CN108724148A - Nanometer robot control system - Google Patents
Nanometer robot control system Download PDFInfo
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- CN108724148A CN108724148A CN201811081224.4A CN201811081224A CN108724148A CN 108724148 A CN108724148 A CN 108724148A CN 201811081224 A CN201811081224 A CN 201811081224A CN 108724148 A CN108724148 A CN 108724148A
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- 238000013519 translation Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 4
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 3
- 229910052710 silicon Inorganic materials 0.000 claims description 3
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- 208000035965 Postoperative Complications Diseases 0.000 description 1
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000012472 biological sample Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
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- 229940056319 ferrosoferric oxide Drugs 0.000 description 1
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- 239000011521 glass Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of nanometer robot control systems, including workbench, mechanical arm, magnetic field component, motor, voltage controller, microscopic observation equipment and computer, the nanometer robot of ferrimagnet of this programme using size less than 500nm is as operating member, multiple mechanical arms around workbench circumferentially, magnetic field component is set on mechanical arm, motor is used to drive the space of mechanical arm to move the rotary motion with magnetic field component, and voltage controller is used to adjust the voltage swing of magnetic field component.The present invention changes the magnetic field distribution in operating area by controlling position and the voltage swing of magnetic field component, and using the movement for the feeding force control nanometer robot that change of magnetic field strength generates, movement velocity is up to 5nm/s, to realize nanoscale performance accuracy.This programme realizes the high precision intelligentized control method process of nanometer robot, substantially increases accuracy and the success rate of accurate operation.
Description
Technical field
The present invention relates to nanometer robot technical field more particularly to a kind of nanometer robot control systems.
Background technology
People are limited by mankind itself's Operational Figure Of Merit and tool are limited when carrying out certain high precision manipulations,
And need the dynamics less than human perception threshold value so that accurate operation becomes abnormal difficult, such as surgeon into
When the operations such as row operation on retina, crystal-cut art, since the performance accuracy of operation instrument is relatively low, inevitably cause hand
Art accident or the defects of lead to postoperative complications；Or scientific worker is when carrying out certain Bioexperiment, due to operating instrument
Precision it is relatively low, cannot achieve nano level directional operation etc..
Therefore, how a kind of control system that performance accuracy is high is provided, is that those skilled in the art need to solve at present
Technical problem.
Invention content
In view of this, the purpose of the present invention is to provide a kind of nanometer robot control system, which may be implemented to receive
The performance accuracy of meter level greatly improves accuracy and the success rate of accurate operation.
To achieve the goals above, the present invention provides following technical solutions：
Nanometer robot control system, including：
Nanometer robot is process using ferrimagnet, and size is less than 500nm；
It is used to support the nanometer robot and the workbench of operating area is provided；
Multiple mechanical arms circumferentially around the workbench；
The magnetic field component being set on the mechanical arm, for providing the magnetic field intersected with the operating area of the workbench and profit
Nanometer robot moves described in the feeding force control generated with change of magnetic field strength, and the magnetic field component includes for generating difference
The positive coil and reverse winding of polarity magnetic field；
Motor includes mobile motor for driving the mechanical arm to be moved in three dimensions and for driving the magnetic field group
The electric rotating machine of part rotary motion；
Voltage controller, the voltage swing for adjusting the magnetic field component；
Microscopic observation equipment for observing the nanometer robot motion state；
Computer for running control program, the computer are connected to the voltage by driver and signal transmitting apparatus
Controller, the motor are connected to the computer by the driver, and the microscopic observation equipment is connected to the calculating
Machine.
Preferably, in above-mentioned nanometer robot control system, multiple mechanical arms include the week around the workbench
To the horizontal mechanical arm and vertical mechanical arm being alternately arranged.
Preferably, the mobile motor includes translation motor and oscillating motor, and the translation motor is for driving the machine
Tool arm is moved radially along the workbench, and the oscillating motor is for driving the mechanical arm along perpendicular to the workbench
It is moved in radial vertical plane.
Preferably, the voltage controller is realized stepless by the voltage of magnetic field component described in silicon-controlled voltage regulation circuit control
It adjusts.
