Three-dimensional passive driving system based on magnetic climbing effect and cavity autorotation

Abstract

The invention belongs to the technical field of passive driving, and relates to a three-dimensional passive driving system based on a magnetic climbing effect and cavity autorotation, which comprises a magnetic suction working unit, a loading moving unit and a control unit. The working magnetic rod is stably attracted to the outer wall of the barrel of the working cavity through static magnetic attraction force formed between the working magnetic rod and the ferromagnetic rod, the magnetic climbing effect is generated by combining limiting of the constraint rod and rotation of the working cavity, three-dimensional passive driving in the sealed environment is achieved, only the simple annular electromagnet is arranged to serve as a direction regulation and control component, and the working efficiency is improved. Meanwhile, permanent magnet static magnetic force serves as basic power in the driving process, short-time power supply is conducted on the electromagnet only in the direction switching process, continuous power consumption is not needed, in addition, stable movement is achieved through cooperation of mechanical limiting of the constraint rod and static magnetic adsorption, complex control algorithm compensation is not needed, and the reliability is high. And when the system is shut down, the working magnetic rod is automatically self-locked under the action of static magnetic adsorption, and the driving precision and the motion repeatability are higher.

Description

Technical Field

[0001] This invention belongs to the field of passive drive technology and relates to a three-dimensional passive drive system based on magnetic climbing effect and cavity rotation. Background Technology

[0002] In special sealed cavity environments such as ultra-high pressure, ultra-high vacuum, and sterile bioreactors, performing precision operations places extremely high demands on drive technology. These extreme conditions not only strictly limit the sealing integrity of the cavity, prohibiting any form of media leakage, foreign object intrusion, or external interference, but also impose stringent standards on the accuracy, stability, and compatibility of the drive process. Passive drive technology can achieve non-contact, low-disturbance, and highly stable precision drive without compromising the cavity's sealing integrity. It eliminates the need for any through holes in the sealed cavity, fundamentally avoiding the risk of seal failure, and perfectly adapts to the extreme operating conditions of these special sealed cavities.

[0003] Currently, existing passive drive technologies have formed multiple technical paths, mainly including piezoelectric stick-slip drive, optical drive, surface acoustic wave drive, and active magnetic field drive. Among them, active magnetic field drive, as a non-contact passive drive method, works by using an externally arranged complex electromagnetic coil system to precisely generate a gradient magnetic field or rotating magnetic field. By utilizing the magnetic coupling effect of the magnetic field, it drives a magnetic object pre-placed in a sealed cavity to achieve the expected translation, rotation, and other movements, without the need for any power source or electrical components inside the cavity.

[0004] However, existing active magnetic field drive technology still has many shortcomings in practical applications: First, active magnetic field drive requires multiple independently controlled electromagnetic coils, as well as high-precision power supplies, heat dissipation and cooling systems, and magnetic field shielding components, which not only leads to high equipment manufacturing costs but also occupies a large amount of installation space. Second, in order to maintain the strong magnetic field required for drive, the electromagnetic coils need to continuously consume a large amount of electrical energy, increasing the operating cost of the equipment. Third, since the distribution of the magnetic field in space is easily affected by factors such as coil layout and environmental interference, it is difficult to achieve an absolutely uniform magnetic field distribution. Especially when executing complex motion paths, complex control algorithms are required for compensation, which not only increases the control difficulty but also makes it difficult to guarantee stable control accuracy. Fourth, the power transmission of active magnetic field drive relies entirely on the dynamic magnetic force generated by the electromagnetic coils. There is no static magnetic force involved in the process, which means that when the system stops working, there is no forceful interaction between the external electromagnetic coils and the magnetic objects inside the cavity, and their positions are easily shifted, making it impossible to maintain a stable state. Summary of the Invention

