Electromagnetic driving device for micro-robot

Abstract

The utility model relates to an electromagnetic driving device for a micro-robot, which solves the problems that the existing micro-robot magnetic control driving system cannot effectively control the rotation of the micro-robot, and the control sensitivity is low as the magnetic field generated by a permanent magnet cannot be quickly changed. And the control precision is low when a series mechanical arm operates a permanent magnet. The device comprises a delta structure frame, a parallel arm system, an electromagnetic coil system and a permanent magnet module, the electromagnetic coil system comprises three coil modules, the permanent magnet module comprises a magnetic ball support and a permanent magnet magnetic ball, and the permanent magnet magnetic ball is placed in the magnetic ball support and can rotate the magnetic ball support to be connected with a tail end connecting block of the parallel arm system. According to the utility model, accurate driving control, including complex path planning, obstacle avoidance and the like, can be realized in a complex three-dimensional structure.

Description

Technical Field

[0001] This utility model relates to the field of magnetically controlled microrobot technology, and more specifically, to an electromagnetic drive device for microrobots. Background Technology

[0002] Magnetically controlled microrobots can move in confined spaces and perform complex tasks, such as targeted drug delivery, micromanipulation, and environmental monitoring. Magnetic drive control technology for microrobots is a technique that uses magnetic fields to drive and control objects. By applying an external magnetic field to the magnetic components inside the microrobot, remote, non-contact actuation and control of the microrobot can be achieved.

[0003] There are two main ways to drive microrobots using existing magnetic control systems: (1) Direct drive by permanent magnets: By directly manipulating permanent magnets or magnets through a series of robotic arms to rotate or translate them, a controllable gradient magnetic field is generated in space, thereby controlling the movement of the robot. (2) Electromagnetic field drive by coils: By controlling the current inside a Helmholtz coil or Maxwell coil, a constant or changing magnetic field is applied to the outside, changing the relative position of the magnetic components or the direction of the magnetic field, thereby controlling the movement of the robot; this method is often used in microrobot control and drug delivery scenarios.

[0004] Currently, the two methods mentioned above are used to drive microrobots. Although they can meet some driving requirements, they still have some drawbacks, such as: (1) The main problem with driving microrobots by directly manipulating permanent magnets through serial robotic arms is the accuracy of magnetic field control. The control accuracy is low, making it difficult to achieve precise control of microrobots; (2) Permanent magnets cannot effectively control the rotation of microrobots. The magnetic field generated by permanent magnets cannot be changed quickly, resulting in low control sensitivity; (3) The main problem with driving microrobots by generating electromagnetic fields through coils is the limitation of magnetic field generation by coils and the heat dissipation of coils. In terms of magnetic field generation, due to the geometric dimensions and current parameters of the coils, the maximum magnetic field strength and maximum gradient strength that the coils can generate are small and have an upper limit; in terms of heat dissipation, electromagnetic coils will generate a certain amount of heat when working, which will have an adverse effect on some sensitive application scenarios or applications that require low temperature environments. In addition, the heat may also cause the system to overheat, resulting in system failure or reduced accuracy, requiring additional heat dissipation measures. Summary of the Invention

[0005] This application aims to solve the technical problems existing in the magnetic drive system for microrobots, such as the inability to effectively control the rotation of microrobots, the inability to quickly change the magnetic field generated by permanent magnets resulting in low control sensitivity, and the low control accuracy of serial robotic arms manipulating permanent magnets. It provides an electromagnetic drive device for microrobots that can effectively control the rotation of microrobots and improve control sensitivity and accuracy.

[0006] A first aspect of this disclosure provides an electromagnetic drive device for a microrobot, comprising a deltaic structural frame, a parallel arm system, an electromagnetic coil system, and a permanent magnet module.

[0007] The parallel arm system is connected to the delta structure frame. The parallel arm system includes a parallel arm drive mechanism, three parallel arms, and an end connection block.

[0008] The electromagnetic coil system includes three coil modules. Each coil module includes a sleeve, an upper baffle, a lower baffle, and a coil. The coil is wound around the sleeve. The upper baffle is fixedly connected to the upper end of the sleeve, and the lower baffle is fixedly connected to the lower end of the sleeve. The lower baffle is fixedly connected to the upper and lower parts of the parallel arms, respectively. Each of the three parallel arms is connected to a coil module.

[0009] The permanent magnet module includes a magnetic ball holder and a permanent magnet ball. The permanent magnet ball is placed in the magnetic ball holder and can rotate in the magnetic ball holder. The magnetic ball holder is connected to the end connecting block of the parallel arm system.