Preferably, the signal transmitting apparatus is PLC.
Nanometer robot control system provided by the invention is less than the ferromagnetic nanometer robot of 500nm using size
As operating member, change the magnetic field intensity in workbench operating area by controlling position and the voltage swing of magnetic field component
Distribution, using the movement for the feeding force control nanometer robot that change of magnetic field strength generates, movement velocity up to 5nm/s, to
Realize nano level performance accuracy.It can change magnetic by the translational motion of control machinery arm and the rotary motion of magnetic field component
The angle of field assembly can control the torque that nanometer robot generates using magnetic field the movement angle of nanometer robot.We
Case realizes the high precision intelligentized control method process of nanometer robot, substantially increases the accuracy and successfully of accurate operation
Rate.Accurate operation equipment in the prior art, such as eye hand are replaced using the nanometer robot control system that this programme provides
Art equipment or biological research equipment etc., can substantially reduce accident rate, improve operation accuracy and success rate.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is that the workbench of the nanometer robot control system in the specific embodiment of the invention and mechanical arm configuration arrangement are shown
It is intended to；
Fig. 2 is the control schematic diagram of the nanometer robot control system in the specific embodiment of the invention；
Fig. 3 is the structural front view of the mechanical arm in the specific embodiment of the invention；
Fig. 4 is the structure top view of the mechanical arm in the specific embodiment of the invention.
In Fig. 1 to Fig. 4：
1- first levels mechanical arm, the second horizontal mechanicals of 2- arm, 3- third horizontal mechanicals arm, the 4th horizontal mechanical arms of 4-, 5-
One vertical mechanical arm, the second vertical mechanicals of 6- arm, 7- third vertical mechanicals arm, the 4th vertical mechanical arms of 8-, 9- workbench, 10-
Microscope, 11- computers, 12- drivers, 13-PLC, 14- voltage controller, 15- power supplys, 16- motors, 17- magnetic field components,
18- electric rotating machines, 19- guide rails, 20- translation motors, 21- oscillating motors, 22- swinging connecting rods.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1 to Fig. 4, Fig. 1 be the nanometer robot control system in the specific embodiment of the invention workbench with
Mechanical arm structure arrangement schematic diagram, Fig. 2 are the control schematic diagram of the nanometer robot control system in the specific embodiment of the invention,
Fig. 3 is the structural front view of the mechanical arm in the specific embodiment of the invention, and Fig. 4 is the mechanical arm in the specific embodiment of the invention
Structure top view.
In a kind of specific embodiment scheme, the present invention provides a kind of nanometer robot control systems, specifically include：It receives
Rice robot, workbench 9, mechanical arm, magnetic field component 17, motor 16, voltage controller 14, microscopic observation equipment, computer 11,
Driver 12 etc..
Wherein, nanometer robot is process using ferrimagnet, such as ferroso-ferric oxide or titanium etc., is guaranteed
Enough to be moved in magnetic field force effect lower stress, the size of nanometer robot is less than 500nm.Workbench 9 be used to support mechanical arm etc. its
His component simultaneously provides operating area, and the fixed object to be operated, such as operation patients or biological sample are can be used in operating area
Deng.Workbench 9 is made of insulating materials, such as glass or plastics etc., and to avoid magnetic field is influenced, workbench 9 needs have one
Intensity is determined, to support the weight of mechanical arm.In addition, according to different application scenarios, such as specific operation or specific experiment scene
Different shape and structures is can be designed as Deng, workbench 9, such as when applied to operated eye, the centre of workbench 9 offers confession
Eyes of patients are exposed and can be appropriate by handle hole when applied to cerebral operations for the handle hole of nanometer robot operation
Expand.In order to preferably reduce interference of the electrostatic to magnetic field, it is preferable that this programme connected also on workbench 9 there are one ground connection
Conducting wire, the electrostatic generated when can contact the electrostatic generated on workbench 9 or other objects guide.
