Hybrid magnetic field generators and magnetic robot control systems utilize this device.

Abstract

The invention relates to a hybrid magnetic field generating device for controlling a magnetic robot in a work area. The device comprises a magnet assembly with bipolar spherical permanent magnets to create the base magnetic field, an electromagnetic coil system arranged along the x, y, and z axes to create corrective magnetic field components, and a current controller to control the current supplied to each coil. The base magnetic field and corrective magnetic field components are combined to create a total magnetic field whose direction, intensity, and slope are adjustable. An elastic suspension mechanism, in conjunction with the coil pair along the z-axis, causes the magnet assembly to move along the z-axis, thereby adjusting the magnetic field slope at the position of the magnetic robot. The device also includes a guide mechanism to stabilize the movement of the magnet assembly and a copper plate to create eddy currents to reduce the acceleration of the magnetic robot when controlled by the magnetic field.

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