阅读说明：本技术 一种磁性机器人驱动装置 (Magnetic robot driving device ) 是由 范新建 杨湛 蒋奕晖 孙立宁 于 2021-09-27 设计创作，主要内容包括：本发明公开了一种磁性机器人驱动装置,包括驱动装置本体单元,驱动装置本体单元包括多个电磁模块和一个永磁模块,每个电磁模块包括通电后产生磁场的电磁线圈和用于支撑电磁线圈的第一支架组件,多个电磁模块产生复合磁场,永磁模块包括在复合磁场作用下运动后产生驱动磁场的球形永磁体、用于提供气流的鼓风机以及用于支撑球形永磁体并将气流引导至球形永磁体的下方以驱动球形永磁体悬浮的第二支架组件。本发明采用气悬浮的方式实现永磁体位置的束缚和与电磁线圈的隔离,极大减少永磁体在运动时受到的摩擦力,从而使其具有更高的响应性和更快的速度,解决当前微尺度机器人在低雷诺数下转动速度慢的问题。(The invention discloses a magnetic robot driving device which comprises a driving device body unit, wherein the driving device body unit comprises a plurality of electromagnetic modules and a permanent magnet module, each electromagnetic module comprises an electromagnetic coil which generates a magnetic field after being electrified and a first support assembly used for supporting the electromagnetic coil, the plurality of electromagnetic modules generate a composite magnetic field, and the permanent magnet module comprises a spherical permanent magnet which generates a driving magnetic field after moving under the action of the composite magnetic field, an air blower used for providing air flow and a second support assembly used for supporting the spherical permanent magnet and guiding the air flow to the lower part of the spherical permanent magnet so as to drive the spherical permanent magnet to suspend. According to the invention, the position of the permanent magnet is bound and the permanent magnet is isolated from the electromagnetic coil in an air suspension mode, and the friction force applied to the permanent magnet during movement is greatly reduced, so that the micro-scale robot has higher responsiveness and higher speed, and the problem of low rotation speed of the existing micro-scale robot at a low Reynolds number is solved.)

1. A magnetic robot driving device comprising a driving device body unit, characterized in that the driving device body unit comprises:

the electromagnetic module comprises a plurality of electromagnetic modules, a first support component and a second support component, wherein each electromagnetic module comprises an electromagnetic coil which generates a magnetic field after being electrified, and the first support component is used for mounting the electromagnetic coil;

the permanent magnet module comprises a spherical permanent magnet which generates a driving magnetic field after moving under the action of the composite magnetic field, an air blower for providing air flow and a second bracket assembly which is used for supporting the spherical permanent magnet and guiding the air flow to the position below the spherical permanent magnet so as to drive the spherical permanent magnet to suspend.

2. The magnetic robot driving device according to claim 1, wherein the plurality of electromagnetic coils are uniformly distributed around a connecting line of two magnetic poles of the spherical permanent magnet, the connecting line of the two magnetic poles of each electromagnetic coil is extended and intersected at a central position of the spherical permanent magnet, and the action effects of each electromagnetic coil on the spherical permanent magnet in horizontal and vertical directions are the same.

3. The magnetic robot driving device according to claim 2, wherein the driving device body unit is a right cone, the spherical permanent magnet is disposed at a cone tip of the cone, the plurality of electromagnetic coils are uniformly distributed around an axis of the cone, a connection line of two magnetic poles of the electromagnetic coils is parallel to a bus of the cone, and an observation space for placing a sample cell is disposed above the cone.

4. The magnetic robot driving device according to claim 1, wherein the electromagnetic coil is a core-less electromagnetic coil including an aluminum frame and a coil wound on an outer side of the aluminum frame, a longitudinal section of the aluminum frame is in a shape of a letter stem, and the coil is wound on a vertical portion between two lateral portions of the letter stem.

5. The magnetic robot drive of claim 1, wherein the first bracket assembly includes a first support post and a first housing, the first housing coupled to the first support post, the electromagnetic coil disposed within the first housing.

