instantly overcome, resulting in relative sliding. The load remains stationary, while the piezoelectric ceramic driving end retracts to its starting point, preparing for the next cycle. By continuously inputting a series of sawtooth wave voltages and repeating the above process, long-stroke, high-precision motion far exceeding the deformation range of the piezoelectric ceramic itself can be achieved.

[0098] Furthermore, the piezoelectric ceramic stack itself is smaller than driving components such as motors, further compressing the internal space of the device and achieving miniaturization of the drive system. At the same time, it avoids the vibration and noise that electromagnetic motors may generate, which is a crucial advantage for ultra-high vacuum, low temperature, or precision measurement environments that are extremely sensitive to vibration (such as atomic force microscopy and quantum sensing).

[0099] Optionally, the longitudinal drive mechanism 1, the transverse drive mechanism 2, the transverse rotation drive mechanism 3, the longitudinal rotation drive mechanism 4, and the extension drive mechanism 5 are all further provided with adjustment components;

[0100] The adjustment component is configured to apply an adjustable preload to the drive element.

[0101] Understandably, by applying precise and adjustable preload to the piezoelectric ceramic stack through the adjustment component, microscopic gaps within each kinematic pair caused by component machining and assembly can be eliminated, ensuring that the drive component and the load are always in an ideal force transmission state. This effectively compensates for tolerances, allowing the drive of each degree of freedom to start working from the optimal initial state, improving motion consistency and overall performance stability.

[0102] Furthermore, appropriate preload can keep the piezoelectric ceramic under pressure, improving the linearity of its displacement output and potentially reducing hysteresis. Simultaneously, the preload eliminates backlash in the transmission chain, making the system respond more quickly and directly during startup and commutation, reducing nonlinear factors and facilitating higher precision control.

[0103] The adjustment components include a first adjustment component 13, a second adjustment component 23, a third adjustment component 34, a fourth adjustment component 43, and a fifth adjustment component 54;

[0104] The first adjustment component 13 is used to adjust at least one preload applied to the first drive member 121;

[0105] The second adjustment component 23 is used to adjust at least one preload applied to the second drive member 222;

[0106] The third adjustment component 34 is used to adjust at least one preload applied to the third drive member 33;

[0107] The fourth adjustment component 43 is used to adjust at least one preload applied to the fourth drive member 423;

[0108] The fifth adjustment component 54 is used to adjust at least one preload applied to the fifth drive member 53.

[0109] Optionally, such as Figure 4 As shown, the first sliding member 12 is a first multifaceted prism, and a plurality of first driving members 121 are provided between the side wall of the first multifaceted prism and the first mounting shell 11.

[0110] The plurality of first driving elements 121 are spaced apart around the first polyhedral prism;

[0111] One end of the first driving component 121 is fixedly connected to the inner wall of the first mounting housing 11, and the other end is attached to the side wall of the first multifaceted prism.

[0112] It is understood that the first driving element 121 is a first piezoelectric ceramic stack.

[0113] It should be noted that the multiple planar sidewalls of the first polyhedral prism are directly coupled to the inner wall of the first mounting housing 11 through multiple stacks of first piezoelectric ceramics. The sidewalls of the first polyhedral prism are all parallel to their corresponding inner walls of the first mounting housing 11. The multiple stacks of first piezoelectric ceramics work together to not only provide propulsion but also actively constrain multiple degrees of freedom of the first polyhedral prism, suppressing its yaw and torsion. This eliminates the need for additional guiding structures, reduces the number of parts, simplifies the assembly process, and compresses the device size.

[0114] Multiple stacks of the first piezoelectric ceramics are evenly spaced around the first polyhedral prism, ensuring that the driving force acts symmetrically on the prism. This eliminates the lateral force component and associated frictional nonlinearity or jamming that may be caused by single-point or asymmetrical driving. This results in smoother and more stable movement of the first polyhedral prism, and a better linear relationship between displacement and control signal. This arrangement also provides a high mechanical resonant frequency, strong vibration resistance, and avoids introducing additional mechanical noise into the microscopic system through the multi-dimensional driving structure.