[0010] Preferably, the magnetic ball holder is provided with a receiving groove, the permanent magnet ball is placed in the receiving groove, and the permanent magnet ball can rotate in the receiving groove.

[0011] Preferably, the receiving groove is a groove with a spherical bottom.

[0012] Preferably, the end connecting block has a square hole, the magnetic ball holder is square in shape, the top surface of the magnetic ball holder has a hanging plate, the magnetic ball holder is placed into the square hole of the end connecting block, and the hanging plate is hung around the square hole.

[0013] Preferably, the delta structure frame includes a top support frame, a base, and three columns, with the three columns respectively connected between the top support frame and the base;

[0014] The lower ends of the three parallel arms of the parallel arm system are connected to the end connecting block via ball joints, and the upper ends of the three parallel arms are connected to the power output part of the parallel arm drive mechanism via ball joints.

[0015] Preferably, the parallel arm drive mechanism includes three drive modules. Each drive module includes a stepper motor, a drive gear, a driven gear, a driven gear seat, a toothed belt, and a slider. The drive gear is connected to the output shaft of the stepper motor, the driven gear is rotatably connected to the driven gear seat, the toothed belt is connected between the drive gear and the driven gear, the slider is fixedly connected to the toothed belt, the stepper motor is fixedly connected to the top support frame of the delta structure frame, and the driven gear seat is fixedly connected to the lower end of the column of the delta structure frame.

[0016] The upper end of the parallel arm is connected to the slider via a ball joint.

[0017] Preferably, the end connector is a hexagonal end connector.

[0018] Preferably, the end connecting block and / or magnetic ball holder is made of PLA material.

[0019] A second aspect of this disclosure provides another electromagnetic drive device for microrobots, including a deltaic structural frame, a parallel arm system, and a permanent magnet module.

[0020] The parallel arm system is connected to the delta structure frame. The parallel arm system includes a parallel arm drive mechanism, three parallel arms, and an end connection block.

[0021] Of the three parallel arms, one parallel arm is connected to a coil module, or both parallel arms are connected to a coil module.

[0022] The coil module includes a sleeve, an upper baffle, a lower baffle, and a coil. The coil is wound on the sleeve. The upper baffle is fixedly connected to the upper end of the sleeve, and the lower baffle is fixedly connected to the lower end of the sleeve. The lower baffle is fixedly connected to the upper and lower parts of the parallel arm, respectively.

[0023] The permanent magnet module includes a magnetic ball holder and a permanent magnet ball. The permanent magnet ball is placed in the magnetic ball holder and can rotate in the magnetic ball holder. The magnetic ball holder is connected to the end connecting block of the parallel arm system.

[0024] A third aspect of this disclosure provides an electromagnetic drive device for a microrobot, comprising a permanent magnet module and at least one coil; the permanent magnet module includes a magnetic ball holder and a permanent magnet ball, the permanent magnet ball being placed in the magnetic ball holder and capable of rotating within the magnetic ball holder; the coil is located around the permanent magnet module.

[0025] The beneficial effects of this disclosure are that by combining an electromagnetic coil system with a permanent magnet, the electromagnetic coil system causes the permanent magnet sphere to rotate, and the rotating permanent magnet sphere controls the rotation and attitude adjustment of the microrobot, achieving high-precision attitude adjustment. It also allows for rapid changes in the magnetic field of the permanent magnet sphere, improving control sensitivity.

[0026] Adjusting the current in the electromagnetic coil system adjusts the magnitude and direction of the magnetic field generated by the permanent magnet sphere, changes the orientation of the rotation axis of the permanent magnet sphere, and thus changes the rotation direction of the microrobot, thereby achieving attitude adjustment of the microrobot.

[0027] By adjusting the spatial position of the permanent magnet sphere using a parallel arm system, the driving range of the drive device can be expanded, thereby achieving a large control range within three-dimensional space. Because the parallel arm system can adjust the spatial position of the permanent magnet sphere with high precision, it can improve the driving accuracy.

[0028] Electromagnetic drive devices for microrobots can achieve precise drive control within complex three-dimensional structures, including complex path planning and obstacle avoidance.