6. The magnetic robot driving device according to claim 1, wherein the second bracket assembly includes a second supporting pillar and a second housing, the second housing is connected to the second supporting pillar, the second supporting pillar is provided with a hollow air passage, the second housing is provided with an interlayer air chamber communicated with the hollow air passage, an inner wall of the second housing is provided with a plurality of inner air nozzles communicated with the interlayer air chamber, the inner air nozzles face the spherical permanent magnet, the spherical permanent magnet is suspended in the second housing, and the blower is communicated with the hollow air passage.

7. The magnetic robot driving device of claim 6, wherein the second housing is a hemispherical tray, and a tray opening of the hemispherical tray is provided with a flange for supporting a sample cell.

8. The magnetic robot driving device according to claim 6, wherein the outer wall of the second housing is provided with a plurality of outer air injection ports communicating with the sandwiched air chamber, the plurality of outer air injection ports facing the electromagnetic coil.

9. The magnetic robot driving device of claim 1, further comprising a moving platform unit for driving the driving device body unit to move along a horizontal X-axis direction, a horizontal Y-axis direction and a vertical Z-axis direction.

10. The magnetic robot driving device according to claim 1, wherein a speed measuring coil with a plurality of turns is wound on the outer side of the second support assembly, two ends of the speed measuring coil are connected to a voltage collector, when the spherical permanent magnet rotates, a magnetic field around the spherical permanent magnet rotates along with the spherical permanent magnet, the speed measuring coil cuts a magnetic induction line, two end parts of the speed measuring coil generate electromotive force, the electromotive force is in direct proportion to the rotating speed of the spherical permanent magnet, and the rotating speed of the spherical permanent magnet is calculated according to the electromotive force.

Technical Field

The invention belongs to the technical field of robot drive control, and particularly belongs to the technical field of microscale magnetic robot drive devices.

Background

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

The motion control of the micro-scale magnetic robot can be realized by utilizing a magnetic field, and a driving device which can control the motion behavior of the micro-scale magnetic robot by generating a specific magnetic field generally consists of a permanent magnet, an electromagnetic coil (such as a Helmholtz coil) or a combination of the permanent magnet and the electromagnetic coil. The micro-scale magnetic robot driving device based on the permanent magnet usually utilizes the permanent magnet to generate a strong magnetic field, and realizes the regulation and control of the magnetic field around the robot by the dragging and the rotation of a motor, thereby changing the posture and the motion behavior of the robot; the micro-scale magnetic robot driving device based on the electromagnetic coils is generally formed by assembling a plurality of electrifying spiral pipes according to certain geometric configuration, and a controllable external magnetic field is generated by introducing a specific voltage signal into each electromagnetic coil; the composite micro-scale magnetic robot driving device based on the combination of the electromagnetic coil and the permanent magnet simultaneously comprises the electromagnetic coil and the permanent magnet, wherein the electromagnetic coil generates a weaker excitation magnetic field, and the permanent magnet in the electromagnetic coil is subjected to obvious acting force to generate a rotation behavior under the action of the excitation magnetic field, so that the distribution of the whole external magnetic field can be indirectly regulated and controlled by adjusting the polarization direction of the excitation magnetic field.

The performance of the magnetic robot driving device is embodied by: 1. the torque or the drag force applied to the magnetic robot requires that an external magnetic field generated by the driving device has larger magnetic field intensity and gradient to generate enough torque or drag force, so that the efficient motion control of the magnetic robot can be realized; 2. the rate of change of the magnetic field; realizing the inverse blood flow movement of the micro-scale robot in the in-vivo environment needs to meet the requirement of rapid movement by means of the robot, and for the micro-scale magnetic robot, the change rate of a magnetic field generated by a magnetic robot driving device (such as the frequency of a rotating magnetic field) determines the movement speed of the micro-scale magnetic robot; 3. has a sufficiently large working space; although the micro-scale magnetic robot is small in size, the movement range of the micro-scale magnetic robot is often large, and the micro-scale robot is required to pass through various macroscopic tissue gaps (such as blood vessels, body cavities and the like) in the process of simulating targeted drug delivery in a human body.