[0115] Understandably, the number of edges of the first polyhedral prism can be selected according to actual needs, and this embodiment does not impose specific restrictions on this.

[0116] In one embodiment, the first multifaceted prism is a hexagonal prism, with a set of first piezoelectric ceramic stacks on its three sides, and each set of first piezoelectric ceramic stacks includes two first piezoelectric ceramic stacks.

[0117] In some embodiments, each side of the first faceted prism is bonded with a first sapphire sheet 122.

[0118] Understandably, sapphire has high surface hardness and low surface roughness. Using it as the contact medium between the drive component and the first faceted prism can reduce sliding friction and minimize wear.

[0119] It should be noted that by using piezoelectric ceramic stacking and sapphire wafers, linear positioning accuracy of over 50nm and rotational positioning accuracy of over 0.001° can be achieved.

[0120] Optionally, the first adjustment assembly 13 includes a first spring 131, a first bolt 132, and a first mounting block 133;

[0121] The first mounting block 133 is arranged parallel to one side of the first multifaceted prism, and at least one of the first piezoelectric ceramics is disposed between the first multifaceted prism and the first mounting block 133.

[0122] The back of the mounting block abuts against the first spring piece 131, and the two ends of the first spring piece 131 are connected to the first mounting housing 11 by the first bolt 132.

[0123] Understandably, the first spring piece 131, as an elastic element, can apply a continuous and stable elastic force to the first mounting block 133 after being appropriately compressed by the first bolt 132. This force is uniformly transmitted to the connected first piezoelectric ceramic stack through the first mounting block 133, ultimately forming a preload force on the side surface of the first multifaceted prism. The elastic characteristics of the spring piece enable it to automatically compensate for minor dimensional changes caused by temperature variations and micro-wear, thereby maintaining the long-term stability of the preload force and ensuring that the drive interface is always in optimal contact condition.

[0124] Understandably, the first bolt 132 serves as an adjustment interface, allowing precise control over the deformation of the first spring piece 131 by adjusting the screw-in depth, thereby adjusting the preload. After adjustment, the first bolt 132 can be locked to prevent loosening.

[0125] Furthermore, there are two first spring pieces 131, which provide two-point stable support for the back of the first mounting block 133. The stable posture of the first mounting block 133 directly ensures that the parallelism between the end face of the first piezoelectric ceramic stack and the side face of the first multifaceted prism is maintained, thereby further optimizing the pressure distribution and motion guidance accuracy of the contact interface.

[0126] In some embodiments, a first pressure ball 134 is provided between the first spring 131 and the first mounting block 133. The first spring 131 and the first mounting block 133 are respectively provided with a first mounting hole 1311 and a first groove 1331 for mounting and clamping the first pressure ball 134.

[0127] It is understandable that the first pressure ball 134 makes the force applied by the first spring 131 to the first mounting block 133 more uniform.

[0128] Optionally, a first limiting baffle 14 is provided at the upper end of the first polyhedral prism to limit the downward movement distance of the first polyhedral prism.

[0129] Optionally, such as Figure 5 As shown, the second slider 22 is a lateral drive block;

[0130] The two opposite sides of the transverse drive block are both recessed to form a first guide groove 221, and the cross section of the first guide groove 221 is triangular.

[0131] A plurality of second driving components 222 are provided between the lateral driving block and the second mounting housing 21;

[0132] Multiple second driving elements 222 are symmetrically arranged on opposite sides of the transverse driving block;

[0133] The second driving member 222 is fixedly connected to a first connecting hemisphere 223 near the end of the transverse driving block. The first connecting hemisphere 223 is in contact with the inclined surface of the corresponding first guide groove 221.