[0029] Further features and aspects of this disclosure will be clearly described in the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0030] Figure 1 This is a front view of an electromagnetic drive device used in microrobots;

[0031] Figure 2 This is a top view of an electromagnetic drive device used in microrobots;

[0032] Figure 3 This is a left view of an electromagnetic drive device used in microrobots;

[0033] Figure 4 This is an exploded view of an electromagnetic drive device used in microrobots;

[0034] Figure 5 This is a schematic diagram of the connection between the drive module and the parallel arm;

[0035] Figure 6 This is a schematic diagram of the slider's structure;

[0036] Figure 7 This is a structural diagram of the coil module;

[0037] Figure 8 This is a schematic diagram of the parallel arm structure;

[0038] Figure 9 This is a schematic diagram of the hexagonal end connector block;

[0039] Figure 10 This is a schematic diagram of the magnetic ball holder structure;

[0040] Figure 11 This is a schematic diagram of the placement area for the microrobots. The dashed rectangle in the diagram represents the activity space for the microrobots.

[0041] Figure 12 This is a schematic diagram showing the rotation of a permanent magnet ball when two coils are energized.

[0042] Figure 13 This is a schematic diagram showing the rotation of a permanent magnet ball when three coils are energized.

[0043] Explanation of symbols in the diagram:

[0044] 1. Delta structure frame; 2. Electromagnetic coil system; 2-1. Upper baffle; 2-2. Lower baffle; 2-3. Sleeve; 2-4. Coil; 3. Permanent magnet module; 4. Stepper motor; 5. Coil module; 6. Permanent magnet ball; 7. Ball holder; 7-1. Groove with spherical bottom; 7-2. Hanging plate; 8. Base; 9. Hexagonal end connecting block; 9-1. Square hole; 10. Driven gear; 11. Toothed belt; 12. Parallel arm; 13. Slider; 13-1. Spherical protrusion; 14. Outer shell; 15. Top support frame; 20. Spherical groove; 21. Spherical groove; 23. Spherical protrusion; 60. Driving gear; 61. Driven gear seat. Detailed Implementation

[0045] The application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] The specific embodiments described below are merely preferred embodiments of this application, and the scope of protection of this application is not limited thereto. Those skilled in the art can make modifications or variations based on the principles, concepts, and spirit of this application, and the resulting technical solutions should all be covered within the scope of protection of this application.

[0047] like Figure 1-5 As shown, the electromagnetic drive device for microrobots mainly consists of four parts: a deltaic frame 1, a parallel arm system, an electromagnetic coil system 2, and a permanent magnet module 3. The deltaic frame 1 includes a top support frame 15, a base 8, three columns, and three outer shells 14. The three columns are respectively connected between the top support frame 15 and the base 8, and the three outer shells 14 are mounted on the three columns.

[0048] The parallel arm system is connected to the deltaic structural frame 1. The parallel arm system includes a parallel arm drive mechanism, three parallel arms 12, and hexagonal end connecting blocks 9; the lower ends of the three parallel arms 12 are respectively connected to the hexagonal end connecting blocks 9 via ball joints. Specifically, a spherical protrusion 23 can be connected to the hexagonal end connecting block 9, such as... Figure 8 As shown, the lower end of the parallel arm 12 is provided with a spherical groove 20, and the spherical protrusion 23 is connected to the spherical groove 20; the upper ends of the three parallel arms 12 are respectively connected to the power output part of the parallel arm drive mechanism through ball hinges.

[0049] It should be noted that the hexagonal end connector 9 is just one specific shape choice for the end connector.

[0050] The parallel arm drive mechanism may include three sets of drive modules, such as Figure 4 and 5As shown, each drive module includes a stepper motor 4, a drive gear 60, a driven gear 10, a driven gear seat 61, a toothed belt 11, and a slider 13. The drive gear 60 is connected to the output shaft of the stepper motor 4, the driven gear 10 is rotatably connected to the driven gear seat 61, the toothed belt 11 is connected between the drive gear 60 and the driven gear 10, and the toothed belt 11 is tensioned. The slider 13 is fixedly connected to the toothed belt 11. The rotation of the output shaft of the stepper motor 4 drives the drive gear 60 to rotate, thereby causing the toothed belt 11 to move in the vertical direction. The movement of the toothed belt can further drive the movement of the slider 13. The stepper motor 4 is fixedly mounted on the top support frame 15 of the delta structure frame 1, and the driven gear seat 61 is fixedly mounted on the lower end of the column of the delta structure frame 1.

[0051] The upper end of the parallel arm 12 is connected to the slider 13 via a ball joint. For example... Figure 8 As shown, the upper end of the parallel arm 12 is provided with a spherical groove 21, such as... Figure 6 As shown, a spherical protrusion 13-1 is connected to the slider 13, which is connected to the spherical groove 21. The slider 13 moves up and down in the vertical direction, thereby controlling the movement of the parallel arm 12.