[0005] The purpose of this invention is to provide a three-dimensional passive drive system based on magnetic climbing effect and cavity rotation, which can realize passive magnetic drive and object transport with simple structure, low energy consumption, easy control, stable positioning and three-dimensional omnidirectional motion in a closed special environment.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows: A three-dimensional passive drive system based on magnetic climbing effect and cavity rotation includes: The magnetic suction working unit includes a rotating table, a fixed table, a working cavity, and a ferromagnetic rod. The rotating table is horizontally positioned below the fixed table, and the working cavity is positioned between the rotating table and the fixed table. The working cavity consists of a cover and a cylinder arranged coaxially. The lower part of the cover is fixedly and sealed to the rotating table, and the lower end of the cylinder is closed while the upper end passes through the upper part of the cover and is fixedly connected to the upper part of the cover. The ferromagnetic rod is vertically positioned inside the cylinder and its upper end is fixedly connected to the fixed table. The loading and unloading unit includes a loading and unloading pallet, at least one working magnetic rod, a loading platform, and at least two constraint rods. The loading and unloading pallet is horizontally arranged inside the cover and located below the cylinder. The loading and unloading pallet is rotatably connected to the inner wall of the cover. The working magnetic rod is horizontally arranged inside the cover. One end of the working magnetic rod is attracted to the side of the cylinder, and the other end of the working magnetic rod is rotatably connected to the lower part of the loading platform. The two constraint rods are symmetrically arranged on both sides of the cylinder, and the lower end of each constraint rod is connected to the loading and unloading pallet. The control unit includes a drive component, an electromagnet, and a control component. The drive component is located at the lower part of the rotary table, and the electromagnet is fixedly located at the lower part of the fixed table and arranged around the ferromagnetic rod. The control component is electrically connected to the drive component and the electromagnet, and is used to control the start and stop of the drive component. The drive component drives the rotary table to rotate, causing the working magnetic rod to slide relative to the constraint rod under the limiting action. It moves upward along the cylinder by relying on the magnetic climbing effect. The control component regulates the working state of the electromagnet, so that the working magnetic rod switches between rising and falling. At the same time, the speed of the working magnetic rod is controlled by controlling the rotation speed of the drive component.

[0007] The invention is further characterized by: The stability condition for the lifting and lowering of the working magnetic rod is: , In the formula, Let be the radius of the working magnetic rod. This is the coefficient of dynamic friction between the side of the cylinder and the working magnetic rod. For the mass of the working magnetic rod, For equivalent gravitational acceleration, The length of the working magnetic rod. The magnetic torque generated by the working magnetic rod along the axis of the cylinder with the lowest point of the contact line as the center of rotation. The magnetic torque generated by the working magnetic rod in the radial direction of the cylinder with the lowest point of the contact line as the center of rotation.

[0008] The electromagnet is a ring electromagnet, which is coaxially arranged with the ferromagnetic rod. The ring electromagnet is fixed to the lower part of the fixed platform and is electrically connected to the control component.

[0009] The electromagnet consists of multiple electromagnets arranged in a discrete array. The annular electromagnet is coaxially arranged with the ferromagnetic rod and fixed to the lower part of the fixed platform. The annular electromagnet is electrically connected to the control component.

[0010] The loading / unloading pallet is connected to the cover via a first crossed roller bearing.

[0011] The working magnetic rod is connected to the stage via a second crossed roller bearing. Two gyro stabilizers are installed on the lower part of the stage along the direction of the working magnetic rod, and the two gyro stabilizers are located on both sides of the second crossed roller bearing.

[0012] The loading and unloading pallet has multiple threaded holes on its upper part, and the lower part of each constraint rod is threadedly connected to one of the threaded holes through a support.

[0013] The cover, cylinder, and each constraint rod are all made of non-magnetic materials.

[0014] The loading and unloading pallets are made of magnetic material.

