Three-dimensional passive driving system based on magnetic climbing effect and magnetic synchronous belt

Abstract

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 magnetic synchronous belt, including a working unit, a magnetic attraction unit, a load-moving unit, and a control unit. This invention achieves periodic magnetic coupling between the alternating first ferromagnetic strip and the first non-magnetic strip or the first diamagnetic strip on the drive rod and the permanent magnet synchronous belt on the outside of the cylinder. Only a single drive component is needed to efficiently convert rotational motion into step-like rotation of the magnetic synchronous belt, thereby driving the ferromagnetic rod adsorbed on its surface to move the load stage precisely and controllably horizontally and vertically within the sealed enclosure. Simultaneously, the adsorption switching direction of the ferromagnetic rod is controlled by top electromagnetic assistance, achieving three-dimensional passive precision drive without contact or through holes. This not only significantly simplifies structural complexity, reduces manufacturing costs and space occupation, but also greatly reduces energy consumption and enables the system to maintain positional stability through magnetic adsorption when static.

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 magnetic synchronization band. 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 magnetic synchronization belt, 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 magnetic synchronization band includes: The working unit includes a working cavity and an installation assembly. The working cavity consists of a cover and a cylinder arranged coaxially. The upper end of the cylinder passes through the cover and is fixedly connected to the cover. The cover and the cylinder are arranged inside the installation assembly, which is used to fix the cover and seal the working cavity. The magnetic attraction unit includes a drive rod and a magnetic synchronous belt. The drive rod is installed inside the cylinder and its upper end is rotatably connected to the mounting assembly. The drive rod is circumferentially arranged with alternating first ferromagnetic strips and first non-magnetic strips or first antimagnetic strips. The magnetic synchronous belt is a cylindrical structure and is rotatably sleeved on the side of the cylinder. The magnetic synchronous belt is composed of multiple sets of repeating units arranged sequentially along the circumference of the cylinder. Each set of repeating units consists of a permanent magnetic strip, a second non-magnetic strip or a second antimagnetic strip, a second ferromagnetic strip, and a third non-magnetic strip or a third antimagnetic strip. Each set of repeating units is arranged along the axial direction of the cylinder. The loading and moving unit includes at least one ferromagnetic rod, a loading platform and at least two constraint rods. The ferromagnetic rod is horizontally arranged inside the cover, with one end adsorbed on the side of one of the permanent magnetic strips and the other end rotatably connected to the lower part of the loading platform. The two constraint rods are symmetrically arranged on both sides of the cylinder. The control unit includes a drive component, an electromagnet, and a control component. The drive component is connected to the upper end of the drive rod. The electromagnet is fixed inside the mounting assembly and located above the housing. 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 drive rod to rotate. The magnetic synchronous belt is periodically excited by the alternating circumferential first ferromagnetic strip and the first non-magnetic strip, so that the permanent magnetic strip and the second ferromagnetic strip are coupled to the ferromagnetic rod in sequence, generating magnetic adsorption and synchronous driving force, which drives the ferromagnetic rod and the stage to move in three dimensions passively within the housing. The speed of movement of the ferromagnetic rod is adjusted by adjusting the rotation speed of the drive rod by the drive component, and the vertical direction of movement of the ferromagnetic rod is adjusted by controlling the working state of the electromagnet.

[0007] The invention is further characterized by: The central angle of the first ferromagnetic strip is greater than the central angle of the first non-magnetic strip or the first diamagnetic strip.

[0008] The central angle of the permanent magnetic strip is larger than that of the first ferromagnetic strip.

[0009] The arc length corresponding to the central angle of the second non-magnetic strip or the second diamagnetic strip, and the arc length corresponding to the central angle of the third non-magnetic strip or the third diamagnetic strip, are both smaller than the radius of the ferromagnetic rod.

[0010] The electromagnet is a ring-shaped electromagnet, which is coaxially arranged with the drive rod. The ring-shaped electromagnet is fixed in the mounting assembly and is electrically connected to the control component.

[0011] The electromagnet consists of multiple electromagnets arranged in discrete rings. These electromagnets are coaxially arranged with the drive rod, fixed within the mounting assembly, and electrically connected to the control components.