[0134] The end of the second driving member 222 that is away from the first connecting hemisphere 223 is fixedly connected to the second mounting housing 21 to drive the transverse driving block to move linearly relative to the second mounting housing 21.

[0135] It is understandable that the triangular cross-section of the first guide groove 221 and the first connecting hemisphere 223 constrain the degrees of freedom of the transverse drive block except for the direction of motion.

[0136] Understandably, the spherical surface is adaptive. Even if there is a slight error in the machining angle of the first triangular guide groove 221, the first connecting hemisphere 223 can achieve a tight and stable fit through automatic adjustment of the contact point, which significantly reduces the stringent requirements for ultra-precision machining.

[0137] Furthermore, a second sapphire sheet 224 is bonded to both inclined surfaces of the first guide groove 221.

[0138] It is understood that the second drive element 222 is a second piezoelectric ceramic stack.

[0139] It should be noted that the second adjustment component 23 includes a second mounting block 231, a second spring piece 232, and a second bolt 233;

[0140] The second mounting block 231 is located on one side of the transverse drive block, and part of the second piezoelectric ceramic stack is located between the transverse drive block and the second mounting block 231. One end of the second piezoelectric ceramic stack is fixedly connected to the second mounting block 231.

[0141] The second spring 232 abuts against the back of the second mounting block 231, and both ends of the second spring 232 are connected to the second mounting housing 21 by the second bolt 233 to apply a preload force toward the lateral drive block to the second mounting block 231.

[0142] It is understandable that the function of the second adjustment component 23 is similar to that of the first adjustment component 13, and will not be discussed again here.

[0143] In some embodiments, the middle part of the second spring piece 232 is bent and protrudes towards the second mounting block 231 to abut against the second mounting block 231, and both the second mounting block 231 and the second spring piece 232 are provided with corresponding screw holes for mounting bolts, thereby achieving relative fixation between the second mounting block 231 and the second spring piece 232.

[0144] Optionally, such as Figure 6 and Figure 7 As shown, the first rotating component 32 is a turntable;

[0145] A plurality of third driving components 33 are provided between the surface of the turntable and the inner wall of the third mounting housing 31;

[0146] Multiple third drive members 33 are spaced apart around the axis of the turntable to drive the turntable to rotate relative to the third mounting housing 31.

[0147] It is understood that the third driving element 33 is a third piezoelectric ceramic stack.

[0148] Understandably, multiple stacks of the third piezoelectric ceramics are evenly spaced around the axis of the turntable, and driving force is applied synchronously from multiple points. This arrangement ensures a uniform and symmetrical distribution of the driving torque acting on the turntable of the third piezoelectric ceramic stacks, effectively avoiding periodic disturbances or torque imbalances that may be caused by single-point driving. This ensures high stability, low vibration, and precise axial stability during the rotation of the third piezoelectric ceramic stack turntable, guaranteeing smooth and accurate adjustment of the magnetic field direction.

[0149] It should be noted that the third piezoelectric ceramic stack is held by the turntable and the third mounting housing 31 to ensure that the third piezoelectric ceramic stack can drive the turntable to rotate.

[0150] It should be noted that the third adjustment component 34 includes a third spring 341 and a third bolt 342;

[0151] The third spring 341 is annular and has multiple mounting portions 3411 spaced around its periphery. The multiple mounting portions 3411 extend radially and are fixedly connected to the third mounting housing 31 by the third bolt 342.

[0152] The third spring 341 abuts against the turntable to provide a preload force to the turntable for the third piezoelectric ceramic stack.

[0153] It is understood that the lower end face of the turntable abuts against the third spring 341, and the upper end face of the turntable abuts against the third piezoelectric ceramic stack.

[0154] Furthermore, a second pressure ball 35 is provided between the third spring sheet 341 and the lower end face of the turntable. A plurality of second pressure balls 35 are spaced apart around the axis of the turntable. A plurality of second mounting holes 3412 are spaced apart on the surface of the third spring sheet 341 to fix the second pressure balls 35.

