KR102734486B1 - Coil tilting based micro nano robot control system - Google Patents

Abstract

The present invention relates to a coil tilting-based micro nano robot control system capable of controlling three-dimensional movement of a micro nano robot using multi-axis control and four coils. The present invention may include a plurality of multi-axis control devices each including a first joint part coupled to a fixed frame, a length-adjusting member rotatably coupled to the first joint part, and a second joint part rotatably coupled to the length-adjusting member, a connecting plate rotatably coupled to the plurality of multi-axis control devices, a tilting motor part coupled to the connecting plate, a tilting gear part connected to the tilting motor part, and a tilting coil part connected to the tilting gear part.

Description

COIL TILTING BASED MICRO NANO ROBOT CONTROL SYSTEM

The present invention relates to a coil-tilting based micro nano robot control system, and more specifically, to a coil-tilting based micro nano robot control system capable of controlling three-dimensional movement of a micro nano robot using multi-axis control and four coils.

In general, micro robots refer to micro-sized robots, and depending on their shape and purpose, they can be applied in various fields such as medical, space, and defense industries. Micro robots can be controlled to move by inserting permanent magnets inside.

To move a microrobot, a magnetic field is used. The microrobot's drive system for generating a magnetic field has a basic electromagnetic coil system and a drive device that can drive the microrobot in a plane using one rotation axis.

Here, the electromagnet coil refers to an object that is wound around an axis in the pi direction with a conductive wire such as copper wire so that a current flows through it to generate a magnetic field in the direction of the central axis. A magnetic field is generated as the current of the electromagnet coil is controlled, and the movement speed and direction of the microrobot can be controlled by the generated magnetic field.

However, existing electromagnet coils generate magnetic fields in only one direction, so they can only control the movement of microrobots two-dimensionally.

Moving a microrobot in three dimensions requires multiple coils, high-power and expensive electromagnetic systems, and complex algorithms to control the movement of the microrobot.

That is, the electromagnet coil system requires at least six coil parts (three pairs in total, one pair each for the x-axis, y-axis, and z-axis) to instantaneously form arbitrary magnetic field vectors in three-dimensional space to move the microrobot three-dimensionally.

Korean Patent Registration No. 10-1003132 (registered on December 15, 2010)

Accordingly, the present invention has been made to solve the above-described problems, and the purpose of the present invention is to provide a coil tilting-based micro nano robot control system capable of controlling three-dimensional movement of a micro nano robot using multi-axis control and four coils.

In addition, the present invention has another purpose of providing a coil tilting-based micro nano robot control system capable of controlling a trapping point, which is the center of a coil, through tilting and parallel translation of the coil, and controlling the height of a micro nano robot located at the trapping point by controlling the intensity of a magnetic field generated from the coil.

Other objects of the present invention will become more apparent through the embodiments described below.

A coil tilting-based micro-nano robot control system according to one aspect of the present invention may include a plurality of multi-axis control devices, each of which includes a first joint part coupled to a fixed frame, a length-adjusting member rotatably coupled to the first joint part, and a second joint part rotatably coupled to the length-adjusting member, a connecting plate rotatably coupled to the plurality of multi-axis control devices, a tilting motor part coupled to the connecting plate, a tilting gear part connected to the tilting motor part, and a tilting coil part connected to the tilting gear part.

Additionally, the tilting gear unit may include a gear body coupled to the tilting motor unit, a first gear disposed inside the gear body and connected to the rotational shaft of the tilting motor unit, a second gear disposed inside the gear body and meshed with the first gear, and a third gear disposed inside the gear body and meshed with the second gear.

Additionally, the tilting coil portion may include a fixed shaft penetrating the central axis of the third gear, a link member coupled to the fixed shaft, and a coil member connected to the link member.

Additionally, the first joint portion may include a first joint coupling member coupled to the fixed frame and a first joint rotation member rotatably coupled to the first joint coupling member, and the second joint portion may include a 21st joint rotation member including a 21st bearing member coupled to the length adjusting member and a 22nd joint rotation member including a 22nd bearing member coupled to the 21st joint rotation member and to which a connecting plate is coupled.