[0012] The end of the ferromagnetic rod is connected to the platform via a first crossed roller bearing. Two gyro stabilizers are provided on the lower part of the platform along the length of the ferromagnetic rod, with the two gyro stabilizers located on both sides of the first crossed roller bearing.

[0013] The installation components include: a fixed platform, horizontally positioned above the cover, with the upper end of a drive rod passing through the fixed platform and connected to it via a second crossed roller bearing; a first mounting sleeve fitted onto the upper end of the drive rod, the upper end of which is connected to the drive component; and an electromagnet fixed below the fixed platform; a worktable, horizontally positioned below the cover, with a second mounting sleeve fitted onto the lower end of the drive rod, the second mounting sleeve connected to the worktable via a third crossed roller bearing; a loading / unloading pallet, horizontally positioned between the worktable and the cover, detachably and sealingly connected to the lower part of the cover, with the lower end of each constraint rod connected to the loading / unloading pallet; and a sealing plate, horizontally positioned between the loading / unloading pallet and the worktable, with the lower end of the cylinder passing through the loading / unloading pallet and the sealing plate sequentially, and the cylinder and the sealing plate connected via a sealing ring.

[0014] The upper end of the magnetic synchronous belt is connected to the cylinder through a first support ring, and the lower end of the magnetic synchronous belt is connected to the cylinder through a second support ring. The two ends of the magnetic synchronous belt are rotatably connected to the first support ring and the second support ring, respectively.

[0015] The cover, cylinder, each constraint rod, first mounting sleeve, second mounting sleeve, first support ring and second support ring are all made of non-magnetic or anti-magnetic materials.

[0016] The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band of the present invention has the following advantages: This invention utilizes the magnetic climbing effect and magnetic synchronous belt technology. It achieves periodic magnetic coupling between alternating first ferromagnetic and first non-magnetic strips or first diamagnetic strips on the drive rod and the permanent magnet synchronous belt on the outside of the cylinder. A single drive component is sufficient to efficiently convert rotational motion into step-like rotation of the magnetic synchronous belt, thereby driving the ferromagnetic rods adsorbed on its surface to move the stage precisely and controllably horizontally and vertically within the sealed enclosure. Simultaneously, the adsorption switching direction of the ferromagnetic rods is controlled by top electromagnetic assistance, achieving three-dimensional passive precision drive without contact or through-holes. This significantly simplifies structural complexity, reduces manufacturing costs and space requirements, and substantially reduces energy consumption. Furthermore, the alternating permanent magnet strips and second ferromagnetic strips ensure the system remains stable in static conditions through magnetic adsorption, preventing accidental displacement. This enables high-precision, low-disturbance, and highly reliable passive drive under extreme sealing conditions such as ultra-high vacuum and sterile bioreactors. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a top view of the structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the main structure of the present invention.

[0020] Figure label: 1. Working chamber; 101. Cover; 102. Cylinder; 2. Fixed platform; 3. Worktable; 4. Drive rod; 5. Magnetic synchronous belt; 6. Ferromagnetic rod; 7. Loading platform; 8. Constraint rod; 9. Loading / unloading pallet; 10. Sealing plate; 11. Sealing ring; 12. First crossed roller bearing; 13. Second crossed roller bearing; 14. Third crossed roller bearing; 15. First mounting sleeve; 16. Second mounting sleeve; 17. First support ring; 18. Second support ring; 19. Electromagnet; 20. Gyro stabilizer; 21. Support. Detailed Implementation

[0021] 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.

