An impacting robot driven by permanent magnetic actuator for pipe blockage removing

摘要

Abstract Magnetic force transfer between permanent magnets has the advantages of no contact, remote operation, no thermal effect, etc The use of permanent magnets to drive magnetic micro-robots has a great potential for application, such as in the medical treatment of blood clots and treatment of vascular occlusive injuries, and in the industry can be used for the removal and movement of pipeline obstructions. This work presents an impacting magnetic robot driven by a reciprocating cuboid permanent magnetic actuator (RCPMA) for moving blockage in pipe environments. The driving principle is first introduced, and the magnetic robot’s dynamic equation is established based on its motion in pipes. Then, the key magnetic driving force mathematics model is established between the cylindrical and cuboid PMs. The influence of the robot magnet’s size on the magnetic forces is discussed through the magnetic force mathematics model. Meanwhile, based on the experimental setup, the magnetic robot’s motion characteristics are evaluated to ensure the robot motion. The magnetic robot prototype can successfully move the blockage through its impacting motion in pipes. The magnetic robot has the characteristics of rapid response and impacting ability.