[0015] The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation of the present invention has the following advantages: This invention utilizes the static magnetic attraction between the working magnetic rod and the ferromagnetic rod to stably attach the working magnetic rod to the outer wall of the working cavity. Combined with the constraint rod limiting and the rotation of the working cavity generating a magnetic climbing effect, it achieves three-dimensional passive drive in a sealed environment. Only a simple ring electromagnet is used as the direction control component, eliminating the need for complex multiple sets of electromagnetic coils, high-precision power supplies, heat dissipation, and magnetic field shielding structures, thus reducing manufacturing costs and installation volume. At the same time, the drive process is based on the static magnetic force of permanent magnets, and the electromagnet is only powered briefly when switching directions, eliminating the need for continuous power consumption and significantly reducing energy consumption and operating costs. Furthermore, stable movement is achieved through the combination of mechanical limiting by the constraint rod and static magnetic adsorption, eliminating the need for complex control algorithm compensation. When the system stops, the working magnetic rod automatically locks itself under the action of static magnetic adsorption, preventing positional deviation. This results in higher drive accuracy and motion repeatability, and it still maintains excellent stability and position holding capability in harsh sealed environments such as ultra-high pressure, ultra-high vacuum, and sterile environments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a top view of the structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the main structure of the present invention.

[0019] Figure label: 1. Rotary table; 2. First crossed roller bearing; 3. Loading / unloading pallet; 4. Second crossed roller bearing; 5. Working magnetic rod; 6. Gyro stabilizer; 7. Platform; 8. Fixed platform; 9. Electromagnet; 10. Ferromagnetic rod; 11. Working cavity; 1101. Cover; 1102. Cylinder; 12. Constraint rod; 13. Support. Detailed Implementation

[0020] The technical solutions of the present invention will now be described clearly and in detail with reference to the accompanying drawings. In the description of the embodiments of the present invention, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, in the description of the embodiments of the present invention, "multiple" refers to two or more. The terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0021] like Figure 1 , Figure 2 , Figure 3As shown, this invention provides a three-dimensional passive drive system based on magnetic climbing effect and cavity rotation, including a magnetic suction working unit, a load moving unit, and a control unit. The magnetic suction working unit includes a rotating platform 1, a fixed platform 8, a working cavity 11, and a ferromagnetic rod 10. The rotating platform 1 is horizontally positioned below the fixed platform 8, which is fixedly positioned. The working cavity 11 is positioned between the rotating platform 1 and the fixed platform 8. The working cavity 11 is composed of a cover 1101 and a cylinder 1102 arranged coaxially. The lower part of the cover 1101 is connected to the cylinder 1102. The rotating platform 1 is fixedly and sealed. The cylinder 1102 is vertically installed inside the cover 1101. The upper end of the cylinder 1102 is open and the lower end is closed. The upper end of the cylinder 1102 passes through the upper part of the cover 1101 and is fixedly connected to the upper part of the cover 1101. The ferromagnetic rod 10 is vertically installed inside the cylinder 1102 and its upper end is fixedly connected to the fixed platform 8. The loading and unloading unit includes a loading and unloading tray 3, at least one working magnetic rod 5, a loading platform 7, and at least two constraint rods 12. The loading and unloading tray 3 is horizontally installed inside the cover 1101 and located within the cylinder 1101. Below 102, the loading / unloading tray 3 is rotatably connected to the inner wall of the cover 1101. The working magnetic rod 5 is horizontally set inside the cover 1101, with one end of the working magnetic rod 5 adsorbed on the side of the cylinder 1102 and the other end of the working magnetic rod 5 rotatably connected to the lower part of the platform 7. Two constraint rods 12 are symmetrically arranged on both sides of the cylinder 1102, with the lower end of each constraint rod 12 connected to the loading / unloading tray 3. The control unit includes a drive component, an electromagnet 9, and a control component. The drive component is set at the lower part of the rotary table 1, and the electromagnet is fixedly set at the fixed part. The lower part of the platform 8 is arranged around the ferromagnetic rod 10. The control component is electrically connected to the drive component and the electromagnet 9 respectively. It is used to control the start and stop of the drive component. The drive component drives the rotating platform 1 and the working cavity 11 to rotate, so that the working magnetic rod 5 can slide relative to the constraint rod 12 under the limiting action. It can move upward along the cylinder 1102 by relying on the magnetic climbing effect. The working state of the electromagnet 9 is adjusted by the control component, so that the working magnetic rod 5 can switch between rising and falling. At the same time, the speed of the working magnetic rod 5 is controlled by controlling the speed of the drive component.This invention utilizes the static magnetic attraction between the working magnetic rod 5 and the ferromagnetic rod 10 to stably attach the working magnetic rod 5 to the outer wall of the working cavity. Combined with the limiting effect of the constraint rod 12 and the rotation of the working cavity 11, a magnetic climbing effect is generated, achieving three-dimensional passive drive in a sealed environment. Only a simple ring electromagnet 9 is used as the direction control component, eliminating the need for complex multiple sets of electromagnetic coils, high-precision power supplies, heat dissipation, and magnetic field shielding structures, thus reducing manufacturing costs and installation volume. At the same time, the driving process is based on the static magnetic force of permanent magnets, and the electromagnet 9 is only powered briefly when switching directions, eliminating the need for continuous power consumption and significantly reducing energy consumption and operating costs. Furthermore, stable movement is achieved through the mechanical limiting of the constraint rod 12 and the static magnetic attraction, eliminating the need for complex control algorithm compensation. When the system stops, the working magnetic rod 5 automatically locks itself under the static magnetic attraction, preventing positional deviation. This results in higher driving accuracy and motion repeatability, and it still maintains excellent stability and position holding capability in harsh sealed environments such as ultra-high pressure, ultra-high vacuum, and sterile environments.