The quantity of mechanical arm be it is multiple, multiple mechanical arms around workbench 9 circumferentially, it is preferable that multiple mechanical arm packets
The horizontal mechanical arm being alternately arranged around the circumferential direction of workbench and vertical mechanical arm are included, it is further preferred that multiple mechanical arms are around work
The circumferential direction for making platform 9 is uniformly distributed, and so as to provide nanometer robot the field drives power of more perspective, while avoiding acting
It interferes with each other in the process.As shown in Figure 1, the horizontal mechanical arm in this programme includes first level mechanical arm 1, the second horizontal mechanical
Arm 2, third horizontal mechanical arm 3 and the 4th horizontal mechanical arm 4, vertical mechanical arm include the first vertical mechanical arm 5, the second vertical machine
Tool arm 6, third vertical mechanical arm 7 and the 4th vertical mechanical arm 8.Mechanical arm is used to support magnetic field component 17, passes through mechanical arm
Movement can adjust the angles and positions of magnetic field component 17, the Torque Control nanometer robot generated using change of magnetic field strength
Movement angle and dimension.
Magnetic field component 17 is set on mechanical arm, for providing the magnetic field intersected with the operating area of workbench 9 and utilization
The feeding force control nanometer robot movement that change of magnetic field strength generates, magnetic field component 17 includes for generating opposed magnetic field
Positive coil and reverse winding, the coils of power on/off different directions can be with switching field polarity, to add to nanometer robot
Speed is slowed down；Change the magnetic in operating area by changing voltage swing and 17 present position of magnetic field component of magnetic field component 17
Field intensity is distributed, and the direction of motion and speed of nanometer robot are controlled using the propulsive force of change of magnetic field strength generation.It is default
Magnetic field intensity can control nanometer robot completely when being 3000 Gauss, and the distance of manipulator motion is equal to nanometer machine at this time
The move distance of device people, but since the kinematic accuracy of mechanical arm can only control in several microns, cannot achieve nano level fortune
Dynamic, therefore, this programme increases the function of reversely being adjusted by changing magnetic field intensity.In 3000 Gauss of magnetic field intensity, machinery
Arm moves 5 microns, and nanometer robot moves 5 microns, and in moving process, computer calculates nanometer robot in real time by algorithm
Movement speed is reduced by adjusting magnetic field intensity, to reduce the displacement distance of nanometer robot.
Motor 16 includes mobile motor for driving mechanical arm to be moved in three dimensions and is used for driving magnetic field component
The electric rotating machine 18 of 17 rotary motions.Wherein, electric rotating machine 18 controls magnetic field component 17 and rotates, same to control nanometer robot
Walk rotating operation.Preferably, mobile motor includes translation motor 20 and oscillating motor 21, and translation motor 20 is for driving mechanical arm
Along the radial direction of workbench 9（It is Y direction that the direction, which is defined herein,）Mobile, oscillating motor 21 is used to pass through swinging connecting rod 22
Driving mechanical arm in the vertical plane of workbench radial direction along moving, and the swinging connecting rod 22 is as lifting and translation transmission
The rotary motion of oscillating motor 21 can be changed into the lifting and translational motion of driving mechanical arm by mechanism, wherein pendulum herein
Dynamic motor 21 drives horizontal direction of the mechanical arm along vertical in-plane moving when to be defined as X-direction, and vertical direction is defined as Z axis side
To.It is configured with magnetic field component 17, electric rotating machine 18, oscillating motor 21 and translation motor 20 on each mechanical arm, such as Fig. 3 and figure
Shown in 4, moved along Y direction for the ease of driving mechanical arm, this programme is also provided with for guiding mechanical arm to be slided along Y direction
The guide rail 19 of shifting.
Voltage controller 14 is used to adjust the voltage swing of magnetic field component 17, it is preferable that voltage controller 14 is by controllable
The voltage that silicon regulating circuit controls magnetic field component 17 realizes step-less adjustment, specifically, voltage controller 14 is adjusted using potentiometer
Resistance value makes output voltage synchronous change therewith, to achieve the purpose that step-less adjustment to change Trigger Angle.