[0052] The three drive modules of the parallel arm drive mechanism control the movement of the three parallel arms 12 respectively. The three parallel arms 12 move in coordination, thereby driving the hexagonal end connecting block 9 to move in three-dimensional space.

[0053] like Figure 5 As shown, the electromagnetic coil system 2 includes three coil modules 5, such as... Figure 7 Each coil module shown includes a sleeve 2-3, an upper baffle 2-1, a lower baffle 2-2, and a coil 2-4. The coil 2-4 is wound around the outer periphery of the sleeve 2-3. The upper baffle 2-1 is fixedly connected to the upper end of the sleeve 2-3, and the lower baffle 2-2 is fixedly connected to the lower end of the sleeve 2-3. Figure 5 As shown, the lower baffle 2-2 is fixedly installed on the upper part of the parallel arm 12, and the lower baffle 2-2 is fixedly installed on the lower part of the parallel arm 12, thereby fixing the coil module on the parallel arm 12. Each parallel arm is equipped with one coil module.

[0054] like Figure 1 and 3 As shown, the permanent magnet module 3 is connected to the hexagonal end connector 9. Figure 4 and 5 As shown, the permanent magnet module 3 includes a magnetic ball holder 7 and a permanent magnet ball 6. The permanent magnet ball 6 is placed in the magnetic ball holder 7, and the magnetic ball holder 7 is connected to the hexagonal end connecting block 9.

[0055] More specifically, such as Figure 10As shown, the magnetic ball holder 7 is provided with a receiving groove. The specific structure of the receiving groove can be a groove 7-1 with a spherical bottom. The permanent magnet magnetic ball 6 is placed in this groove 7-1 with a spherical bottom (see reference). Figure 5 (As shown).

[0056] like Figure 9 As shown, one way to connect the magnetic ball holder 7 to the hexagonal end connecting block 9 is to provide a square hole 9-1 on the hexagonal end connecting block 9, the magnetic ball holder 7 is also square in shape, and a hanging plate 7-2 is provided on the top surface of the magnetic ball holder 7. Then, the magnetic ball holder 7 is placed into the square hole 9-1, and the hanging plate 7-2 is hung around the square hole 9-1.

[0057] The working process of the electromagnetic drive device used in microrobots described above is as follows:

[0058] refer to Figure 11 The dashed rectangle represents an activity space for the microrobot. The electromagnetic drive of the microrobot, via a parallel arm system, propels the permanent magnet ball 6 on the hexagonal end connector block 9 to a designated position. Then, by applying current to the electromagnetic coil system 2, coils 2-4 generate a magnetic field. The three coils 2-4 work together to form a dynamically changing magnetic field. Under this dynamic magnetic field, the permanent magnet ball 6 rotates at a specific angle, thus changing its own magnetic field. The rotating permanent magnet ball 6 enables the microrobot to rotate with high precision, thereby adjusting its posture. Since the direction of the microrobot's magnetic field lines always aligns with the direction of the magnetic field generated by the permanent magnet ball 6, changing the orientation of the rotation axis of the permanent magnet ball 6 alters the microrobot's rotation direction and adjusts its posture. The magnitude and direction of the magnetic field generated by the permanent magnet ball 6 can be changed by the magnitude of the current applied to the coil 2-4. Therefore, adjusting the magnitude of the current applied to the coil 2-4 can adjust the magnitude and direction of the magnetic field generated by the permanent magnet ball 6.

[0059] By energizing the three coils and having them operate simultaneously, the permanent magnet sphere 6 can rotate in all directions.

[0060] Furthermore, by adjusting the spatial position of the permanent magnet ball 6 through the parallel arm system, the driving range of the drive device can be expanded, thereby achieving a large control range in three-dimensional space. Because the parallel arm system can adjust the spatial position of the permanent magnet ball 6 with high precision, it can improve driving accuracy.

[0061] As can be seen, this disclosure, based on an electromagnetic coil drive system, combines a permanent magnet sphere to generate a gradient magnetic field for controlling a magnetic microrobot. The permanent magnet sphere can generate a better gradient magnetic field. This combination solves the problems of traditional permanent magnet control systems, such as the inability to quickly change the magnetic field and the lack of control sensitivity, as well as the weak magnetic field generated by the electromagnetic coil, thus achieving sensitive and precise control of the magnetic microrobot. Simultaneously, the parallel arm system enables control over a wider range in three-dimensional space, overcoming the limited control range of conventional magnetic control platforms. Therefore, with improved control accuracy and range, the electromagnetic drive device of the microrobot can achieve precise drive control within complex three-dimensional structures, including complex path planning and obstacle avoidance.

