US 11,938,629 B2
Micro-robot magnetic drive device and control method based on double closed loop three-dimensional path tracking
Qigao Fan, Wuxi (CN); Wei Chen, Wuxi (CN); Linbai Xie, Wuxi (CN); Yixin Zhu, Wuxi (CN); Guofeng Yang, Wuxi (CN); Yueyang Li, Wuxi (CN); Kaitao Bi, Wuxi (CN); Wentao Huang, Wuxi (CN); Haichi Luo, Wuxi (CN); and Zhengqing Zhao, Wuxi (CN)
Assigned to JIANGNAN UNIVERSITY, Jiangsu (CN)
Filed by JIANGNAN UNIVERSITY, Wuxi (CN)
Filed on Nov. 9, 2021, as Appl. No. 17/522,676.
Application 17/522,676 is a continuation of application No. PCT/CN2021/104466, filed on Jul. 5, 2021.
Claims priority of application No. 202011118436.2 (CN), filed on Oct. 19, 2020.
Prior Publication US 2022/0118609 A1, Apr. 21, 2022
Int. Cl. B25J 9/12 (2006.01); B25J 7/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/126 (2013.01) [B25J 7/00 (2013.01); B25J 9/1602 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A micro-robot magnetic drive device based on double closed loop three-dimensional path tracking, wherein the magnetic drive device comprises an electromagnetic coil module, a direct current (DC) current source module, a pulse-width modulation (PWM) inverter circuit, a current sensor, a host computer, and two cameras, the electromagnetic coil module comprises six first-level iron cores with trapezoidal probes, Helmholtz coils arranged on the first-level iron cores, and coil supports, each pair of first-level iron cores with trapezoidal probes and Helmholtz coils corresponding to the pair of first-level iron cores are arranged in parallel, the coil supports are configured to fix three pairs of first-level iron cores with trapezoidal probes and three pairs of Helmholtz coils, the three pairs of first-level iron cores with trapezoidal probes are orthogonal to each other in an axial direction, the three pairs of Helmholtz coils are orthogonal to each other in an axial direction, a region formed on an inner side of the three pairs of trapezoidal probes is used as a working space for a magnetic micro-robot, each DC current source passes through the PWM inverter circuit to provide an alternating current to one pair or one of the Helmholtz coils, the host computer is separately connected to the PWM inverter circuit, the current sensor, and the cameras, the current sensor is configured to detect an output current of the Helmholtz coil, the two cameras are arranged on an outer side of the coil supports and are orthogonally distributed, the host computer sends a control signal to the PWM inverter circuit to output an alternating current with adjustable frequency and amplitude, the Helmholtz coil generates a rotating magnetic field to control the magnetic micro-robot to perform three-dimensional movement in an axial direction of the rotating magnetic field, and the cameras obtain position information of the magnetic micro-robot and transmit the position information to the host computer to implement closed loop control of the three-dimensional movement of the magnetic micro-robot.