[0022] The cover 1101 is connected to the rotary table 1 by threaded fasteners.

[0023] The fixed platform 8 is connected to the wall or bracket to fix the position of the ferromagnetic rod 10 and the electromagnet 9.

[0024] The lifting speed of the working magnetic rod 5 is determined by the following formula: .

[0025] In the formula, The lifting speed of the working magnetic rod 5, This represents the ratio of the rotation time of the working magnetic rod 5 to the total motion time within a single stick-slip cycle. The radius of the working magnetic rod 5 is in meters. The average angular velocity during the rotation period of the working magnetic rod 5 is expressed in rad / s. It is related to factors such as the distance from the constraint point to the contact line, the rotational speed of the working magnetic rod 5, and the diameter of the working magnetic rod 5. Angular acceleration during contact wire recovery, in units , The mass of the working magnetic rod 5 is expressed in grams. The coefficient of dynamic friction between the side of the cylinder 1102 and the working magnetic rod 5. For equivalent gravitational acceleration, unit , The length of the working magnetic rod 5, in meters. The magnetic torque generated by the working magnetic rod 5 along the axis of the cylinder 1102 with the lowest point of the contact line as the center of rotation is expressed in N·m. The magnetic torque generated by the working magnetic rod 5 in the radial direction of the cylinder 1102 with the lowest point of the contact line as the center of rotation is expressed in N·m. By directly linking the lifting speed with the proportion of the stick-slip cycle, the magnetic torque, the coefficient of friction, and geometric parameters, precise control and quantitative prediction of the lifting speed of the working magnetic rod 5 can be achieved, improving the controllability and stability of the drive system.

[0026] The stability condition for the lifting and lowering of the working magnetic rod 5 is as follows: .

[0027] In the formula, The radius of the working magnetic rod 5 is [missing information]. The coefficient of dynamic friction between the side of the cylinder 1102 and the working magnetic rod 5. The mass of the working magnetic rod 5, For equivalent gravitational acceleration, The length of the working magnetic rod 5. The magnetic torque generated by the working magnetic rod 5 along the axis of the cylinder 1102 with the lowest point of the contact line as the center of rotation. The magnetic torque generated by the working magnetic rod 5 in the radial direction of the cylinder 1102 with the lowest point of the contact line as the rotation center is defined. By limiting the relationship between the magnetic torque, the coefficient of friction, and the rotational angular velocity, it can be ensured that the working magnetic rod 5 maintains a stable stick-slip motion state during the lifting and lowering process, effectively avoiding instability, slippage, or loss of contact, and improving the reliability and safety of the drive system under extreme working conditions.