Additionally, each of the plurality of multi-axis control devices may further include a length conversion measuring member coupled to the length adjusting member.

Additionally, it may further include a heating coil that penetrates the center of the connecting plate and extends to the center of the plurality of magnetic field generating devices.

Additionally, it may further include a micro-robot receiving portion coupled to the fixed frame so as to face the projection surface of the plurality of magnetic field generating devices.

Additionally, it may further include a micro-robot position sensor coupled to the fixed frame to measure the position of the micro-nano robot.

A coil tilting-based micro nano robot control system according to an embodiment of the present invention provides the following effects.

The present invention has the effect of controlling the three-dimensional movement of a micro nano robot by using multi-axis control and four coils.

The present invention has the effect of controlling the trapping point, which is the center of the coil, through tilting and parallel movement of the coil, and controlling the intensity of the magnetic field generated from the coil, thereby controlling the height of the micro nano robot located at the trapping point.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

FIG. 1 is a perspective view illustrating a coil tilting-based micro nano robot control system according to an embodiment of the present invention.
FIG. 2 is a perspective view illustrating multiple multi-axis control devices of a coil tilting-based micro nano robot control system according to one embodiment of the present invention.
FIG. 3 is a perspective view illustrating a multi-axis control device of a coil tilting-based micro nano robot control system according to one embodiment of the present invention.
FIG. 4 is a perspective view illustrating a first joint part of a multi-axis control device according to one embodiment of the present invention.
FIG. 5 is a perspective view illustrating a second joint part of a multi-axis control device according to one embodiment of the present invention.
FIG. 6 is a perspective view illustrating multiple magnetic field generating devices of a coil tilting-based micro nano robot control system according to an embodiment of the present invention.
FIG. 7 is a perspective view illustrating a magnetic field generating device of a coil tilting-based micro nano robot control system according to an embodiment of the present invention.
FIG. 8 is an exploded perspective view illustrating a magnetic field generating device of a coil tilting-based micro nano robot control system according to an embodiment of the present invention.
FIG. 9 is a perspective view illustrating a coil tilting-based micro nano robot control system according to another embodiment of the present invention.
FIG. 10 is a partial perspective view illustrating a heating coil of a coil tilting-based micro nano robot control system according to another embodiment of the present invention.

The present invention can be modified in various ways and has various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a specific description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. When describing with reference to the attached drawings, identical or corresponding components are given the same reference numerals regardless of the drawing symbols, and redundant descriptions thereof will be omitted.

Hereinafter, a coil tilting-based micro nano robot control system (100) according to embodiments of the present invention will be described in detail with reference to FIGS. 1 to 10.

FIG. 1 is a perspective view illustrating a coil tilting-based micro nano robot control system according to an embodiment of the present invention.

As illustrated in FIG. 1, a coil tilting-based micro nano robot control system (100) according to one embodiment of the present invention may include a plurality of multi-axis control devices (110), a connecting plate (120), and a plurality of magnetic field generating devices (130).

A plurality of multi-axis control devices (110) may be coupled to a fixed frame (10). The fixed frame (10) may serve to support a plurality of multi-axis control devices (110) at a certain height from the ground. The fixed frame (10) may include a vertical frame (11), a horizontal frame (12), an upper frame (13), and a support frame (14).

The vertical frame (11) is arranged vertically to the ground and may be composed of multiple members. The vertical frame (11) may be combined with a horizontal frame (12), an upper frame (13), and a support frame (14).

The horizontal frame (12) can be connected to the vertical frame (11) horizontally with the ground. The horizontal frame (12) can be composed of multiple units, and the vertical frames (11) can be connected to each other.

The upper frame (13) can be coupled to the top of the vertical frame (11). A plurality of multi-axis control devices (110) can be coupled to the upper frame (13).