[0062] It should be noted that the hexagonal end connector 9 can be made of PLA material, which makes it relatively lightweight. The hexagonal end connector of PLA material can be formed using 3D printing technology.

[0063] It should be noted that the magnetic ball holder 7 can be made of PLA material, which makes it relatively lightweight. The PLA magnetic ball holder can be formed using 3D printing technology.

[0064] It should be noted that when only one coil of the electromagnetic coil system 2 is powered, that is, when only one coil is working and the other two coils are not working, the permanent magnet ball 6 will rotate to the corresponding position.

[0065] like Figure 12 As shown, when only two of the coils are energized, the magnetic field generated by the two coils causes the permanent magnet ball 6 to rotate, and the direction of rotation of the permanent magnet ball 6 is shown in the figure.

[0066] like Figure 13 As shown, when the three coils are energized, the magnetic field generated by the three coils causes the permanent magnet ball 6 to rotate, and the direction of rotation of the permanent magnet ball 6 is shown in the figure.

Claims

1. An electromagnetic drive device for a microrobot, characterized by comprising: The delta structure framework, the parallel arm system, the electromagnetic coil system and the permanent magnet module are included. The parallel arm system is connected with the delta structure framework, and the parallel arm system includes a parallel arm driving mechanism, three parallel arms and an end connecting block. The electromagnetic coil system includes three coil modules, and each coil module includes a sleeve, an upper baffle, a lower baffle and a coil. The permanent magnet module includes a magnetic ball holder and permanent magnet balls.

2. The electromagnetic driving device for a micro robot according to claim 1, wherein The permanent magnet balls are placed in the magnetic ball holder and can rotate in the magnetic ball holder.

3. The electromagnetic driving device for a micro robot according to claim 2, wherein The magnetic ball holder is provided with a containing groove, and the permanent magnet balls are placed in the containing groove and can rotate in the containing groove.

4. The electromagnetic drive apparatus for a microrobot according to claim 1, 2 or 3, characterized by, The containing groove is a groove with a spherical bottom.

5. The electromagnetic driving device for a micro robot according to claim 1, wherein The end connecting block is provided with a square hole, the magnetic ball holder is square in shape, the top surface of the magnetic ball holder is provided with a hanging plate, the magnetic ball holder is placed in the square hole of the end connecting block, and the hanging plate is hung around the square hole. The delta structure framework includes a top support frame, a base and three columns.

6. The electromagnetic driving device for a micro robot according to claim 5, wherein The lower ends of the three parallel arms of the parallel arm system are connected with the end connecting block through spherical hinges, and the upper ends of the three parallel arms are connected with the power output part of the parallel arm driving mechanism through spherical hinges. The parallel arm driving mechanism includes three groups of driving modules.

7. The electromagnetic driving apparatus for a micro robot according to claim 1, wherein The upper ends of the parallel arms are connected with the sliders through spherical hinges.

8. The electromagnetic driving apparatus for a micro robot according to claim 1, wherein The end connecting block is a hexagonal end connecting block.

9. An electromagnetic drive device for a microrobot, characterized by comprising: The materials of the end connecting block and / or the magnetic ball holder are PLA materials. The delta structure framework, the parallel arm system and the permanent magnet module are included. The parallel arm system is connected with the delta structure framework, and the parallel arm system includes a parallel arm driving mechanism, three parallel arms and an end connecting block. Among the three parallel arms, one parallel arm is connected with a coil module or two parallel arms are both connected with coil modules. The coil module includes a sleeve, an upper baffle, a lower baffle and a coil. The lower baffles are fixedly connected to the upper portions and lower portions of the parallel arms, respectively. The permanent magnet module comprises a magnetic ball holder and permanent magnet magnetic balls, the permanent magnet magnetic balls are placed in the magnetic ball holder, and the permanent magnet magnetic balls can rotate in the magnetic ball holder; the magnetic ball holder is connected with the end connecting block of the parallel arm system.

10. An electromagnetic drive device for a microrobot, characterized by comprising: The permanent magnet module comprises a magnetic ball holder and permanent magnet magnetic balls, the permanent magnet magnetic balls are placed in the magnetic ball holder, and the permanent magnet magnetic balls can rotate in the magnetic ball holder; The permanent magnet module comprises a magnetic ball holder and permanent magnet magnetic balls, the permanent magnet magnetic balls are placed in the magnetic ball holder, and the permanent magnet magnetic balls can rotate in the magnetic ball holder; The coil is located around the permanent magnet module.

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