The design scheme of the related driving and controlling device of the domestic magnetic micro robot at present adopts the following key points:

1. the driving device of the micro-scale magnetic robot based on the permanent magnet array is generally realized by using a stepping motor to rotate the permanent magnet or the permanent magnet array, and the magnetic field can generate a larger magnetic field or a magnetic gradient field (>100 mT); however, the driving device of the micro-scale magnetic robot based on the permanent magnet depends on the physical connection between the permanent magnet and the actuating device, the direction of the magnetic field cannot be flexibly changed, and the driving device is limited by the inherent properties of mechanical equipment, the device of the type is difficult to realize the rapid change of the surrounding magnetic field, the provided rotating magnetic field is often below 50 Hz, and the high-speed movement of the micro-scale magnetic robot is difficult to realize;

2. the Helmholtz coil is assembled by utilizing the multilayer nested electromagnetic coils, a small-range uniform magnetic field is realized in the Helmholtz coil, and the generation of a controllable magnetic field is realized by changing voltage signals at two ends of a coil winding; however, the existing driving device based on the electromagnetic coil has the problems of weak generated magnetic field (generally from several millitess to tens of millitess), small working space and large heat generation amount, and is difficult to meet the efficient control of the robot motion behavior with weak magnetism;

3. the composite driving device comprises an electromagnetic module and a permanent magnet module, and the electromagnetic coil generates a magnetic field when being electrified, so that the permanent magnet and the coil are attracted or repelled mutually, and the permanent magnet is unstable. For this reason, the current compound driving device often binds the permanent magnet through the partition part in the middle, and plays a role of isolation to prevent the permanent magnet from contacting with the permanent magnet, so as to realize the overall stability of the system during operation. In addition, to increase the magnetic field strength generated by the electromagnetic coil in such systems, the coil often has a core with significant ferromagnetic properties inside. The composite magnetic driving device integrates the advantages of electromagnetism and permanent magnetism, so that a stronger magnetic field and higher flexibility can be realized. However, in the current devices, the permanent magnet is in direct contact with the partition part, so that the contact friction between the permanent magnet and the partition part influences the motion behavior of the magnetic ball. Secondly, because the magnetic field intensity decreases very fast along with the distance (proportional to the reciprocal of the square of the distance), the action range of the magnetic field in the device is limited, and the large-distance control of the micro-scale magnetic robot is difficult to realize. In addition, the system adopts the magnetic core electromagnetic coil, although the action of electromagnetic force is enhanced, the magnetic core is magnetized by the coil and is also magnetized by the permanent magnet, so that a parasitic magnetic field is generated, on one hand, the magnetic field generated by the coil is coupled with the parasitic magnetic field to be difficult to generate a pure magnetic field, on the other hand, a gradient force pointing to the coil exists between the magnetic core of the coil and the permanent magnet, and on the other hand, the friction force between the permanent magnet and a partition part is very large;

4. the available workspace of the magnetic robotic drive is often located in a localized, specific area within the system or outside of it.

The realization of a controllable magnetic field with high responsiveness and large working space is the most important means for driving a micro-scale magnetic robot and is also a key technical problem which needs to be solved urgently by researchers in the field. Some existing technologies have a series of technical defects, high-speed operation and large-range motion control of a micro-scale magnetic robot are difficult to realize, and development of the robot in the fields of biomedicine, microoperation, intelligent manufacturing and the like is greatly limited. Therefore, the construction of the micro-scale magnetic robot driving device with high responsiveness and large working space has important research significance.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is how to improve the responsiveness and the stroke of the magnetic robot driving device.

In order to solve the above technical problem, the present invention provides a magnetic robot driving device, including a driving device body unit, the driving device body unit including:

the electromagnetic module comprises a plurality of electromagnetic modules, a first support component and a second support component, wherein each electromagnetic module comprises an electromagnetic coil which generates a magnetic field after being electrified, and the first support component is used for supporting the electromagnetic coil;

the permanent magnet module comprises a spherical permanent magnet which generates a driving magnetic field after moving under the action of the composite magnetic field, an air blower for providing air flow and a second bracket assembly which is used for supporting the spherical permanent magnet and guiding the air flow to the position below the spherical permanent magnet so as to drive the spherical permanent magnet to suspend.

As a further improvement, the electromagnetic coils are uniformly distributed around the connecting line of the two magnetic poles of the spherical permanent magnet, the connecting line of the two magnetic poles of each electromagnetic coil is extended and intersected at the central position of the spherical permanent magnet, and the action effect of each electromagnetic coil on the spherical permanent magnet in the horizontal direction and the vertical direction is the same.