[0155] It is understandable that when the third piezoelectric ceramic stack drives the turntable to rotate, the turntable and the third spring 341 will rotate relative to each other. Through the second pressure ball 35, the preload is ensured while the frictional resistance torque during relative rotation is reduced.

[0156] It is understood that the preload applied to the turntable can be adjusted by adjusting the embedment depth of the third bolt 342 and the deformation of the third spring 341.

[0157] Optionally, the lower end face of the turntable is provided with a connecting block 321, which avoids the third spring piece 341 and is used to connect and fix with the fourth mounting housing 41.

[0158] It is understood that the adapter block 321 avoids the third spring piece 341 to ensure that the adapter block 321 will not collide with the third spring piece 341 when the turntable is rotating.

[0159] Furthermore, the inner side of the third mounting housing 31 is provided with a plurality of sapphire limiting posts 311, which are spaced apart along the circumference of the turntable and abut against the edge of the turntable to ensure that the turntable is coaxial with the third mounting housing 31.

[0160] In some embodiments, the third mounting housing 31 is further provided with a rotation limiting part 312, which cooperates with the adapter block 321 to limit the rotation range of the turntable.

[0161] Optionally, such as Figure 8 As shown, the second rotating component 42 is a rotation drive block;

[0162] Both ends of the rotary drive block are fixedly connected to a rotating wheel 421. The wheel surfaces of both rotating wheels 421 are concave to form a second guide groove 422. The cross section of the second guide groove 422 is triangular.

[0163] A plurality of fourth driving components 423 are provided between the rotating wheel 421 and the fourth mounting housing 41;

[0164] The plurality of the fourth driving elements 423 are arranged at intervals around the axis of the rotating wheel 421;

[0165] The fourth driving component 423 is fixedly connected to a second connecting hemisphere 424 near the end of the rotating wheel 421. The second connecting hemisphere 424 is in contact with the inclined surface of the corresponding second guide groove 422.

[0166] The end of the fourth driving member 423 facing away from the second connecting hemisphere 424 is fixedly connected to the fourth mounting housing 41 to drive the rotating wheel 421 to rotate relative to the fourth mounting housing 41.

[0167] It is understood that the fourth driving element 423 is a fourth piezoelectric ceramic stack.

[0168] It should be noted that the two ends of the rotary drive block cooperate with the second connecting hemispheres 424 at the ends of the plurality of fourth piezoelectric ceramic stacks via the rotating wheel 421 and the second guide groove 422. The second guide groove 422 provides stable rotational guidance, while the plurality of circumferentially distributed second connecting hemispheres 424 work together to generate pure torque.

[0169] Furthermore, both ends of the rotary drive block are equipped with the rotating wheel 421 and a matching drive, forming a stable support that defines an axis from two points. This greatly enhances the ability of this rotational degree of freedom to resist axial movement and radial runout, ensuring the high stability of the rotational axis in space.

[0170] It is understandable that, similar to the first guide groove 221, compared with components such as guide rails that require high assembly precision, the cooperation between the second guide groove 422 and the second connecting hemisphere 424 reduces the assembly difficulty.

[0171] In some embodiments, each of the said rotors 421 is circumferentially spaced with three of the fourth piezoelectric ceramic stacks.

[0172] It should be noted that the fourth adjustment component 43 includes a fourth spring 431 and a fourth bolt 432;

[0173] The fourth spring piece 431 includes two bent portions, and the fourth spring piece 431 forms a Z-shaped structure;

[0174] The fourth spring 431 abuts against the fourth bolt 432 and a fourth piezoelectric ceramic stack at both ends.