[0028] like Figure 1 , Figure 2 , Figure 3 As shown, the electromagnet 9 is a ring electromagnet, which is coaxially arranged with the ferromagnetic rod 10. The ring electromagnet is fixed to the lower part of the fixed platform 8 and is electrically connected to the control component. The use of a ring electromagnet in the electromagnet 9 can form a uniform axial magnetic field in the circumference, which can apply a stable vertical magnetic attraction force to the ferromagnetic rod without circumferential eccentricity, ensuring that the moving unit moves smoothly and does not deviate.

[0029] like Figure 1 , Figure 2 , Figure 3As shown, the electromagnet 9 consists of multiple electromagnets arranged in a discrete array. These electromagnets are coaxially arranged with the ferromagnetic rod 10 and fixed to the lower part of the fixed platform 8. The electromagnets are electrically connected to the control components. Preferably, the multiple electromagnets are arranged in a continuous annular Halbach array. Using an annular Halbach array for the electromagnet 9 can create a gradient-controllable and directionally enhanced axial magnetic field in the circumferential direction, improving the vertical magnetic force adjustment accuracy and drive response speed, further enhancing the stability and positioning accuracy of the stage movement. Simultaneously, the multiple electromagnets are controlled independently or in groups, further reducing power consumption. Since the pressure distribution on the contact line of the working magnetic rod 5 generally exhibits a "smaller at the top, larger at the bottom" trend due to gravity, when the cylinder 1102 it attracts rotates, the magnetic stick-slip effect causes the working magnetic rod 5 to rotate around the lowest point of the contact line, exhibiting a climbing phenomenon opposite to gravity, i.e., the magnetic climbing effect. Based on this, a ring-shaped electromagnet 9 is added, the interior of which is a discrete electromagnet array. By controlling the application of a magnetic field in a specific area (i.e., the climbing position of the working magnetic rod 5), the magnetic field attracts the working magnetic rod 5, generating an equivalent reverse gravity field and changing the pressure distribution on the contact line, thereby changing the direction of motion of the working magnetic rod 5. This allows the working magnetic rod 5 to change from a single climbing motion to a free motion of climbing and descending.

[0030] like Figure 3 As shown, the loading / unloading pallet 3 and the cover 1101 are connected by a first crossed roller bearing 2. The first crossed roller bearing 2 connects the loading / unloading pallet 3 and the cover 1101, separating the movement of the loading / unloading pallet 3 and the cover 1101. This ensures smooth relative rotation of the loading / unloading pallet 3 and the cover 1101, while providing higher radial and axial load capacity and rotational accuracy, effectively improving the system's operational stability under heavy load and high-speed conditions.

[0031] like Figure 3 As shown, the working magnetic rod 5 and the platform 7 are connected by a second crossed roller bearing 4. Two gyroscopic stabilizers 6 are arranged on the lower part of the platform 7 along the direction of the working magnetic rod 5, located on both sides of the second crossed roller bearing 4. The connection between the working magnetic rod 5 and the platform 7 via the second crossed roller bearing 4, along with the gyroscopic stabilizers 6 on both sides, simultaneously ensures the rotational flexibility of the platform 7 and the structural stability of the working magnetic rod 5. This effectively suppresses swaying and shaking during movement, keeping the platform 7 horizontally stable and significantly improving the platform's load-bearing accuracy and motion smoothness.

[0032] Each gyro stabilizer 6 is designed with a built-in battery, which can maintain continuous operation for a long time without external power supply, in order to maintain the horizontal attitude of the stage 7.

[0033] like Figure 1As shown, the loading and unloading pallet 3 has multiple threaded holes on its upper part. The lower part of each constraint rod 12 is threadedly connected to one of the threaded holes through the support 13. The installation position and number of constraint rods 12 can be flexibly adjusted to adapt to different task requirements and adjust the movement speed of the working magnetic rod 5 loading module. This enables customized configuration of multi-rail three-dimensional motion path and improves the system's adaptability and scalability to different working conditions.