As a further improvement, the driving device body unit is in a right-angled cone shape, the spherical permanent magnet is arranged at the cone tip position of the cone, the electromagnetic coils are uniformly distributed around the axis of the cone, the connecting line of the two magnetic poles of the electromagnetic coils is parallel to the generatrix of the cone, and an observation space for placing a sample cell is arranged above the cone.

As a further improvement, the electromagnetic coil is a magnetic core-free electromagnetic coil, the magnetic core-free electromagnetic coil comprises an aluminum framework and a coil wound on the outer side of the aluminum framework, the longitudinal section of the aluminum framework is in a shape of a Chinese character 'gan', and the coil is wound on the vertical position between two transverse sections of the Chinese character 'gan'.

As a further improvement, the first bracket component comprises a first support column and a first housing, the first housing is connected to the first support column, and the electromagnetic coil is arranged in the first housing.

As a further improvement, the second bracket component includes second support column and second casing, the second casing connect in on the second support column, the second support column is equipped with the cavity air flue, the second casing be equipped with the intermediate layer air chamber of cavity air flue intercommunication, the inner wall of second casing be equipped with a plurality of interior air jets of intermediate layer air chamber intercommunication, interior air jet orientation spherical permanent magnet, spherical permanent magnet suspension is in the second casing, the air-blower with the cavity air flue intercommunication.

As a further improvement, the second shell is a hemispherical tray, and a turnup for supporting the sample cell is arranged at a tray opening of the hemispherical tray.

As a further improvement, the outer wall of the second shell is provided with a plurality of outer air nozzles communicated with the interlayer air chamber, and the plurality of outer air nozzles face the electromagnetic coil.

As a further improvement, the driving device further comprises a moving platform unit for driving the driving device body unit to move along the horizontal X-axis direction, the horizontal Y-axis direction and the vertical Z-axis direction.

As a further improvement, the outside winding of second bracket component has the speed coil of measuring of a plurality of turns, two ends access voltage collector of the speed coil, when spherical permanent magnet rotated, its magnetic field on every side rotated along with it, the coil that measures the speed cut the magnetic induction line, two tip production electromotive force of the speed coil, the electromotive force with spherical permanent magnet rotational speed is directly proportional, according to the electromotive force calculation the rotational speed of spherical permanent magnet.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

1) the magnetic robot driving device disclosed by the invention has the advantages that the position constraint and the isolation of the permanent magnet and the electromagnetic coils are realized in an air floatation mode, the permanent magnet can be suspended between the electromagnetic coils, the friction force applied to the permanent magnet during movement is greatly reduced, and the non-contact friction rolling of the permanent magnet is realized, so that the magnetic robot driving device has higher responsiveness and higher speed, and the problem of low rotating speed of the current microscale robot at low Reynolds number is solved;

2) the magnetic robot driving device disclosed by the invention breaks through the structure of the magnetic control device of the traditional microscale robot, optimizes the composition of the electromagnetic coil, reduces the coupling effect between the electromagnetic coil and the permanent magnet, and ensures that the output magnetic field is more pure and stable;

3) the magnetic robot driving device disclosed by the invention has the advantages that the whole driving device body unit is arranged on the moving platform unit, the spatial position adjustment can be realized, the large-range adjustment of the magnetic field focus is realized, the dynamic magnetic field for driving the micro-scale robot can freely move in the space of 25X25cm under the adjustment of the displacement table, the maximum promotion is realized compared with the traditional driving device (only about a few centimeters), and the realization of the application of the micro-scale robot in a macro task can be promoted.

Generally, compared with the traditional magnetic control device based on pure permanent magnets and pure electromagnetic coils, the magnetic robot driving device disclosed by the invention has higher flexibility while providing a strong driving magnetic field, has larger working space and higher magnetic field responsiveness compared with the traditional composite electromagnetic driving system, has higher availability and operability in the fields of micro-scale magnetic robot related application, such as targeted medical treatment, micro-operation and the like, and has higher practical value.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of the overall assembly of the magnetic robot drive of the present invention;

fig. 2 is a schematic connection diagram of a second support column and a second housing of the magnetic robot driving device according to the present invention;

FIG. 3 is a cut-off frequency of rotation of a spherical permanent magnet at different driving voltages in a non-air-levitation state;

FIG. 4 is a cut-off frequency of rotation of a spherical permanent magnet under different driving voltages in an air-levitated state;

FIG. 5 is the maximum steerable frequency of rotation of a spherical permanent magnet at different drive voltages in a non-air-levitated state;

fig. 6 shows the maximum steerable frequency of rotation of a spherical permanent magnet at different drive voltages in an air-levitated state.