The support frame (14) can be connected to the lowest part of the vertical frame (11) that is in contact with the ground. The support frame (14) is formed in an approximately L shape and can distribute the load applied to the vertical frame (11) to prevent the fixed frame (10) from shaking.

One end of a plurality of multi-axis control devices (110) may be coupled to a fixed frame (10), and the other end may be coupled to a connecting plate (120). The plurality of multi-axis control devices (110) may change the positions of the plurality of magnetic field generating devices (130) coupled to the connecting plate (120) by adjusting the length and rotation angle.

Referring to FIGS. 2 to 5, a plurality of multi-axis control devices (110) may include a first joint portion (111), a length adjusting member (112), and a second joint portion (113).

The first joint part (111) can be connected to the fixed frame (10). The first joint part (111) can be connected to the connecting frame (15) of the fixed frame (10) by a separate fastening member (not shown) such as a bolt or nut, and can be connected to the upper frame (13) through the connecting frame (15) connected to the upper frame (13).

The first joint portion (111) may include a first joint connecting member (111a) and a first joint rotating member (111b). The first joint portion (111) may be a general universal joint.

The first joint connecting member (111a) can be connected to the fixed frame (10) via the first fixing member (111c). The first fixing member (111c) can be a fastening means for connecting the first joint connecting member (111a) to the fixed frame (10).

A first joint rotation member (111b) can be coupled to a first joint coupling member (111a) by a first coupling bearing member (111d). The first coupling bearing member (111d) is installed between the first joint coupling member (111a) and the first joint rotation member (111b), and can enable the first joint rotation member (111b) to make a first rotation (R1) from the first joint coupling member (111a).

One end of the first joint rotation member (111b) can be coupled to the first joint coupling member (111a) via the first coupling bearing member (111d) so as to be capable of a first rotation (R1). The other end of the first joint rotation member (111b) can be coupled to a length adjusting member (112).

The first joint rotation member (111b) can adjust the angle of the length adjustment member (112) by making the first rotation (R1) from the first joint connecting member (111a).

The length adjusting member (112) can be rotatably coupled to the first joint portion (111). The length adjusting member (112) is coupled to the first joint rotation member (111b) of the first joint portion (111) and can rotate together with the first joint rotation member (111b) that makes the first rotation (R1) from the first joint coupling member (111a).

The length adjustment member (112) may include a linear motor (1121), a length adjustment member body (1122), a length extension member (1123), a measuring member fixing bracket (1124), and a joint fixing bracket (1125).

One end of the linear motor (1121) can be coupled to the first joint part (111). A length-adjusting member body (1122) can be coupled to the outer end of the other end of the linear motor (1121), and a length-extending member (1123) can be coupled to the inner end of the other end. The linear motor (1121) can provide a driving force for length adjustment to the length-extending member (1123) coupled to the other end.

The linear motor (1121) can adjust its length to move and tilt the connecting plate (120) in the X-axis, Y-axis, and Z-axis directions. That is, the linear motor (1121) can horizontally move, tilt, and move up and down a plurality of magnetic field generating devices (130) coupled to the connecting plate (120) by adjusting its length.

The length adjustment member body (1122) can be coupled to a linear motor (1121). The length adjustment member body (1122) has a hollow space formed therein to accommodate a portion of the length expansion member (1123).

The length extension member (1123) is installed inside the length adjustment member body (1122) and can be connected to the linear motor (1121). The length extension member (1123) can be adjusted in length by receiving driving force for length adjustment from the linear motor (1121).

The measuring member fixing bracket (1124) is coupled to the length adjusting member body (1122) and can fix the length conversion measuring member (114) coupled to the side of the length adjusting member body (1122).

The measuring member fixing bracket (1124) is formed in an approximately rectangular shape, and a hollow space (1124a) may be formed inside. A length-adjusting member body (1121) may be fitted into the hollow space (1124a). A measuring member fitting part (1124b) may be connected to one end of the measuring member fixing bracket (1124). The measuring member fitting part (1124b) may be formed by bending in the direction of arrangement of the length-converting measuring member (114) and may be fitted into the length-converting measuring member (114).