[0022] like Figure 1 , Figure 2 , Figure 3As shown, this invention provides a three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band, including a working unit, a magnetic attraction unit, a load-carrying movement unit, and a control unit. The working unit includes a working cavity 1 and a mounting assembly. The working cavity 1 consists of a cover 101 and a cylinder 102 arranged coaxially. The cylinder 102 is vertically arranged inside the working cavity 1, and its upper end passes through and is fixedly connected to the cover 101. The cover 101 and the cylinder 102 are arranged inside the mounting assembly, which is used to fix the cover 101 and seal the working cavity 1. The magnetic attraction unit includes a drive rod 4 and a magnetic synchronization belt 5. The drive rod 4 is disposed inside the cylinder 102 and its upper end is rotatably connected to the mounting assembly. A first ferromagnetic strip and a first non-magnetic strip or a first diamagnetic strip are alternately arranged circumferentially on the side of the drive rod 4. The magnetic synchronization belt 5 is a cylindrical structure and is rotatably sleeved on the side of the cylinder 102. The magnetic synchronization belt 5 is composed of multiple sets of repeating units arranged sequentially along the circumference of the cylinder 102. Each set of repeating units consists of a permanent magnetic strip, a second non-magnetic strip or a second diamagnetic strip, a second ferromagnetic strip, and a third non-magnetic strip or a third diamagnetic strip, arranged sequentially. All units are arranged along the axial direction of the cylinder 102. The loading and moving unit includes at least one ferromagnetic rod 6, a loading platform 7, and at least two constraint rods 8. The ferromagnetic rod 6 is horizontally arranged inside the cover 101, with one end adsorbed on the side of one of the permanent magnetic strips and the other end rotatably connected to the lower part of the loading platform 7. The two constraint rods 8 are symmetrically arranged on both sides of the cylinder 102. The control unit includes a drive component, an electromagnet 19, and a control component. The drive component is connected to the upper end of the drive rod 4. The electromagnet 19 is fixed in the mounting assembly and located above the cover 101. The control component is connected to the drive rod 4. The component and electromagnet 19 are electrically connected to control the start and stop of the drive component. The drive component drives the drive rod 4 to rotate. The magnetic synchronous belt 5 is periodically excited by the alternating first ferromagnetic strip and the first non-magnetic strip in a circumferential direction. The permanent magnetic strip and the second ferromagnetic strip are coupled to the ferromagnetic rod 6 in sequence, generating magnetic adsorption and synchronous driving force. This drives the ferromagnetic rod 6 and the stage 7 to move in three dimensions passively within the cover 101. The speed of movement of the ferromagnetic rod 6 is adjusted by adjusting the rotation speed of the drive rod 4 through the drive component. The vertical movement direction of the ferromagnetic rod 6 is adjusted by controlling the working state of the electromagnet 19.This invention utilizes the magnetic climbing effect and magnetic synchronous belt technology. The alternating first ferromagnetic strip and first non-magnetic strip or first diamagnetic strip on the drive rod 4 generate periodic magnetic coupling with the permanent magnet synchronous belt on the outside of the cylinder. Only a single drive component is needed to efficiently convert rotational motion into step-like rotation of the magnetic synchronous belt. This drives the ferromagnetic rod 6 adsorbed on its surface, causing the stage 7 to move precisely and controllably horizontally and vertically within the sealed enclosure 101. Simultaneously, the top electromagnetic 19 assists in controlling the adsorption switching direction of the ferromagnetic rod, achieving three-dimensional passive precision drive without contact or through-holes. This significantly simplifies structural complexity, reduces manufacturing costs and space requirements, and substantially reduces energy consumption. Furthermore, the alternating permanent magnet strip and second ferromagnetic strip design ensures the system remains stable in static conditions through magnetic adsorption, preventing accidental displacement. This enables high-precision, low-disturbance, and highly reliable passive drive under extreme sealing conditions such as ultra-high vacuum and sterile bioreactors.