Wherein, 1, an electromagnetic module; 11. an electromagnetic coil; 12. a first support column; 13. a first housing; 2. a permanent magnet module; 21. a spherical permanent magnet; 22. a blower; 23. a second support column; 24. a second housing; 25. a branch guide pipe; 26. a hose; 27. a gas injection hole; 3. a sample cell; 4. a chassis; 5. a lifting platform; 6. a Y-axis lead screw module; 7. x-axis lead screw module.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further improvements to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, elements, and/or combinations thereof, unless the context clearly indicates otherwise. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.

The following is a preferred embodiment of the present invention, but is not intended to limit the scope of the present invention.

Example one

Referring to fig. 1 and 2, as illustrated therein, a magnetic robot driving apparatus includes a driving apparatus body unit including:

a plurality of electromagnetic modules 1, each of the electromagnetic modules 1 including an electromagnetic coil 11 generating a magnetic field after being energized and a first bracket assembly for supporting the electromagnetic coil, the plurality of electromagnetic modules generating a composite magnetic field;

a permanent magnet module 2, said permanent magnet module 2 comprising a spherical permanent magnet 21 which generates a driving magnetic field after moving under the action of said composite magnetic field, a blower 22 for providing an air flow, and a second bracket assembly for supporting said spherical permanent magnet 21 and guiding the air flow below said spherical permanent magnet 21 to drive said spherical permanent magnet 21 to suspend.

According to the invention, through an ingenious structural design, the electromagnetic coil and the permanent magnet are effectively isolated by using an air suspension technology, so that the spherical permanent magnet is suspended in the electromagnetic coil, the spherical permanent magnet is similar to a universal wheel and can freely rotate in any direction under the combined action of the surrounding electromagnetic coils, a static magnetic field or a rotating magnetic field in any direction of a space is generated around the spherical permanent magnet to drive the micro-scale magnetic robot to move, the friction force applied to the permanent magnet during the movement is greatly reduced, the non-contact friction rolling of the permanent magnet is realized, the micro-scale magnetic robot has higher responsiveness and higher speed, and the problem of low rotation speed of the current micro-scale robot under a low Reynolds number is solved.

In a preferred embodiment of the present invention, a plurality of the electromagnetic coils 11 are uniformly distributed around a connecting line of two magnetic poles of the spherical permanent magnet 21, the connecting line of two magnetic poles of each of the electromagnetic coils 11 extends and intersects at a central position of the spherical permanent magnet 21, and the horizontal and vertical acting effects of each of the electromagnetic coils 11 on the spherical permanent magnet 21 are the same.

In a preferred embodiment of the present invention, the driving device body unit has a right circular cone shape, the spherical permanent magnet 21 is disposed at a tip of the cone, the plurality of electromagnetic coils 11 are uniformly arranged around an axis of the cone, a line connecting two magnetic poles of the electromagnetic coils 11 is parallel to a bus of the cone, and an observation space for placing the sample cell 3 is disposed above the cone. In a traditional driving device for a micro-scale magnetic robot, the moving space of the micro-scale magnetic robot is often required to be sealed by a plurality of electromagnetic coils or permanent magnets, so that a controllable magnetic field can cover the whole range, and the volume of the driving device for the magnetic robot cannot be too small. According to the invention, the controllable magnetic field is positioned in the semi-open space at the top ends of the electromagnetic coil and the permanent magnet, the magnetic field can be conveniently focused at any position in the changed space by moving the position of the magnetic robot driving device through the motion platform unit, and the movement of the external magnetic field along with the movement of the micro-scale robot can be realized through the mode, so that the robot is always positioned in the controllable magnetic field, and further, the motion control in a large range is realized.