One end of the joint fixing bracket (1125) can be connected to a length expansion member (1123), and the other end can be connected to a second joint part (113). The joint fixing bracket (1125) has a protrusion (1125a) formed in the direction of arrangement of the length conversion measuring member (114) so that it can be connected to an end of the length conversion measuring member (114).

That is, the joint fixing bracket (1125) can play a role of combining the length adjusting member (112) and the second joint portion (113) and connecting the length adjusting member (112) and the length conversion measuring member (114).

Accordingly, the length adjustment member (112) can be combined with the length conversion measuring member (114) by means of the measuring member fixing bracket (1124) and the joint fixing bracket (1125).

The second joint part (113) can be rotatably connected to the length adjustment member (112). The second joint part (113) can connect the length adjustment member (112) of the multi-axis control device (110) and the connecting plate (120).

The second joint part (113) may include a 21st joint rotation member (113a) and a 22nd joint rotation member (113b). The second joint part (113) may be a general universal joint.

The 21st joint rotation member (113a) can be coupled to the joint fixing bracket (1125) of the length adjusting member (112). More specifically, the 21st bearing member (113a1) is installed inside the first joint rotation member (113a), and the 21st bearing member (113a1) and the joint fixing bracket (1125) of the length adjusting member (112) can be coupled.

The 21st bearing member (113a1) may include an outer circumference (C1) having a first radius, an inner circumference (C2) having a second radius smaller than the first radius and positioned on the inner side of the outer circumference (C1), and a rotational bearing member (B) positioned between the outer circumference (C1) and the inner circumference (C2).

Accordingly, the 21st joint rotation member (113a) can rotate a third time (R3) from the length adjustment member (112) around the 21st bearing member (113a1).

One end of the 22nd joint rotation member (113b) may be coupled to the 21st joint rotation member (113a) by a second coupling bearing member (113d), and the other end may be coupled to a connection plate (120). The second coupling bearing member (113d) may be installed between the 21st joint rotation member (113a) and the 22nd joint rotation member (113b), and may enable the 22nd joint rotation member (113b) to perform a second rotation (R2) from the 21st joint rotation member (113a).

The 22nd joint rotation member (113b) can be coupled to the connection plate (120) via the second fixing member (113c). The second fixing member (113c) can be a fastening means for coupling the 22nd joint rotation member (113b) to the connection plate (120).

More specifically, a 22nd bearing member (113b1) is installed inside the 22nd joint rotating member (113b), and the 22nd bearing member (113b1) and the second fixed part (113c) can be combined.

The 22nd bearing member (113b1) may include a second outer circumference (not shown) having an 11th radius, a second inner circumference (not shown) having a 21st radius smaller than the 11th radius and positioned on the inner side of the second outer circumference, and a second rotation bearing member (not shown) positioned between the second outer circumference and the second inner circumference.

Accordingly, the 22nd joint rotation member (113b) can rotate a fourth time (R4) from the second fixed member (113c) around the 22nd bearing member (113b1).

That is, the second joint part (113) can rotate from the length adjusting member (112) around the 21st bearing member (113a1) and can rotate from the connecting plate (120) around the 22nd bearing member (113b1).

A typical universal joint has a maximum rotation angle limited to 30 degrees. The first joint part (111) rotates within a range of a steering angle of 30 degrees, but the second joint part (113) rotates within a range greater than a steering angle of 30 degrees, so there is a limit to the rotation of the connecting plate (120).

According to the coil tilting-based micro nano robot control system (100) according to the present embodiment, the steering angle of a general universal joint can be increased to 90 degrees by combining the 21st bearing member (113a1) and the 22nd bearing member (113b1) at the upper and lower ends of the second joint portion (113).