[0023] like Figure 1 As shown, the central angle of the first ferromagnetic strip is larger than that of the first non-magnetic strip or the first diamagnetic strip, enhancing the magnetic coupling strength and stability with the permanent magnet of the magnetic synchronization belt, ensuring smooth output of driving torque and avoiding loss of synchronization. The first ferromagnetic strip can generate a strong magnetic field with the permanent magnet of the magnetic synchronization belt 5 under excitation, causing the ferromagnetic rod 6 to be attracted by static magnetic force, and providing static magnetic field conditions for the magnetic climbing effect. A certain gap should be maintained between the drive rod 4 and the working cavity 1 to avoid motion interference. The drive rod 4 should be made of materials with different saturation magnetic induction intensities in the first ferromagnetic strip section, based on the actual conditions such as the residual magnetism of the permanent magnet used in the magnetic synchronization belt 16, the working load of the ferromagnetic rod 6, and the desired driving speed. When the first ferromagnetic strip on the rotating drive rod 4 has the same azimuth angle as the permanent magnetic strip on the magnetic synchronous belt 5, the magnetic attraction between the two reaches its maximum and couples. The stable rotation of the ferromagnetic rod 6 leads to a stable rotation of the magnetic synchronous belt 5 at the corresponding angular velocity, which is equivalent to a contact gear. When the first ferromagnetic strip on the rotating drive rod 4 has the same azimuth angle as the second ferromagnetic strip on the magnetic synchronous belt 16, the permanent magnetic strip of the magnetic synchronous belt 5 will exert a resultant attraction force on the ferromagnetic rod 6 in the same direction, which can pull it back to the working state.

[0024] like Figure 1As shown, the central angle of the permanent magnetic strip is larger than that of the first ferromagnetic strip, effectively "wrapping" the first ferromagnetic strip within its magnetic field range, thereby enhancing the magnetic coupling capture capability and synchronous drive stability. The attraction between the second ferromagnetic strip on the magnetic synchronization belt 5 and the first ferromagnetic strip on the drive rod 4 is weak, thus not interfering with normal coupling and operation. When the ferromagnetic rod 6 passes through this area, it is attracted to the permanent magnetic strip because the area is partially magnetized, preventing it from falling off. Magnetic synchronization belts 5 of different lengths, material distributions, and even shapes can be selected according to different task scenarios to meet various task requirements.

[0025] like Figure 1 As shown, the arc length corresponding to the central angle of the second non-magnetic strip or the second diamagnetic strip and the arc length corresponding to the central angle of the third non-magnetic strip or the third diamagnetic strip are both smaller than the radius of the ferromagnetic rod 6. This ensures that the ferromagnetic rod 6 maintains effective magnetic adsorption with the adjacent permanent magnetic strip or the second ferromagnetic strip when crossing this area, avoiding accidental detachment during movement due to excessive adsorption gap.

[0026] like Figure 1 , Figure 3 As shown, the electromagnet 19 is a ring electromagnet. The ring electromagnet is coaxially arranged with the drive rod 4 and fixed in the mounting assembly. The ring electromagnet is electrically connected to the control component. The ring electromagnet can form a uniform axial magnetic field in the circumferential direction, 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.

[0027] like Figure 1 , Figure 3 As shown, the electromagnet 19 consists of multiple electromagnets arranged in discrete rings. These electromagnets are coaxially aligned with the drive rod 4 and fixed within the mounting assembly. They are electrically connected to the control components. Preferably, the electromagnets form a continuous ring-shaped Halbach array. This ring-shaped Halbach array arrangement of the electromagnet 19 creates a gradient-controllable, 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 ferromagnetic rod 6 generally exhibits a "smaller at the top, larger at the bottom" trend due to gravity, when the magnetic synchronous belt 5 it attracts rotates, the magnetic stick-slip effect causes the ferromagnetic rod 6 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, an annular electromagnet 19 is added, which can be controlled to apply a magnetic field in a specific area (i.e., the climbing position of the working magnet), attracting the ferromagnetic rod 6, generating an equivalent reverse gravity field, and changing the pressure distribution on the contact line, thereby changing the direction of motion of the ferromagnetic rod 6, so that the ferromagnetic rod 6 can change from a single climbing motion to a free motion of climbing and descending.

[0028] like Figure 3 As shown, the end of the ferromagnetic rod 6 is connected to the platform 7 via a first crossed roller bearing 12. Two gyroscopic stabilizers 20 are arranged on the lower part of the platform 7 along the length of the ferromagnetic rod 6. The two gyroscopic stabilizers 20 are located on both sides of the first crossed roller bearing 12, which can effectively isolate the interference of the rotational motion of the ferromagnetic rod 6 on the attitude of the platform. At the same time, the gyroscopic stabilizers are symmetrically arranged on both sides of the lower part of the platform 7, which can actively suppress the tilting and swaying of the platform during the movement, ensuring that the bearing platform always remains horizontal and stable, thereby meeting the strict requirements of precision operation for the attitude of the target object.