[0034] The cover 1101, the cylinder 1102 and each constraint rod 12 are made of non-magnetic materials, which can avoid interference or shield the static magnetic field between the working magnetic rod 5 and the ferromagnetic rod 10, ensuring the stability and reliability of the magnetic climbing effect, while improving the driving efficiency and motion control accuracy.

[0035] The constraint rod 12 is preferably an acrylic rod to avoid interaction with the magnetic field. It primarily physically constrains the working magnetic rod 5, causing it to change its rotational state with the working cavity 11 when it reaches the constraint rod 12. Under the constraint, the contact line shifts, generating a slip effect and creating conditions for magnetic climbing. The length of the constraint rod 12 is the maximum height the working magnetic rod 5 can climb. Furthermore, by setting multiple constraint rods 12 within the working cavity 11, the rotation direction of the lower fixed platform 1 can be changed, allowing the working magnetic rod 5 to move to the constraint rod 12 on the other side for lifting and lowering, thus achieving three-dimensional omnidirectional passive drive of the working magnetic rod 5.

[0036] The working magnetic rod 5 should be a strong permanent magnet, such as an N35 neodymium iron boron magnet, to achieve passive magnetic field generation and provide sufficient magnetic attraction force with the ferromagnetic rod 10. In actual operation, under the constraint of the constraint rod 12, the working magnetic rod 5 experiences a sliding effect due to the rotation of the working cavity 11. Its motion can be divided into two parts: rotation and translation. The rotation is the vertical linear motion under the constraint of the constraint rod 12 and the rotation caused by the sliding effect. Its translational direction is affected by the pressure distribution on the contact line; when gravity dominates and the pressure is greater below the midpoint of the contact line, it climbs upwards, and vice versa.

[0037] The ferromagnetic rod 10 is made of materials with different saturation magnetic induction intensities, depending on the actual conditions such as the residual magnetism of the working magnetic rod 5, the working load, and the desired driving speed.

[0038] The loading and unloading pallet 3 is made of magnetic material, preferably a material with a certain magnetic properties. It interacts and locks with the magnetic field of the ferromagnetic rod 10, and is further fixed by magnetic damping.

[0039] The driving component is a drive motor.

[0040] Working principle: S1: When the current stage of work is completed and the task type needs to be adjusted, the threaded fasteners between the rotary table 1 and the working cavity 11 are removed, the rotary table 1 is taken off, and the loading and unloading tray 3 inside the cover 1101 is taken out. The loading and unloading tray 3 is pre-installed with a support 13 and a constraint rod 12 fixedly connected to the support 13.

[0041] S2: Remove the target object to be transported (sterile biological culture dishes and related experimental instruments, etc.) and its supporting structure from the loading and unloading tray 3. According to the requirements of the next stage of the task, install the new target object to be transported and the supporting structure at the corresponding position on the loading and unloading tray 3. The supporting structure is connected to the loading and unloading tray 3 with threaded fasteners. Adjust the installation position of one or more supports 13 and constraint rods 12 according to the arrangement position of the target object and the supporting structure. If the supporting structure is close to the ferromagnetic rod 10, the constraint rod 12 should be set away to ensure that the working magnetic rod 5 moves in coordination with the constraint rod 12, rather than directly contacting the stage 7. The area between the two constraint rods 12 is the maximum range of motion of the working magnetic rod 5 and the stage 7 in the circumferential direction.

[0042] S3: Based on the load and speed requirements of the next stage of the task, change the specifications and materials of the ferromagnetic rod 10 and the working magnetic rod 5 fixed on the fixed platform 8 to change the magnetic field strength, thereby adjusting the upper limit of the system's load capacity and the lifting speed of the working magnetic rod 5.