Accordingly, when adjusting the angle of the plurality of magnetic field generators (130) coupled to the connecting plate (120), if the plurality of magnetic field generators (130) tilt and the 21st joint rotation member (113a) and the 22nd joint rotation member (113b) collide due to the insufficient steering angle of the second joint part (113), the second joint part (113) is automatically rotated to a position where a 90-degree steering angle is possible by the 21st bearing part (113a1) and the 22nd bearing part (113b1), so that the angle of the magnetic field generator (130) can be freely adjusted.

The plurality of multi-axis control devices (110) may further include a length conversion measuring member (114).

The length conversion measuring member (114) can be coupled to the length adjustment member (112). The length conversion measuring member (114) can be fitted into a measuring member fitting portion (1124b) formed in a measuring member fixing bracket (1124) coupled to the length adjustment member body (1122) of the length adjustment member (112).

The end of the length conversion measuring member (114) can be connected to the protrusion (1125a) of the joint fixing bracket (1125).

The length conversion measuring member (114) can measure the length of the length adjustment member (112). The length conversion measuring member (114) can be a conventional potential meter.

The connecting plate (120) can be rotatably coupled to a plurality of multi-axis control devices (110). The connecting plate (120) can have the function of connecting a plurality of magnetic field generating devices (130) to a plurality of multi-axis control devices (110).

That is, a plurality of multi-axis control devices (110) can be coupled to the upper part of the connecting plate (120), and a plurality of magnetic field generating devices (130) can be coupled to the lower part of the connecting plate (120).

A plurality of magnetic field generators (130) are coupled to the connecting plate (120) and can generate magnetic fields to move the micro nano robot. The plurality of magnetic field generators (130) can generate a magnetic field in a desired direction by synthesizing magnetic fields generated from electromagnet coils (tilting coil units (133) described below) arranged in four directions.

More specifically, a plurality of magnetic field generators (130) can control the movement of the micro nano robot in three dimensions by generating a rotating magnetic field and a gradient magnetic field. Here, the rotating magnetic field can control the steering direction and propulsion direction of the micro nano robot. The gradient magnetic field can control the position of the micro nano robot.

The plurality of magnetic field generators (130) can control the trapping point through angle changes. The trapping point is a single point that coincides with the central axis of the plurality of magnetic field generators (130), and a magnetic field spatial distribution pointing in all directions toward the single point can be generated. The micro nano robot can be pushed and moved to the trapping point that changes according to the tilting and parallel movement of the plurality of magnetic field generators (130).

Referring to FIGS. 6 to 8, a plurality of magnetic field generating devices (130) may include a tilting motor unit (131), a tilting gear unit (132), and a tilting coil unit (133).

The tilting motor unit (131) can be coupled to the connecting plate (120). The tilting motor unit (131) can provide rotational power to the tilting gear unit (132) to tilt the tilting coil unit (133) connected to the tilting gear unit (132).

For example, the tilting motor unit (131) may be a high torque geared motor of 70 kgf.cm or more. The gear ratio of the tilting motor unit (131) is 294:1, providing a rotation speed of 34 RPM and a high torque of 100 kgf.cm, and can transmit high torque through the key groove shaft structure.

A tilting gear unit (132) can be connected to the rotation shaft (1311) of the tilting motor unit (131).

The tilting gear unit (132) can be connected to the tilting motor unit (131) and receive power for gear driving. The tilting gear unit (132) can include a gear body (1321), a first gear (1322), a second gear (1323), and a third gear (1324).

The gear body (1321) can be coupled to the tilting motor unit (131). A first gear (1322), a second gear (1323), and a third gear (1324) can be installed on the inside of the gear body (1321).

The first gear (1322) may be arranged on the inside of the gear body (1321) and connected to the rotation shaft (1311) of the tilting motor unit (131). Here, the first gear (1322) may be a gear having 19 teeth.

The first gear (1322) can rotate by receiving rotational power from the tilting motor unit (131). The first gear (1322) is engaged with the second gear (1323) and can rotate the second gear (1323).