[0029] like Figure 3 As shown, the installation assembly includes a fixed platform 2, a workbench 3, a loading / unloading tray 9, and a sealing plate 10. The fixed platform 2 is horizontally positioned above the cover 101 and is connected to a wall or bracket. The upper end of the drive rod 4 passes through the fixed platform 2 and is connected to the fixed platform 2 via a second crossed roller bearing 13. A first mounting sleeve 15 is fitted onto the upper end of the drive rod 4, and the upper end of the first mounting sleeve 15 is connected to the drive component. The electromagnet 19 is fixed below the fixed platform 2. The workbench 3 is horizontally positioned below the cover 101, and a second mounting sleeve 10 is fitted onto the lower end of the drive rod 4. 6. The second mounting sleeve 16 is connected to the workbench 3 via the third crossed roller bearing 14. The loading and unloading tray 9 is horizontally positioned between the workbench 3 and the cover 101. The loading and unloading tray 9 and the cover 101 are detachably and sealed at the bottom. The lower end of each constraint rod 8 is connected to the loading and unloading tray 9. The sealing plate 10 is horizontally positioned between the loading and unloading tray 9 and the workbench 3. The lower end of the cylinder 102 passes through the loading and unloading tray 9 and the sealing plate 10 in sequence. The cylinder 102 and the sealing plate 10 are connected by a sealing ring 11. The workbench 3 is connected to the sealing plate 10 via threaded fasteners.

[0030] like Figure 3 As shown, the upper end of the magnetic synchronous belt 5 is connected to the cylinder 102 via a first support ring 17, and the lower end of the magnetic synchronous belt 5 is connected to the cylinder 102 via a second support ring 18. The two ends of the magnetic synchronous belt 5 are rotatably connected to the first support ring 17 and the second support ring 18, respectively. The opposite surfaces of the first support ring 17 and the second support ring 18 are respectively provided with annular protrusions, and the two ends of the magnetic synchronous belt 5 are respectively located in the two annular protrusions.

[0031] Among them, the cover 101, the cylinder 102, each constraint rod 8, the first mounting sleeve 15, the second mounting sleeve 16, the first support ring 17 and the second support ring 18 are all made of non-magnetic or anti-magnetic materials. Using non-magnetic or anti-magnetic materials to make the above-mentioned components can effectively avoid magnetic short circuits or interference to the strong magnetic field generated by the drive rod 4, the magnetic synchronous belt 5 and the ferromagnetic rod 6, ensuring the accuracy of the magnetic field distribution and driving efficiency, while preventing key moving parts from getting stuck or experiencing additional friction due to stray magnetic adsorption.

[0032] like Figure 3 As shown, the loading and unloading pallet 9 has multiple threaded holes. The lower end of each constraint rod 8 is threadedly connected to one of the threaded holes through the support 21. The installation position and number of constraint rods 8 can be flexibly adjusted to adapt to different task requirements and adjust the movement speed of the ferromagnetic rod 6 loading module, realize the customized configuration of the three-dimensional motion path, and improve the system's adaptability and scalability to different working conditions.

[0033] The driving component is a drive motor.

[0034] Working principle: S1: After completing the phase task, proceed to the next task preparation phase. First, remove the threaded fasteners connecting the workbench 3 to the fixed plane, as well as the threaded fasteners connecting the workbench 3, sealing plate 10, and cover 101. Then, remove the workbench 3, sealing plate 10, and sealing ring 11. Next, remove the loading / unloading tray 9, on which a support 21 and constraint rods 8 are fixed. This step, through its modular disassembly design, facilitates quick changes of loads and adjustments to the constraint layout.