Microscopic observation equipment is for observing nanometer robot motion state, including the movement locus of nanometer robot and side
To microscopic observation equipment will be in observed result Real-time Feedback to computer 11.It should be noted that is used in this programme is micro-
Microscope, nuclear magnetic resonance equipment, supersonic sounding equipment, Laser Distance Measuring Equipment etc. specifically may be used in observation device, wherein micro-
Mirror is used for observation of the nanometer robot in body surface operation；Nuclear magnetic resonance equipment then can be used for nanometer robot and enter people
Observation when body or interior of articles operation, the position of nanometer robot can be accurately detected by nuclear magnetic resonance.Preferably, originally
Microscope 10 is selected to be used as microscopic observation equipment in specific embodiment scheme, which may be implemented Nano grade distance
Accurate measurement, and can will be handled in measurement result Real-time Feedback to computer 11.
Computer 11 is connected to voltage for running control program, computer 11 by driver 12 and signal transmitting apparatus
Controller 14, motor 16 are connected to computer 11 by driver 12, and microscopic observation equipment is connected to computer 11.Computer 11
For calculating operation data, display operational process and as a result, capable of being simultaneously arranged into line program；Driver 12 is for executing computer 11
The program instruction that sends out simultaneously converts program instruction to electric signal and is sent to signal transmitting apparatus, can also receive feedback signal,
Operation deviation is adjusted in real time；Signal transmitting apparatus is used to the control signal of driver 12 being sent to voltage controller 14 and will
The voltage signal of voltage controller 14 feeds back to driver 12.Wherein, signal transmitting apparatus preferably uses PLC13, certainly, this hair
It is bright to use other such as microcontroller signal transmitting apparatus.
In addition, the nanometer robot control system that this programme provides further includes power supply 15, power supply 15 be respectively driver 12,
The components such as voltage controller 14 and motor 16 provide electric energy.
In the following, this programme introduces the course of work of above-mentioned nanometer robot control system by concrete operations example：
Nanometer robot is placed on workbench 9, specifically, first mixing nanometer robot with liquid-carrier, using physiology salt
The harmless liquid-carrier such as water, then by way of injecting or instilling, is placed in application site, for example, human body or
Person's eyes or some platform etc.；The position coordinates of four horizontal mechanical arms are X-axis 50mm, Y-axis 25mm；Four vertical mechanical arms
Position coordinates be X-axis 60mm, Y-axis 20mm；Magnetic field component 17 is powered, power-on voltage 240V；Nanometer robot is in when initial
Stationary state, 11 program instruction driver 12 of computer, 12 response computer of driver, 11 program assign run signal to motor
16, the coordinate that 16 control machinery arm of motor changes the 4th horizontal mechanical arm 4 is X-axis 60mm, Y-axis 28mm, third vertical mechanical arm 7
Coordinate with the 4th vertical mechanical arm 8 is X-axis 70mm, Y-axis 25mm；11 program instruction driver 12 of computer, 12 sound of driver
11 program of computer is answered to assign run signal to PLC13, PLC13 command voltages controller 14 adjusts first level mechanical arm 1, the
Magnetic field component 17 on two horizontal mechanical arms 2, third horizontal mechanical arm 3, the first vertical mechanical arm 5 and the second vertical mechanical arm 6
Voltage 235V is gradually dropped to by 240V；Control the 4th horizontal mechanical arm 4, third vertical mechanical arm 7 and the 4th vertical mechanical
The voltage of the magnetic field component 17 of arm 8 gradually rises to 250V, and nanometer robot is turned right by home position and gradually moved, by aobvious
Micro mirror 10 observes operating status, runs 24 seconds, detects that the position of nanometer robot moves 120nm, average movement speed
5nm/ seconds；Further, 11 program instruction driver 12 of computer, 12 response computer of driver, 11 program assign run signal to
Electric rotating machine 18, the startup of electric rotating machine 18 make magnetic field component 17 by 10 revs/min of initial velocity, step up to 200 revs/min, receive
Rice robot does equidirectional rotary motion with magnetic field component 17, and directly proportional to 17 rotary speed of magnetic field component；11 journey of computer
Sequence order-driven device 12,12 response computer of driver, 11 program assigns run signal to electric rotating machine 18, while break-make electromagnetism
Reverse winding in field assembly 17 generates reversed polarity, gradually reduces nanometer robot speed to stationary state.