The second gear (1323) may be arranged on the inside of the gear body (1321) and may be meshed and connected to the first gear (1322). Here, the second gear (1323) may be a gear having 25 teeth.

The second gear (1323) can rotate according to the rotation of the first gear (1322). The second gear (1323) meshes with the third gear (1324) and can rotate the third gear (1324).

The third gear (1324) may be arranged on the inside of the gear body (1321) and may be meshed and connected to the second gear (1323). Here, the third gear (1324) may be a gear having 52 teeth.

The third gear (1324) can rotate according to the rotation of the second gear (1323). The third gear (1324) is connected to the tilting coil unit (133) and can rotate the tilting coil unit (133).

The tilting coil unit (133) can be connected to the tilting gear unit (132). The tilting coil unit (133) can be tilted up to 45 degrees by the tilting gear unit (132), and each tilting angle can be controlled. That is, the tilting angles of each of the four tilting coil units (133) coupled to the connecting plate (120) can be controlled.

Since the four tilting coil sections (133) are each controlled independently, two can be controlled as a pair according to angle change and current control (direct current or alternating current).

For example, when two tilting coil units (133) are controlled as a pair, a rotating magnetic field can be generated when an AC current is applied, and a gradient magnetic field can be generated when a DC current is applied. That is, two tilting coil units (133) can generate a rotating magnetic field as a pair, and the remaining two can generate a gradient magnetic field as a pair.

In addition, the tilting coil unit (133) can generate a rotating magnetic field in a pair (two), generate a gradient magnetic field in one, and apply a direct current to the remaining one to generate a trapping point. Accordingly, the tilting coil unit (133) can perform independent cluster control of micro nano robots.

The tilting coil member (133) may include a fixed shaft (1331), a link member (1332), and a coil member (1333).

The fixed shaft (1331) can be coupled to the third gear (1324) by penetrating the central axis of the third gear (1324). The fixed shaft (1331) can rotate together with the rotation of the third gear (1324).

A link member (1332) can be coupled to each end of the fixed shaft (1331).

The link member (1332) can be coupled to the fixed shaft (1331). The link member (1332) can be connected to the coil member (1333), and the coil member (1333) can be connected to the fixed shaft (1331).

The coil member (1333) can be connected to the link member (1332). The coil member (1333) can generate a magnetic field according to the current intensity of the power source. The height of the micro nano robot can be controlled according to the intensity of the magnetic field generated here.

The coil member (1333) is connected to a power supply device (not shown) and can receive power from the power supply device.

Below, the change in magnetic field according to the control of the coil absence (1333) is explained.

When non-adjacent coil members (1333), that is, the first coil member (1333a) and the third coil member (1333c) in the diagonal direction are controlled as a pair and the second coil member (1333b) and the fourth coil member (1333d) in the diagonal direction are controlled as a pair, when AC power is supplied to the first coil member (1333a) and the third coil member (1333c) to generate a rotating magnetic field and DC power is supplied to the second coil member (1333b) and the fourth coil member (1333d) to generate a tilting magnetic field, the tilting and movement of the micro nano robot can be controlled.

Meanwhile, by supplying AC power to the first coil member (1333a) and the third coil member (1333c) to generate a rotating magnetic field and supplying DC power in an impulse format to the second coil member (1333b) and the fourth coil member (1333d) to generate a tilted magnetic field, the movement of the micro nano robot can be controlled by the tilting and hammer drilling effects of the micro nano robot.

The hammer drilling effect here is to enable drilling of micro nano robots by moving micro nano robots at regular intervals as if striking them with a hammer as they move, and can be generated by supplying direct current in the form of impulses.

In addition, when controlling the adjacent first coil member (1333a) and second coil member (1333b) as a pair and controlling the adjacent third coil member (1333c) and fourth coil member (1333d) as a pair, by supplying AC power to the first coil member (1333a) and second coil member (1333b) to generate a rotating magnetic field and supplying DC power to the third coil member (1333c) and fourth coil member (1333d) to generate a tilting magnetic field, the tilting and movement of the micro nano robot can be controlled.