[0035] S2: Remove the target object (such as sterile biological culture dishes and related experimental instruments) and its supporting structure from the previous stage, which are fixed on the loading / unloading tray 9. According to the requirements of the next stage, install the new target object and supporting structure at the corresponding fixed positions on the loading / unloading tray 9, and adjust the fixed positions of one or more supports 21 and constraint rods 8 based on the spatial position of the target object and supporting structure. If the supporting structure is close to the ferromagnetic rod 6, the constraint rods 8 need to be positioned away from the ferromagnetic rod 6 to ensure that the constraint rods 8 are in direct contact with the ferromagnetic rod 6 rather than with the stage 7; the circumferential range between the two constraint rods 8 is the maximum distance that the ferromagnetic rod 6 can move in that direction. This step, by flexibly adjusting the position of the constraint rods, achieves precise limitation of the ferromagnetic rod's movement path and task adaptation.

[0036] S3: Based on the load capacity and movement speed requirements of the next phase of the task, magnetic synchronous belts 5 and ferromagnetic rods 6 with different magnetic properties are selected to adjust the magnetic field strength, thereby changing the upper limit of the working load and the lifting speed of the ferromagnetic rod 6. By replacing the core magnetic drive components, the system can flexibly match the driving force and speed requirements under different working conditions, significantly improving task adaptability.

[0037] S4: Reinstall the components adjusted in S2 and S3, such as the loading / unloading pallet 9, worktable 3, sealing plate 10, sealing ring 11, and ferromagnetic rod 6, into their working positions. Then, use a vacuum pump or other special environment generating device to re-process the internal environment of the enclosure 101, maintaining continuous connection during subsequent operations to ensure stable operating conditions within the sealed cavity. Since no through holes need to be drilled in the cavity during the drive process, the sealing structure can be completely restored, fundamentally avoiding the risk of leakage.

[0038] S5: The driving component drives the ferromagnetic rod 6 to rotate around the central axis at an adjustable speed via the first mounting sleeve 15, thereby rotating the driving rod 4. The alternating ferromagnetic and non-magnetic strips on the surface of the driving rod 4 generate periodic magnetic coupling with the magnetic synchronous belt 5 sleeved on the outside of the cylinder 102, driving the magnetic synchronous belt 5 to rotate synchronously in a step-like manner. The ferromagnetic rod 6 and its platform 7, adsorbed on the magnetic synchronous belt 5, rotate with it to the vicinity or directly below the target object, completing the bearing action and preparing for lifting and lowering. The entire process requires only a single drive motor to achieve precise driving of the magnetic synchronous belt, significantly simplifying the system structure.

[0039] S6: Adjusting the auxiliary magnetic field generated by the electromagnet 19 changes the pressure distribution on the contact line between the ferromagnetic rod 6 and the magnetic synchronization belt 5, thereby controlling the upward or downward direction and speed of the ferromagnetic rod 6. When the equivalent reverse gravitational field generated by the electromagnet increases, the ferromagnetic rod 6 moves downward; when it weakens, it climbs upward. Through electromagnetic field-assisted control, precise control of the magnetic climbing direction is achieved without the need for a complex mechanical reversing mechanism.

[0040] S7: Continue driving the ferromagnetic rod 6, drive rod 4, and magnetic synchronous belt 5 to rotate, and change the lifting speed of the ferromagnetic rod 6 by adjusting the rotation speed. The ferromagnetic rod 6 rotates around the central axis of the cylinder 102 with the magnetic synchronous belt 5, and its rotation direction depends on the relative position of the ferromagnetic rod 6 and the constraint rod 8: if it is desired that the ferromagnetic rod 6 is in the counterclockwise direction of the constraint rod 8, then the ferromagnetic rod 6 should be driven to rotate clockwise. By switching the rotation direction, the position of the ferromagnetic rod 6 can be switched between different constraint rods 8, thereby transporting the target object to different desired positions. The rotation direction of the ferromagnetic rod 6 is independent of the lifting direction; the lifting direction is determined only by the gravitational field and the equivalent reverse gravitational field generated by the electromagnet 19. This mechanism achieves decoupling control of lifting and rotational motion, reducing control complexity.