In a preferred embodiment of the present invention, the electromagnetic coil 11 is a coreless electromagnetic coil including an aluminum frame and a coil wound around the aluminum frame, the aluminum frame has a longitudinal section in a dry shape, and the coil is wound around a vertical portion between two lateral sides of the dry shape. In order to remove the influence of the magnetic core on the movement behavior of the small ball of the permanent magnet, the electromagnetic coil is completely composed of a copper wire and a hollow aluminum framework, so that the magnetic field in the whole working space is purer, and the movement behavior of the spherical permanent magnet is more controllable. The aluminum framework is designed into a dry type, so that on one hand, the copper wires can be kept exposed in the air to be easily radiated, and on the other hand, the aluminum framework can be used for fixing. The invention breaks through the structure of the driving device of the traditional micro-scale robot, optimizes the composition of the electromagnetic coil, reduces the coupling effect between the electromagnetic coil and the spherical permanent magnet and leads the output magnetic field to be more pure and stable.

In a preferred embodiment of the present invention, the first bracket assembly includes a first support column 12 and a first housing 13, the first housing 13 is connected to the first support column 12, and the electromagnetic coil 11 is disposed in the first housing 13. The first shell is of a tubular structure with one open end, the aluminum framework of the electromagnetic coil is in clearance fit with the first shell, and the electromagnetic coil can be fastened through an ear-shaped structure at the top of the first shell by screws, so that the electromagnetic coil is convenient to mount.

In a preferred embodiment of the present invention, the second bracket assembly includes a second supporting pillar 23 and a second housing 24, the second housing 24 is connected to the second supporting pillar 23, the second supporting pillar 23 is provided with a hollow air passage, the second housing 24 is provided with a sandwiched air chamber communicating with the hollow air passage, the inner wall of the second housing 24 is provided with a plurality of inner air nozzles communicating with the sandwiched air chamber, the inner air nozzles face the spherical permanent magnet 21, the spherical permanent magnet 21 is suspended in the second housing 24, and the blower 22 is communicated with the hollow air passage. In order to realize the suspension of the spherical permanent magnet, the invention designs a second supporting component, wherein the hollow air passage of the second supporting column is connected with an air pump (a blower) through a obliquely modified branch guide pipe 25, and the branch guide pipe 25 is obliquely led out downwards from the middle part of the middle air passage. The inner air injection hole can enable the distance for the magnetic ball to be supported to be limited to a specific height (a focal point on the extension line of the axes of the four electromagnetic coils).

In a preferred embodiment of the present invention, the second housing 24 is a hemispherical tray, and a flange for supporting the sample well 3 is provided at a tray opening of the hemispherical tray.

In a preferred embodiment of the present embodiment, the outer wall of the second casing 24 is provided with a plurality of outer air injection ports communicating with the sandwiched air chamber, and the plurality of outer air injection ports face the electromagnetic coil. The inner and outer gas ports described above constitute the gas ports 27. The outer air injection holes can guide air flow to the periphery of the electromagnetic coil to drive the air around the electromagnetic coil to flow, and the effect of cooling the electromagnetic coil can be achieved.

In an embodiment of the present invention, the driving device further includes a moving platform unit for driving the driving device body unit to move along a horizontal X-axis direction, a horizontal Y-axis direction, and a vertical Z-axis direction. The first bracket component and the second bracket component are fixed on a chassis 4, and holes are formed in the middle of the chassis to facilitate fixing with various experimental platforms. The first bracket component is connected with an external blower through a hose 26 and is used for guiding air from the air pump to suspend and restrain the magnetic balls at the focus on the axis extension lines of the four electromagnetic coils, so that the robot is positioned in a working space at the topmost part of all the coils; the whole electromagnetic system is arranged on the motion platform unit, so that the free adjustment of the space position of the magnetic robot driving device can be realized, and further, a wide controllable space is provided for the motion of the micro-scale magnetic robot. The motion platform unit comprises a lifting platform 5 for driving the chassis 4 to lift, a Y-axis lead screw module 6 for driving the lifting platform 5 to move along the horizontal Y-axis direction, and an X-axis lead screw module 7 for driving the Y-axis lead screw module to move along the horizontal X-axis direction, wherein the whole drive device body unit is arranged on the motion platform unit, and can realize position adjustment of a space, so that the large-range adjustment of a magnetic field focus is realized, and the dynamic magnetic field for driving the micro-scale magnetic robot can freely move in the space of 25X25cm under the adjustment of the displacement table. The whole driving device body unit is arranged on the moving platform unit, so that the free adjustment in a large space position range can be realized, and the focusing of a magnetic field at a specific position or the movement according to a specific track can also be realized.

