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US 12,708,460 B2Granted
Microrobot and microrobot system
AssigneeIucf-Hyu (Industry-University Cooperation Foundation Hanyang University)
InventorsGun Hee Jang, Ji Min Park, Eunsoo Jung
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Abstract
A microrobot is disclosed. The microrobot comprises: a rotating shaft; a main magnet fixed and coupled to the rotating shaft; a first support body which is inserted into the rotating shaft and which is rotatable around the rotating shaft; a first driving magnet which is fixed and coupled to the first support body and which has a magnetic moment differing, in size, from that of the main magnet; and a plurality of first legs coupled to the outer circumferential surface of the first support body.
Claims9
A microrobot comprising:
- a rotating shaft;
- a main magnet fixedly coupled to the rotating shaft;
- a first support body fitted around the rotating shaft, and rotatable about the rotating shaft;
- a first driving magnet fixedly coupled to the first support body, and having a magnetic moment having a magnitude that is different from a magnitude of a magnetic moment of the main magnet;
- and
- a plurality of first legs coupled to an outer circumferential surface of the first support body,
- wherein, in a first mode in which an external rotating magnetic field having a frequency lower than a step-out frequency of the main magnet and a step-out frequency of the first driving magnet applied, the main magnet and the first driving magnet are aligned in a direction of the external rotating magnetic field and rotate together, and
- wherein, in a second mode in which an external rotating magnetic field having a frequency lower than the step-out frequency of the main magnet but higher than the step-out frequency of the first driving magnet applied, the first driving magnet rotates less than in the first mode, and the main magnet rotates in synchronization with the external rotating magnetic field.
5 more elements
A microrobot system comprising:
- a microrobot in which a main magnet is fixedly coupled to a rotating shaft, a first support body having an outer circumferential surface to which a plurality of legs is coupled integrally with a first driving magnet so as to be fitted around the rotating shaft, and the first support body and the first driving magnet are rotatable about the rotating shaft;
- and
- a magnetic field generator configured to generate an external rotating magnetic field on an outside of the microrobot,
- wherein the main magnet and the first driving magnet have magnetic moments having different magnitudes,
- wherein, in a first mode in which the external rotating magnetic field having a frequency lower than a step-out frequency of the main magnet and a step-out frequency of the first driving magnet applied, the main magnet and the first driving magnet are aligned in a direction of the external rotating magnetic field and rotate together, and
- wherein, in a second mode in which the external rotating magnetic field having a frequency lower than the step-out frequency of the main magnet but higher than the step-out frequency of the first driving magnet is applied, the first driving magnet rotates less than in the first mode, and the main magnet rotates in synchronization with the external rotating magnetic field.
3 more elements
Dependencies are inferred from the claim text.