[0041] S8: After the stage 7 moves the target object to the desired position, the rotation of the drive component stops, and the electromagnet 19 ceases operation. The ferromagnetic rod 6 and its loading assembly achieve stable self-locking through the static magnetic force generated by the permanent magnet in the magnetic synchronization belt 5, allowing it to remain stationary at the desired position to complete other target tasks. The static magnetic adsorption self-locking characteristic effectively avoids the problem of easy position displacement after power failure in traditional active magnetic field drive systems, improving positioning reliability.

[0042] S9: After completing the target task, the system can maintain a stable self-locking state or prepare to enter the next stage of task work by re-executing step S1. By repeating the above process, the system can achieve three-dimensional passive precision drive under completely non-contact and non-penetrating conditions, meeting the stringent requirements of high precision, low disturbance, and high reliability drive in extreme sealing conditions such as ultra-high vacuum and sterile bioreactors.

[0043] The three-dimensional passive drive system based on the magnetic climbing effect and magnetic synchronization band of the present invention has the following other advantages: First, by adding a magnetic synchronous belt, the present invention only requires driving the drive rod to rotate, which greatly reduces the load inertia, significantly reduces the energy consumption of the drive motor, and improves the system's energy efficiency ratio.

[0044] Secondly, due to the small inertia of the drive rod, this invention exhibits excellent dynamic response characteristics during acceleration and deceleration, enabling more precise speed control and accurate positioning. This facilitates high-precision point-to-point motion, and the stationary working cavity avoids vibrations and impacts caused by the start-up and shutdown of a large-inertia system. Motion accuracy can be improved by more than 25%, and response time reduced by more than 35%.

[0045] Third, the working chamber of this invention is completely stationary and does not need to be connected to external vacuum pumps, power interfaces, etc. through dynamic seals, which fundamentally eliminates the leakage risk and failure point caused by high-speed rotating dynamic seals. It is especially suitable for extreme sealing environments such as ultra-high vacuum and ultra-high pressure, thereby effectively reducing subsequent maintenance costs.

[0046] Fourth, the static working chamber in this invention allows external pipelines (such as cooling water pipes, sensor cables, and vacuum lines) to be directly and fixedly connected without the need for expensive rotary joints. This simplifies wiring, reduces costs, and allows for dynamic adjustment or maintenance of the internal environment of the chamber during operation.

[0047] Fifth, in this invention, the drive rod and magnetic synchronous belt can be designed as a compact standard module, which is easy to embed into devices of different shapes and functions. The shape and material distribution of the magnetic synchronous belt can be customized according to actual needs (such as designing it as a straight line, a ring or a specific curve), realizing diverse motion paths and greatly improving design freedom.

[0048] Sixth, in this invention, the ferromagnetic rod is directly adsorbed onto the side of the permanent magnetic strip of the magnetic synchronization belt, resulting in high magnetic field utilization and fundamentally reducing magnetic field loss caused by physical barriers, thereby effectively improving the driving load capacity. Through the design of the magnetic material on the surface of the magnetic synchronization belt, the effective load of the stage can be increased by more than 25%.

[0049] Seventh, this invention is mainly aimed at material conveying in bioreactors. Because it uses the step-by-step coupling of the drive rod rotation and the magnetic synchronous belt, the ferromagnetic rod can rise and fall smoothly in a completely closed bioreactor environment, effectively solving the dynamic sealing problem of traditional active drive methods. Moreover, it causes minimal shear disturbance to the cell culture medium and is suitable for biological processes such as feeding or aseptic sampling.