In a preferred embodiment of the present invention, a speed measuring coil (not shown in the figure) with a plurality of turns is wound on the outer side of the second bracket assembly, two ends of the speed measuring coil are connected to a voltage collector (not shown in the figure), when the spherical permanent magnet 21 rotates, a magnetic field around the spherical permanent magnet rotates along with the speed measuring coil, the speed measuring coil cuts a magnetic induction line, two ends of the speed measuring coil generate electromotive force, the electromotive force is proportional to the rotating speed of the spherical permanent magnet 21, and the rotating speed of the spherical permanent magnet 21 is calculated according to the electromotive force. The periphery of the hemispherical air outlet of the second support component is wound with a plurality of turns of copper coils, two tail ends of the copper coils are led out to be connected with a voltage collector, when the magnetic ball rotates, the surrounding magnetic field rotates along with the copper coils, the effect that the speed measuring coils cut the magnetic induction lines is caused, electromotive force is generated at two ends of the magnetic ball, the electromotive force is in direct proportion to the rotating speed of the magnetic ball, and therefore the rotating speed of the magnetic ball can be reversely pushed out by collecting the electromotive force.

The electric principle of the magnetic robot driving device of the invention is as follows: the human-computer interaction logic and data visualization are realized through a desktop computer, a data acquisition board card is used for generating and sending control signals, the control signals are amplified by four power amplification boards and then are connected into the electromagnetic coil, and in the process, each control signal is independently controlled and adjusted by upper computer software (written by LabVI EW), so that the electromagnetic coil can generate a dynamic or static magnetic field on a specific driving plane. The displacement platform assembly is connected to an upper computer through a 485 bus so as to realize controllable adjustment of the position of the driving device body unit in a three-dimensional space. In addition, the generation of the magnetic field, the direction adjustment and the moving direction of the displacement table can be realized by the upper computer sending corresponding control commands after analyzing the input signals of the handle.

The invention also makes detailed comparison between the rotating speed of the magnetic ball after air floatation and a system without air floatation:

as shown in fig. 3 and 4, the first parameter is the cut-off frequency of the magnetic ball under the action of the electromagnetic coil. When the driving frequency of the electromagnetic coil is increased, the magnetic ball can also accelerate to rotate, but when the driving frequency exceeds a certain frequency, the electromagnetic coil cannot overcome the resistance for driving the magnetic ball to continue rotating, so that the magnetic ball and the magnetic ball are out of step, and the speed of the magnetic ball is rapidly reduced to zero at the moment. Therefore, in the whole process, the rotation speed of the magnetic ball will firstly increase with the increase of the driving frequency until the constant is ended after a certain frequency, and the frequency is the cut-off frequency of the magnetic ball. The cut-off frequency is changed after the voltage at the two ends of the coil is changed, so the comparison of the cut-off frequencies of the two systems under different voltages is measured, and the result is shown in the figure, and the result shows that the cut-off frequencies of the systems under different driving voltages are increased by about 20 Hz after air floatation;

as shown in fig. 5 and 6, when the magnetic ball rotates too fast, the controllable rotating speed is hard to occur due to the influence of the inertia force, so the maximum steerable frequency of the magnetic ball is also an important index of the motion parameter of the magnetic ball, and the frequency refers to the maximum rotating frequency at which the magnetic ball can controllably steer, and the comparison result is shown in the figure. It can be seen from the results that the steerable frequency of the magnetic ball is significantly increased after the air flotation is added, and the increase speed is faster as the driving voltage is increased.

Compared with the magnetic field generated by the traditional technology, the magnetic field generated by the invention has a strong magnetic field and a large gradient, and can ensure higher magnetic responsiveness and larger working space, which is the most core idea of the invention. The core of the invention is to improve a composite micro-scale magnetic robot driving system based on electromagnetism and permanent magnetism by utilizing an air suspension technology and a displacement table, compared with the traditional driving device, the device has higher responsiveness and larger working space while generating stronger magnetic field, and has better operability and usability in the aspect of driving and controlling the micro-scale magnetic robot.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-mentioned embodiments. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.