In this way, the coil members (1333) can generate a rotating magnetic field by tilting all four or only two of them depending on the situation, and each tilting angle can be controlled in real time, so there is a feature that allows for the generation of rotating magnetic fields in various directions through various combinations.

In one embodiment, the coil member (1333) may have a different distribution area and shape of the rotating magnetic field depending on the tilting angle of a pair of coils forming the rotating magnetic field and the phase difference of the applied AC current. Here, the working space in which the micro nano robot operates may be changed depending on the distribution area and shape of the rotating magnetic field.

For example, assuming that the diagonal coil members (1333) are controlled as a pair or that the adjacent coil members (1333) are controlled as a pair, if each of the pair of coils is tilted 45 degrees to form 90 degrees to each other and the phase of the AC current is 90 degrees, a uniform circular rotating magnetic field can be generated.

Accordingly, by adjusting the tilting angle of the coil member (1333) while fixing the phase of the AC current at 90 degrees, the distribution area and shape of the rotating magnetic field can be formed differently.

FIG. 9 is a perspective view illustrating a coil tilting-based micro nano robot control system according to another embodiment of the present invention.

As illustrated in FIG. 9, a coil tilting-based micro nano robot control system (200) according to another embodiment of the present invention may include a plurality of multi-axis control devices (210), a connecting plate (220), a plurality of magnetic field generating devices (230), a heating coil (240), a micro robot receiving unit (250), and a micro robot position measuring device (260).

The configuration of the multiple multi-axis control devices (210), the connection plate (220), and the multiple magnetic field generators (230) according to the present embodiment is identical to the configuration of the multiple multi-axis control devices (110), the connection plate (120), and the multiple magnetic field generators (130) of the coil tilting-based micro nano robot control system (100) according to the embodiment described in FIG. 1, and therefore, a detailed description thereof is omitted.

The heating coil (240) is coupled through the center of the connecting plate (220) and can extend to the center of a plurality of magnetic field generating devices (230). The heating coil (240) can generate a high-frequency magnetic field to increase the temperature of the micro nano robot.

Here, since the high-frequency magnetic field heats the surrounding high-conductivity material, a separation distance between the heating coil (240) and the coil member (2333) is required. Accordingly, when the heating coil (240) is driven, the coil member (2333) may be rotated (R5, R6, R7, R8) so that the coil member (2333) does not face the heating coil (240), thereby preventing the coil member (2333) from being affected by the high-frequency magnetic field.

The micro robot receiving portion (250) can be coupled to the fixed frame (20) so as to face the projection surfaces of the plurality of magnetic field generating devices (230). The micro robot receiving portion (250) can be located below the magnetic field generating devices (230).

The micro robot receiving portion (250) is a container having a certain size, and the interior of the container can be filled with a specific fluid. A micro nano robot (1) can be received in the specific fluid.

The micro robot position measuring device (260) is coupled to a fixed frame (20) and can measure the position of a micro nano robot (1) accommodated in a micro robot receiving unit (250). Here, the micro nano robot (1) can move in the height direction (Z axis) within the micro robot receiving unit (250) according to the strength of the magnetic field generated from the plurality of magnetic field generating devices (230), and can move in the horizontal direction (X axis, Y axis) within the micro robot receiving unit (250) according to the rotation angle of the plurality of magnetic field generating devices (230).

The micro robot position measuring device (260) may be composed of at least two and may be coupled to the fixed frame (20). The micro robot position measuring device (260) may include a first position measuring device (261) that measures the position of the micro nano robot (1) moving in the X-axis and Y-axis directions and a second position measuring device (262) that measures the position of the micro nano robot (1) moving in the Z-axis direction.

The micro robot position measuring device (260) may be a video camera and is not limited to the position shown in the drawing.

Although the present invention has been described above with reference to one embodiment, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below.