[0050] 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 magnetic synchronization band, characterized in that, include: The working unit includes a working cavity and an installation assembly. The working cavity consists of a cover and a cylinder arranged coaxially. The upper end of the cylinder passes through the cover and is fixedly connected to the cover. The cover and the cylinder are arranged inside the installation assembly, which is used to fix the cover and seal the working cavity. The magnetic attraction unit includes a drive rod and a magnetic synchronous belt. The drive rod is installed inside the cylinder and its upper end is rotatably connected to the mounting assembly. The drive rod is circumferentially arranged with alternating first ferromagnetic strips and first non-magnetic strips or first antimagnetic strips. The magnetic synchronous belt is rotatably sleeved on the side of the cylinder. The magnetic synchronous belt is composed of multiple sets of repeating units arranged sequentially along the circumference of the cylinder. Each set of repeating units consists of a permanent magnetic strip, a second non-magnetic strip or a second antimagnetic strip, a second ferromagnetic strip, and a third non-magnetic strip or a third antimagnetic strip. Each set of repeating units is arranged along the axial direction of the cylinder. The loading and moving unit includes at least one ferromagnetic rod, a loading platform and at least two constraint rods. The ferromagnetic rod is horizontally arranged inside the cover, with one end adsorbed on the side of one of the permanent magnetic strips and the other end rotatably connected to the lower part of the loading platform. The two constraint rods are symmetrically arranged on both sides of the cylinder. The control unit includes a drive component, an electromagnet, and a control component. The drive component is connected to the upper end of the drive rod. The electromagnet is fixed inside the mounting assembly and located above the housing. 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 drive rod to rotate. The magnetic synchronous belt is periodically excited by the alternating circumferential first ferromagnetic strip and the first non-magnetic strip, so that the permanent magnetic strip and the second ferromagnetic strip are coupled to the ferromagnetic rod in sequence, generating magnetic adsorption and synchronous driving force, which drives the ferromagnetic rod and the stage to move in three dimensions passively within the housing. The speed of movement of the ferromagnetic rod is adjusted by adjusting the rotation speed of the drive rod by the drive component, and the vertical direction of movement of the ferromagnetic rod is adjusted by controlling the working state of the electromagnet.

2. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The central angle of the first ferromagnetic strip is greater than the central angle of the first non-magnetic strip or the first diamagnetic strip.

3. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The central angle of the permanent magnetic strip is greater than that of the first ferromagnetic strip.

4. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The arc length corresponding to the central angle of the second non-magnetic strip or the second diamagnetic strip and the arc length corresponding to the central angle of the third non-magnetic strip or the third diamagnetic strip are both smaller than the radius of the ferromagnetic rod.

5. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The electromagnet is a ring electromagnet, which is coaxially arranged with the drive rod, fixed in the mounting assembly, and electrically connected to the control component.

6. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The electromagnet is a plurality of electromagnets arranged in discrete rings. The plurality of electromagnets are coaxially arranged with the drive rod, fixed in the mounting assembly, and electrically connected to the control component.

7. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The end of the ferromagnetic rod is connected to the platform via a first crossed roller bearing. Two gyro stabilizers are provided on the lower part of the platform along the length of the ferromagnetic rod, and the two gyro stabilizers are located on both sides of the first crossed roller bearing.

8. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 1, characterized in that, The installation assembly includes: a fixed platform, horizontally positioned above the cover, with the upper end of the drive rod passing through the fixed platform and connected to it via a second crossed roller bearing; a first mounting sleeve fitted onto the upper end of the drive rod, the upper end of which is connected to a drive component; and an electromagnet fixed below the fixed platform; a worktable, horizontally positioned below the cover, with a second mounting sleeve fitted onto the lower end of the drive rod, the second mounting sleeve connected to the worktable via a third crossed roller bearing; a loading / unloading pallet, horizontally positioned between the worktable and the cover, detachably and sealingly connected to the lower part of the cover; and the lower end of each constraint rod connected to the loading / unloading pallet; and a sealing plate, horizontally positioned between the loading / unloading pallet and the worktable, with the lower end of the cylinder passing sequentially through the loading / unloading pallet and the sealing plate, and the cylinder and the sealing plate connected via a sealing ring.

9. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 8, characterized in that, The upper end of the magnetic synchronous belt is connected to the cylinder through a first support ring, and the lower end of the magnetic synchronous belt is connected to the cylinder through a second support ring. The two ends of the magnetic synchronous belt are rotatably connected to the first support ring and the second support ring, respectively.

10. The three-dimensional passive drive system based on magnetic climbing effect and magnetic synchronization band according to claim 8, characterized in that, The cover, cylinder, each constraint rod, first mounting sleeve, second mounting sleeve, first support ring and second support ring are all made of non-magnetic or anti-magnetic materials.

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