[0043] S4: Load and unload pallet 3 and rotary table 1 back into their original positions in sequence, and re-establish the target environment such as vacuum and sterility in the working chamber 11 by using external equipment such as vacuum pump.

[0044] S5: The control unit controls the start of the drive unit. The drive unit drives the rotary table 1 and the working cavity 11 to rotate around the ferromagnetic rod 10 at an adjustable speed, so that the working magnetic rod 5 and the platform 7 rotate with the working cavity 11 to the position below the target object to be transported or the target position, thus completing the preparation for carrying.

[0045] S6: The control unit controls the excitation state of the electromagnet 9 to generate a regulating magnetic field, which changes the pressure distribution of the contact line between the working magnetic rod 5 and the cylinder 1102, thereby controlling the lifting direction and movement speed of the working magnetic rod 5 and the platform 7.

[0046] S7: Keep the rotary table 1 and the working cavity 11 rotating. The lifting speed of the working magnetic rod 5 can be changed by adjusting the rotation speed. The working magnetic rod 5 rotates around the ferromagnetic rod 10 with the working cavity 11. Its circumferential position relative to the constraint rod 12 can be adjusted by changing the rotation direction of the rotary table 1. The position of the working magnetic rod 5 between different constraint rods 12 can be switched by the rotation action to complete the multi-position three-dimensional transportation of the target object to be transported. The rotation direction of the rotary table 1 and the working cavity 11 is independent of the lifting direction of the working magnetic rod 5. The lifting direction is determined only by the pressure distribution at the contact line of the working magnetic rod 5, that is, by the gravitational field and the equivalent reverse gravitational field generated by the electromagnet 9.

[0047] S8: After the stage 7 delivers the target object to the designated position, the rotation of the rotary table 1 and the working cavity 11 is stopped, and the electromagnet 9 is de-energized. The working magnetic rod 5 achieves stable self-locking under the static magnetic adsorption of the ferromagnetic rod 10, and performs the corresponding task at the target position.

[0048] S9: After the task is completed, the system can remain in a self-locking state, or repeat step S1 as needed to enter the next stage of the task process.

[0049] The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation of the present invention has the following other advantages: First, the working magnetic rod of this invention does not require a built-in power supply or wires. Energy is transmitted wirelessly through rotation, the ferromagnetic rod, and the electromagnet, perfectly adapting to an absolutely sealed environment and achieving true passive drive.

[0050] Second, this invention utilizes the magnetic climbing effect and employs static magnetic force, which has a driving force far greater than that of micro-nano driving technologies such as light and sound, enabling movement at the centimeter level or above, with loads of tens of grams or even higher.

[0051] Third, by using an equivalent gravitational field and multiple guide rail switching, this invention breaks through the limitation of unidirectional motion in the original technology and realizes flexible three-dimensional path planning.

[0052] Fourth, compared with active magnetic field drive, this invention does not require a complex multi-axis electromagnetic coil array, but only requires controlling the rotation of the working cavity and a simple external bias magnetic field. The system structure and control logic are greatly simplified, and energy consumption is significantly reduced.

[0053] Fifth, the motion speed of this invention can be coarsely adjusted by adjusting the rotation speed of the working cavity and changing the position of the constraint rod, and the motion direction can be switched by the equivalent reverse gravity field generated by the excitation state of the electromagnet. The control logic is simple and easy to implement.

[0054] Sixth, the working cavity involved in this invention is suitable for various special environments such as vacuum, high pressure, and sterility. The ferromagnetic rod can be easily replaced with different ferromagnetic materials according to the different magnetic field strengths required by different tasks. The length of the working magnetic rod and the constraint position of the ferromagnetic rod can be changed for specific tasks. Furthermore, since the target object is connected to the loading and unloading pallet by threaded fasteners through the support structure, the applicability of this invention is greatly improved.

[0055] Seventh, this invention is mainly aimed at precision sample transfer in ultra-high vacuum environments. Because it achieves a completely contactless and non-dynamically sealed, extremely low leakage rate drive through the rotation of the working chamber and the magnetic climbing effect, and no friction particles are generated during the movement, it can meet the extreme requirements of cleanliness and positioning accuracy in semiconductor manufacturing or quantum research, while effectively reducing technical and maintenance costs.