100, 200: Micro nano robot control system based on coil tilting
110, 210: Multi-axis control unit
120, 220: Connection plate
130, 230: Magnetic field generator
240: Heating coil
250: Micro robot receiving unit
260: Micro robot position sensor
1: Micro Nano Robots

Claims (8)

A first joint part including a first joint coupling member coupled to a fixed frame installed on the ground and a first joint rotation member coupled to the first joint coupling member through a first coupling bearing member so as to be capable of a first rotation (R1), a linear motor having one end coupled to the first joint rotation member of the first joint part, a length adjustment member body having a hollow formed coupled to the outer side of the other end of the linear motor, a length extension member coupled to the inner side of the other end of the linear motor and having a portion received in the hollow of the length adjustment member body, a measuring member fixing bracket coupled to the length adjustment member body, and a joint fixing bracket having one end coupled to the length extension member, wherein the length adjustment member whose angle is adjusted by the first rotation (R1) of the first joint rotation member, a first outer circumference (C1) coupled to the length adjustment member and having a first radius, and a first outer circumference (C1) located on the inner side of the first outer circumference (C1) and having a second radius smaller than the first radius A 21st bearing member including an inner circumference (C2) and a first rotation bearing member (B) positioned between the first outer circumference (C1) and the first inner circumference (C2) is installed inside, a 21st joint rotation member that rotates (R3) at an angle with respect to the first rotation (R1) direction from the length adjusting member around the 21st bearing member and makes a third rotation (R3), and a second coupling bearing member that is coupled to the 21st joint rotation member so that one end thereof rotates (R2) at an angle with respect to the third rotation (R3) direction, and has a second outer circumference having an eleventh radius, a second inner circumference having a 21st radius smaller than the eleventh radius and located inside the second outer circumference, and a second rotation bearing member positioned between the second outer circumference and the second inner circumference, and a 22nd bearing member that is coupled to a second fixing member is installed inside, and around the 22nd bearing member, A plurality of multi-axis control devices, each including a second joint portion including a 22nd joint rotation member that is rotated a fourth time (R4) at an angle to the second rotation (R2) direction from the second fixed portion, and when the 21st joint rotation member and the 22nd joint rotation member collide, the second joint portion is automatically rotated to a position where a steering angle is possible by the 21st bearing member and the 22nd bearing member;
A connecting plate rotatably connected to the 22nd joint rotating member by the second fixing member coupled to the 22nd bearing member of the plurality of multi-axis control devices; and
A coil tilting-based micro nano robot control system including a plurality of magnetic field generating devices, each of which includes a tilting motor unit coupled to the above connecting plate, a tilting gear unit connected to the tilting motor unit, and a tilting coil unit connected to the tilting gear unit. In the first paragraph,
The above tilting gear part,
A coil tilting-based micro nano robot control system comprising a gear body coupled to the tilting motor unit, a first gear disposed inside the gear body and connected to the rotational axis of the tilting motor unit, a second gear disposed inside the gear body and meshed with the first gear, and a third gear disposed inside the gear body and meshed with the second gear. In the second paragraph,
The above tilting coil part,
A coil tilting-based micro nano robot control system including a fixed shaft penetrating the central axis of the third gear, a link member coupled to the fixed shaft, and a coil member connected to the link member. delete In the first paragraph,
Each of the above multiple multi-axis control devices,
A coil tilting-based micro nano robot control system further comprising a length conversion measuring member coupled to the above length adjusting member. In the first paragraph,
A coil tilting-based micro nano robot control system further comprising a heating coil coupled through the center of the above connecting plate and extending to the center of the plurality of magnetic field generating devices. In the first paragraph,
A coil tilting-based micro nano robot control system further comprising a micro robot receiving unit coupled to the fixed frame so as to face the projection surfaces of the plurality of magnetic field generating devices. In the first paragraph,
A coil tilting-based micro nano robot control system further comprising a micro robot position sensor coupled to the above fixed frame for measuring the position of the micro nano robot.