[0175] It should be noted that the fourth bolt 432 passes through the fourth mounting housing 41, and the end of the fourth bolt 432 abuts against the fourth spring 431. By rotating the fourth bolt 432, the deformation of the fourth spring 431 can be controlled, thereby adjusting the preload applied to the fourth piezoelectric ceramic stack.

[0176] Optionally, a third connecting hemisphere 425 is provided between the fourth piezoelectric ceramic stack and the fourth spring sheet 431, and a third mounting hole 4311 for mounting the third connecting hemisphere 425 is provided on the surface of the fourth spring sheet 431.

[0177] It should be noted that the spherical surface of the third connecting hemisphere 425 abuts against the inner wall of the third mounting hole 4311.

[0178] Optionally, such as Figure 9 As shown, the third sliding member 52 is a second polyhedral prism, and a plurality of fifth driving members 53 are provided between the second polyhedral prism and the fifth mounting housing 51;

[0179] The plurality of fifth driving elements 53 are spaced apart around the second polyhedral prism;

[0180] One end of the fifth driving component 53 is fixedly connected to the inner wall of the fifth mounting housing 51, and the other end is attached to the side wall of the second polyhedral prism.

[0181] It is understood that the fifth driving element 53 is a fifth piezoelectric ceramic stack;

[0182] It should be noted that the structure of the extension drive mechanism 5 is similar to that of the longitudinal drive mechanism 1, and will not be described again here.

[0183] Understandably, each side of the second polyhedral prism is bonded with a third sapphire sheet 57.

[0184] Optionally, the fifth adjustment component 54 includes a fifth spring 541, a fifth bolt 542, and a third mounting block 543;

[0185] It should be noted that the arrangement of the fifth adjustment component 54 is similar to that of the first adjustment component 13, and will not be repeated here.

[0186] Furthermore, a third pressure ball 55 is provided between the fifth spring 541 and the third mounting block 543. The fifth spring 541 and the third mounting block 543 are respectively provided with a fourth mounting hole 5411 and a second groove 5431 for mounting and clamping the third pressure ball 55.

[0187] Optionally, a second limiting baffle 56 is provided at the upper end of the second polyhedral prism to limit the maximum extension distance of the second polyhedral prism.

[0188] It is understood that the magnetic component 6 is fixedly connected to the lower end of the second polyhedral prism. The magnetic component 6 can limit the maximum retraction distance of the second polyhedral prism. The second limiting stop cooperates with the magnetic component 6 to limit the movement range of the second polyhedral prism.

[0189] In some embodiments, the upper end of the second mounting housing 21 is connected to a first adapter 7, and the second mounting housing 21 is fixedly connected to the lower end of the first sliding member 12 through the first adapter 7.

[0190] It is understood that the first adapter 7 is fixed to the first sliding member 12 and the second mounting housing 21 by bolts to facilitate installation and disassembly.

[0191] In some embodiments, the upper end of the fourth mounting housing 41 is connected to a second adapter 8, and the fourth mounting housing 41 is fixedly connected to the adapter block 321 of the turntable through the second adapter 8.

[0192] It is understood that the second adapter 8 is fixed to the adapter block 321 and the fourth mounting housing 41 by bolts to facilitate installation and disassembly.

[0193] By precisely controlling the position and angle of the magnetic component 6 relative to the target, the magnetic field strength and angle can be precisely controlled. This method, employing electronic control to adjust the magnetic field strength and angle, features a compact structure, high braking precision, and a wide range of motion, making it promising for widespread application in research systems in emerging fields such as biomedical engineering, precision sensing, and high-resolution imaging.