Nanometer robot control system provided by the invention is less than the ferromagnetic nanometer robot of 500nm using size
As operating member, change the magnetic field in 9 operating area of workbench by controlling position and the voltage swing of magnetic field component 17
Intensity distribution, using the movement for the feeding force control nanometer robot that change of magnetic field strength generates, since magnetic field intensity can be changed model
It encloses relatively extensively, when magnetic field intensity dies down, nanometer robot is become smaller therewith by magnetic field tractive force, and continuing adjusting magnetic field intensity can make
The movement velocity of nanometer robot reaches 5nm/s, to realize nano level performance accuracy.Pass through the translational motion of control machinery arm
And the rotary motion of magnetic field component 17 can change the angle of magnetic field component 17, the power generated to nanometer robot using magnetic field
Square can control the movement angle of nanometer robot.This programme realizes the high precision intelligentized control method mistake of nanometer robot
Journey substantially increases accuracy and the success rate of accurate operation.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (5)
1. nanometer robot control system, which is characterized in that including：
Nanometer robot is process using ferrimagnet, and size is less than 500nm；
Workbench for providing operating area（9）；
It is multiple around the workbench（9）Mechanical arm circumferentially；
The magnetic field component being set on the mechanical arm（17）, for providing and the workbench（9）Operating area intersect
Nanometer robot moves described in magnetic field and the feeding force control generated using change of magnetic field strength, the magnetic field component（17）Including
Positive coil and reverse winding for generating opposed magnetic field；
Motor（16）, include mobile motor for driving the mechanical arm to be moved in three dimensions and for driving the magnetic
Field assembly（17）The electric rotating machine of rotary motion（18）；
Voltage controller（14）, for adjusting the magnetic field component（17）Voltage swing；
Microscopic observation equipment for observing the nanometer robot motion state；
Computer for running control program（11）, the computer（11）Pass through driver（12）Connect with signal transmitting apparatus
It is connected to the voltage controller（14）, the motor（16）Pass through the driver（12）It is connected to the computer（11）, institute
It states microscopic observation equipment and is connected to the computer（11）.
2. nanometer robot control system according to claim 1, which is characterized in that multiple mechanical arms include around institute
State workbench（9）The horizontal mechanical arm that is alternately arranged of circumferential direction and vertical mechanical arm.
3. nanometer robot control system according to claim 1, which is characterized in that the mobile motor includes translation electricity
Machine（20）And oscillating motor（21）, the translation motor（20）For driving the mechanical arm along the workbench（9）Radial direction
It is mobile, the oscillating motor（21）For driving the mechanical arm along perpendicular to the workbench（9）In radial vertical plane
It is mobile.
4. nanometer robot control system according to claim 1, which is characterized in that the voltage controller（14）Pass through
Magnetic field component described in silicon-controlled voltage regulation circuit control（17）Voltage realize step-less adjustment.
5. nanometer robot control system according to claim 1, which is characterized in that the signal transmitting apparatus is PLC
（13）.
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| CN201811081224.4A CN108724148B (en) | 2018-09-17 | 2018-09-17 | Nanometer robot control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111333019A (en) * | 2018-12-19 | 2020-06-26 | 湖南早晨纳米机器人有限公司 | Nanometer robot and nanometer robot motion control system |
| CN112296996A (en) * | 2019-07-26 | 2021-02-02 | 湖南早晨纳米机器人有限公司 | Control method, device and system for motion state of nano robot |
| CN112438835A (en) * | 2019-08-28 | 2021-03-05 | 美国发现集团有限公司 | Control device and control system of nano robot |
| CN112438805A (en) * | 2019-08-28 | 2021-03-05 | 美国发现集团有限公司 | Magnetic therapy body nanometer robot control system |
| CN112740912A (en) * | 2021-02-01 | 2021-05-04 | 桂林航天工业学院 | Adjustable type momordica grosvenori is planted with picking frame |
| CN113433043A (en) * | 2021-06-25 | 2021-09-24 | 杭州电子科技大学 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
| CN117038251A (en) * | 2023-08-17 | 2023-11-10 | 哈尔滨工业大学 | Variable structure magnetic field generating device and magnetic field generating method |
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