[0056] It is understood that this invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this invention are within the protection scope of this invention.

Claims

1. A three-dimensional passive drive system based on magnetic climbing effect and cavity rotation, characterized in that, include: The magnetic suction working unit includes a rotating table, a fixed table, a working cavity, and a ferromagnetic rod. The rotating table is horizontally positioned below the fixed table, and the working cavity is positioned between the rotating table and the fixed table. The working cavity consists of a cover and a cylinder arranged coaxially. The lower part of the cover is fixedly and sealed to the rotating table, and the lower end of the cylinder is closed while the upper end passes through the upper part of the cover and is fixedly connected to the upper part of the cover. The ferromagnetic rod is vertically positioned inside the cylinder and its upper end is fixedly connected to the fixed table. The loading and unloading unit includes a loading and unloading pallet, at least one working magnetic rod, a loading platform, and at least two constraint rods. The loading and unloading pallet is horizontally arranged inside the cover and located below the cylinder. The loading and unloading pallet is rotatably connected to the inner wall of the cover. The working magnetic rod is horizontally arranged inside the cover. One end of the working magnetic rod is attracted to the side of the cylinder, and the other end of the working magnetic rod is rotatably connected to the lower part of the loading platform. The two constraint rods are symmetrically arranged on both sides of the cylinder, and the lower end of each constraint rod is connected to the loading and unloading pallet. The control unit includes a drive component, an electromagnet, and a control component. The drive component is located at the lower part of the rotary table, and the electromagnet is fixedly located at the lower part of the fixed table and arranged around the ferromagnetic rod. The control component is electrically connected to the drive component and the electromagnet, and is used to control the start and stop of the drive component. The drive component drives the rotary table to rotate, causing the working magnetic rod to slide relative to the constraint rod under the limiting action. It moves upward along the cylinder by relying on the magnetic climbing effect. The control component regulates the working state of the electromagnet, so that the working magnetic rod switches between rising and falling. At the same time, the speed of the working magnetic rod is controlled by controlling the rotation speed of the drive component.

2. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The stability condition for the lifting and lowering of the working magnetic rod is: ， In the formula, Let be the radius of the working magnetic rod. This is the coefficient of dynamic friction between the side of the cylinder and the working magnetic rod. For the mass of the working magnetic rod, For equivalent gravitational acceleration, The length of the working magnetic rod. The magnetic torque generated by the working magnetic rod along the axis of the cylinder with the lowest point of the contact line as the center of rotation. The magnetic torque generated by the working magnetic rod in the radial direction of the cylinder with the lowest point of the contact line as the center of rotation.

3. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The electromagnet is a ring electromagnet, which is coaxially arranged with the ferromagnetic rod. The ring electromagnet is fixed to the lower part of the fixed platform and is electrically connected to the control component.

4. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The electromagnet is a plurality of electromagnets arranged in a discrete array. The plurality of electromagnets are coaxially arranged with the ferromagnetic rod, the plurality of electromagnets are fixed to the lower part of the fixed platform, and the plurality of electromagnets are electrically connected to the control component.

5. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The loading / unloading pallet is connected to the cover via a first crossed roller bearing.

6. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The working magnetic rod is connected to the stage via a second crossed roller bearing. Two gyro stabilizers are arranged on the lower part of the stage along the direction of the working magnetic rod, and the two gyro stabilizers are located on both sides of the second crossed roller bearing.

7. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The loading and unloading pallet has multiple threaded holes on its upper part, and the lower part of each constraint rod is threadedly connected to one of the threaded holes through a support.

8. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The cover, cylinder, and each constraint rod are all made of non-magnetic materials.

9. The three-dimensional passive drive system based on magnetic climbing effect and cavity rotation according to claim 1, characterized in that, The loading and unloading pallet is made of magnetic material.

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