[0194] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An integrated multidimensional magnetic field control device, characterized in that, include: A longitudinal drive mechanism includes a first mounting housing and a first sliding member passing through the first mounting housing; The lateral drive mechanism includes a second mounting housing fixedly connected to the lower end of the first slider and a second slider housed within the second mounting housing; An orientation adjustment module, the orientation adjustment module including a lateral rotation drive mechanism and a longitudinal rotation drive mechanism; The transverse rotation drive mechanism includes a third mounting housing and a first rotating component rotatably mounted within the third mounting housing; The longitudinal rotation drive mechanism includes a fourth mounting housing fixedly connected to the lower end of the first rotating component and a second rotating component; The second rotating member is rotatably mounted on the fourth mounting housing; A magnetic component, which is fixedly connected to the lower end of the second rotating component; The magnetic assembly includes an extension drive mechanism and a magnetic component; The extension drive mechanism includes a fifth mounting housing fixedly connected to the lower end of the second rotating member and a third sliding member passing through the fifth mounting housing; The magnetic component is fixedly connected to the lower end of the third sliding component.

2. The integrated multidimensional magnetic field control device as described in claim 1, characterized in that, The longitudinal drive mechanism, the transverse drive mechanism, the transverse rotation drive mechanism, the longitudinal rotation drive mechanism, and the extension drive mechanism are all equipped with drive components.

3. The integrated multidimensional magnetic field control device as described in claim 2, characterized in that, The driving component includes a first driving component, a second driving component, a third driving component, a fourth driving component, and a fifth driving component; The first driving member is disposed between the first mounting housing and the first sliding member; The second driving member is disposed between the second mounting housing and the second sliding member; The third driving component is disposed between the third mounting housing and the first rotating component; The fourth driving component is disposed between the fourth mounting housing and the second rotating component; The fifth driving member is disposed between the fifth mounting housing and the third sliding member.

4. The integrated multidimensional magnetic field control device as described in claim 3, characterized in that, The first sliding member is a first multifaceted prism, and a plurality of the first driving members are provided between the side wall of the first multifaceted prism and the first mounting shell; Multiple first driving elements are spaced apart around the first multifaceted prism; One end of the first driving component is fixedly connected to the inner wall of the first mounting housing, and the other end is attached to the side wall of the first multifaceted prism.

5. The integrated multidimensional magnetic field control device as described in claim 3, characterized in that, The second slider is a lateral drive block; The two opposite sides of the lateral drive block are both recessed to form a first guide groove, and the cross-section of the first guide groove is triangular. A plurality of second driving components are provided between the lateral driving block and the second mounting housing; Multiple second driving elements are symmetrically arranged on opposite sides of the transverse driving block; The second driving member is fixedly connected to a first connecting hemisphere at one end near the transverse driving block, and the first connecting hemisphere contacts and engages with the inclined surface of the corresponding first guide groove. The end of the second driving member opposite to the first connecting hemisphere is fixedly connected to the second mounting housing to drive the lateral driving block to move linearly relative to the second mounting housing.

6. The integrated multidimensional magnetic field control device as described in claim 3, characterized in that, The first rotating component is a turntable; A plurality of third driving components are provided between the surface of the turntable and the inner wall of the third mounting housing; Multiple third drive components are spaced apart around the axis of the turntable to drive the turntable to rotate relative to the third mounting housing.

7. The integrated multidimensional magnetic field control device as described in claim 3, characterized in that, The second rotating component is a rotary drive block; Both ends of the rotary drive block are fixedly connected to rotating wheels, and the wheel surfaces of both rotating wheels are concave to form a second guide groove, the cross-section of the second guide groove being triangular; A plurality of fourth driving components are provided between the rotating wheel and the fourth mounting housing; The plurality of the fourth driving components are spaced apart around the axis of the rotating wheel; The fourth driving component is fixedly connected to a second connecting hemisphere at one end near the rotating wheel, and the second connecting hemisphere contacts and engages with the inclined surface of the corresponding second guide groove. The end of the fourth driving member opposite to the second connecting hemisphere is fixedly connected to the fourth mounting housing to drive the rotating wheel to rotate relative to the fourth mounting housing.

8. The integrated multidimensional magnetic field control device as described in claim 2, characterized in that, The driving component is a piezoelectric ceramic stack.

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